Method for detecting poor penetration in welding and related device

Abstract

To provide, in the field of laser machining, a method for detecting poor welding in welding and a related device.SOLUTION: An industrial personal computer (IPC) obtains an electrical signal corresponding to an infrared light signal generated by a target weld in a first period. A start moment of the first period is not earlier than a moment at which the complete target weld is formed. The IPC determines whether the target weld has poor welding according to the electrical signal corresponding to the infrared light signal, and in particular can detect whether a weld generated during sheet welding has poor welding is determined.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present application relates to the field of laser processing technology, and more particularly to a method and related apparatus for detecting poor penetration in welding. [Background technology]

[0002] In the computer, communication, and consumer electronics (3C) fields, laser welding of thin metal sheets is the main method for connecting positive and negative materials in button batteries, mobile phone batteries, laptop batteries, etc. To ensure the quality of the welds, the results of laser welding must be analyzed and inspected. The analysis of the welds includes identifying welding defects.

[0003] Identifying laser welding defects in the 3C field is a major challenge. Currently, welds are often inspected only by visual inspection from the top view, which usually makes it impossible to identify whether or not there is poor welding. If there is poor penetration in the electrode material, it is impossible to ensure continuous and stable electrical contact in the battery during operation, which is a major challenge. Therefore, detecting poor penetration during laser welding of thin plates is very important. Summary of the Invention

[0004] The present application provides a method and related apparatus for detecting poor penetration in welding, which can be used to determine whether poor penetration exists in a weld created during welding of thin plates.

[0005] This application is realized using the following technical solutions.

[0006] In a first aspect, an embodiment of the present application provides a method for detecting incomplete penetration in welding. The method includes: an industrial personal computer (IPC) acquires an electrical signal corresponding to an infrared light signal generated by a target weld during a first time period; the start time of the first time period is not earlier than the time when the complete target weld is formed; and the IPC determines whether incomplete penetration exists in the target weld based on the electrical signal corresponding to the infrared light signal. The target weld is formed by laser processing a thin sheet material.

[0007] Additionally, the IPC is configured to display an electrical signal corresponding to the infrared light signal produced by the target weld during the first time period.

[0008] A thin material is a material having a thickness less than a predetermined thickness. In one example, a thin material is a material having a thickness less than 0.5 mm.

[0009] After welding of thin plate material is completed, the energy of infrared light emitted by a welded portion with poor penetration differs from the energy of infrared light emitted by a welded portion without poor penetration. Therefore, by detecting the infrared light signal emitted by the welded portion after welding is completed, it is possible to determine whether poor penetration exists in the welded portion.

[0010] In combination with the first aspect, in one possible embodiment, the IPC determining whether or not there is a penetration defect in the target weld based on the electrical signal corresponding to the infrared light signal specifically includes determining whether or not there is a penetration defect in the target weld based on the curve of the electrical signal corresponding to the infrared light signal.

[0011] In combination with the first aspect, in one possible embodiment, the IPC determining whether insufficient penetration exists in the target weld based on the electrical signal curve corresponding to the infrared light signal includes the following: The IPC obtains an average offset of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and a reference middle line of the infrared light signal. The IPC determines whether insufficient penetration exists in the target weld based on the average offset of the infrared light signal. If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the average offset of the infrared light signal exceeds a preset offset range, it is determined that insufficient penetration exists in the target weld.

[0012] The average offset of the infrared optical signal can be considered as the offset of the electrical signal corresponding to the infrared optical signal relative to a reference middle line of the infrared optical signal.

[0013] In combination with the first aspect, in one possible embodiment, the electrical signal curve corresponding to the infrared optical signal includes a plurality of first points, and the reference middle line includes a plurality of second points, where the plurality of first points correspond in time to the plurality of second points. The IPC obtaining an average offset of the infrared optical signal based on the electrical signal curve corresponding to the infrared optical signal and the reference middle line of the infrared optical signal includes the following: the IPC obtains a plurality of absolute difference values ​​by calculating an absolute value of a difference between an amplitude represented by each of the plurality of first points and an amplitude represented by a second point corresponding in time to each of the first points; the IPC sums the obtained absolute values ​​of the differences and averages the sum result to obtain an average offset of the infrared optical signal.

[0014] In combination with the first aspect, in one possible embodiment, the preset offset range is [-μ-4σ, μ+4σ], where μ is the mean value of the average offset of the electrical signals corresponding to the infrared light signals produced during the second time period by a plurality of complete welds without penetration defects obtained during historical laser processing, and σ is the standard deviation of the average offset of the electrical signals corresponding to the infrared light signals produced during the second time period by a plurality of complete welds without penetration defects obtained during historical laser processing. The start time of the second time period is not earlier than the time when the complete welds without penetration defects were formed.

[0015] A preset offset range is determined based on the average value and standard deviation of the average offset of the electrical signals corresponding to the infrared light signals generated during the second time period by a plurality of complete welds without penetration defects obtained during historical laser processing, and the preset offset range is then used to determine whether or not there is penetration defects, thereby obtaining an accurate judgment result.

[0016] In combination with the first aspect, in one possible embodiment, the IPC determining whether insufficient penetration exists in the target weld based on the electrical signal curve corresponding to the infrared light signal includes the following: The IPC obtains an upper limit value of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal. The IPC determines whether insufficient penetration exists in the target weld based on the upper limit value of the infrared light signal. If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper limit value of the infrared light signal is greater than an upper threshold, the IPC determines that insufficient penetration exists in the target weld.

[0017] In combination with the first aspect, in one possible embodiment, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, and the reference upper edge line includes a plurality of third points, and the plurality of first points correspond in time to the plurality of third points. The IPC obtaining the upper limit value of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference upper edge line of the infrared light signal includes the following: The IPC obtains a plurality of differences by calculating a difference between an amplitude represented by each of the plurality of first points and an amplitude represented by a third point that corresponds in time to the first point. The IPC determines the maximum value of the plurality of differences as the upper limit value of the infrared light signal.

[0018] In combination with the first aspect, in one possible embodiment, the reference middle line of the infrared light signal includes a plurality of second points, and the reference upper edge line includes a plurality of third points, where the plurality of second points correspond in time to the plurality of third points. The method of this embodiment further includes the following: the IPC calculates a difference between an amplitude represented by each of the plurality of third points and an amplitude represented by a second point corresponding in time to the third point, thereby obtaining a plurality of differences; and the IPC determines the maximum value of the plurality of differences as an upper threshold.

[0019] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Accordingly, the upper limit value of the infrared light signal generated by a weld with incomplete penetration is higher than the upper limit value of the infrared light signal generated by a weld without incomplete penetration. Therefore, after a complete target weld is formed, the upper limit value of the infrared light signal generated by the target weld is compared with an upper limit threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether the target weld has incomplete penetration. In addition, the determination results obtained using this determination method are highly accurate.

[0020] In combination with the first aspect, in one possible embodiment, the IPC determining whether or not there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal includes the following: The IPC obtains an upper local area of ​​the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal. The upper local area of ​​the infrared light signal is the area of ​​the region between the reference upper edge line and a portion of the electrical signal curve corresponding to the infrared light signal whose amplitude is greater than the amplitude of the reference upper edge line. The IPC determines whether or not there is a penetration defect in the target weld based on the upper local area of ​​the infrared light signal. If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper local area of ​​the infrared light signal is greater than an upper local area threshold, the IPC determines that there is a penetration defect in the target weld.

[0021] In combination with the first aspect, in one possible embodiment, the IPC obtaining the upper local area of ​​the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference upper edge line of the infrared light signal includes the following: the IPC determines a first time and a second time. The first time is the start time of a first time period, and the second time is the time when the electrical signal curve corresponding to the infrared light signal intersects with the reference upper edge line. The IPC calculates a first integrated area under the electrical signal curve corresponding to the infrared light signal between the first time and the second time, and calculates a second integrated area under the reference upper edge line between the first time and the second time. The IPC determines the difference between the first integrated area and the second integrated area as the upper local area of ​​the infrared light signal.

[0022] In combination with the first aspect, in one possible embodiment, the reference upper edge line of the infrared light signal includes a plurality of third points, and the reference middle line of the infrared light signal includes a plurality of second points, the plurality of third points corresponding in time to the plurality of second points. The method of this embodiment further includes the following: The IPC determines a start third point and an end third point from the reference upper edge line of the infrared light signal. The start third point is a third point corresponding in time to the start second point, the end third point is a third point whose represented amplitude is the same as the amplitude represented by the second point corresponding in time, and the start second point is a second point that is the first in time among the plurality of second points included in the reference middle line corresponding to the infrared light signal. The IPC calculates a third integrated area under a portion between the start third point and the end third point in the reference upper edge line of the infrared light signal, and calculates a fourth integrated area under a portion between the second point corresponding in time to the start third point and the second point corresponding in time to the end third point in the reference middle line of the infrared light signal. The IPC establishes half the difference between the third and fourth integrated areas as the upper local area threshold.

[0023] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Accordingly, the upper local area of ​​the infrared light signal generated by a weld with incomplete penetration is larger than the upper local area of ​​the infrared light signal generated by a weld without incomplete penetration. Therefore, after a complete target weld is formed, the upper local area of ​​the infrared light signal generated by the target weld is compared with an upper local area threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether incomplete penetration exists in the target weld. In addition, the determination results obtained using this determination method are highly accurate.

[0024] In combination with the first aspect, in one possible embodiment, the IPC determining whether a penetration defect exists in the target weld based on the curve of the electrical signal corresponding to the infrared light signal includes the following: the IPC determines a slope of the infrared light signal based on the curve of the electrical signal corresponding to the infrared light signal; the IPC determines whether a penetration defect exists in the target weld based on the slope of the infrared light signal; if the slope of the infrared light signal is greater than a slope threshold, it is determined that a penetration defect exists in the target weld.

[0025] Optionally, the electrical signal curve corresponding to the infrared optical signal includes a plurality of first points. The IPC's determination of the slope of the infrared optical signal based on the electrical signal curve corresponding to the infrared optical signal includes the following: the IPC determines a start first point and an end first point from the plurality of first points. The amplitude represented by the start first point is collected at the start time of a first time period. The end first point is a first point whose represented amplitude is 0. The IPC determines the collection time of the start first point and the collection time of the end first point. The IPC calculates a first difference between the amplitude represented by the start first point and the amplitude represented by the end first point, calculates a second difference between the collection time of the start first point and the collection time of the end first point, calculates a ratio of the first difference to the second difference, and determines the ratio as the slope of the infrared optical signal.

[0026] Optionally, the reference middle line of the infrared light signal includes a plurality of second points, and the plurality of first points correspond in time to the plurality of second points. The method of this embodiment further includes: the IPC determines a start second point and an end second point from the plurality of second points. The start second point is a second point in the reference middle line of the infrared light signal that corresponds in time to the start first point, and the end second point is a second point in the reference middle line of the infrared light signal that corresponds in time to the end first point. The IPC calculates a third difference between the amplitude represented by the start second point and the amplitude represented by the end second point, calculates a ratio of the third difference to the second difference, and determines twice the absolute value of the ratio as the slope threshold.

[0027] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Accordingly, the absolute value of the slope of the infrared light signal generated by a weld with incomplete penetration is greater than the absolute value of the slope of the infrared light signal generated by a weld without incomplete penetration. Therefore, after a complete target weld is formed, the absolute value of the slope of the infrared light signal generated by the target weld is compared with a slope threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether the target weld has incomplete penetration. In addition, the determination results obtained using this determination method are highly accurate.

[0028] In combination with the first aspect, in one possible embodiment, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points. The IPC determining whether incomplete penetration exists in the target weld based on the electrical signal curve corresponding to the infrared light signal includes the following: the IPC calculates an average value of the amplitude of the infrared light signal based on the plurality of first points. The average value of the amplitude of the infrared light signal is the average value of the amplitudes represented by the plurality of first points. The IPC determines whether incomplete penetration exists in the target weld based on the average value of the amplitude of the infrared light signal. If the average value of the amplitude of the infrared light signal is greater than an average value threshold, the IPC determines that incomplete penetration exists in the target weld.

[0029] Optionally, the reference middle line of the infrared light signal includes a plurality of second points, and the average value threshold is twice the average value of the amplitudes represented by the plurality of second points.

[0030] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Accordingly, the average amplitude of the infrared light signal generated by a weld with incomplete penetration is higher than the average amplitude of the infrared light signal generated by a weld without incomplete penetration. Therefore, after a complete target weld is formed, the average amplitude of the infrared light signal generated by the target weld is compared with an average threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether the target weld has incomplete penetration. In addition, the determination results obtained using this determination method are highly accurate.

[0031] In combination with the first aspect, in one possible embodiment, the method of this embodiment further includes the following: if it is determined that there is poor penetration in the target weld, the IPC obtains position information of the target weld, the IPC transmits the position information of the target weld to the laser welding system, and causes the laser welding system to rework the target weld based on the position information of the target weld.

[0032] If it is determined that there is insufficient penetration in the target weld, the laser welding system can rework the target weld, thereby reducing the occurrence of insufficient penetration in the target weld and ensuring the quality of the target weld.

[0033] In combination with the first aspect, in one possible embodiment, the method of this embodiment further includes the following: after a complete target weld is formed, displaying a diagram of an electrical signal curve corresponding to the infrared light signal generated by the target weld, and displaying a result of whether or not there is poor penetration in the target weld.

[0034] By displaying a diagram of the electrical signal curve corresponding to the infrared light signal generated by the target weld, and displaying the result of whether there is poor penetration in the target weld, the operator can be informed of the processing quality during processing.

[0035] In a second aspect, an embodiment of the present application provides an IPC, comprising an acquisition unit, a determination unit, a transceiver unit, and a display unit, wherein the acquisition unit, the determination unit, the transceiver unit, and the display unit are configured to implement a method according to any of the first aspects.

[0036] In a third aspect, an embodiment of the present application provides an IPC, the IPC comprising a processor connected to a memory, the memory configured to store a computer program, the processor executing the computer program stored in the memory to cause the IPC to perform a method according to any of the first aspects.

[0037] In a fourth aspect, an embodiment of the present application provides a laser processing control system, the laser processing control system including a laser welding system, a multi-optical sensor module, a signal processing module, and an IPC, the IPC configured to perform a method according to any of the first aspects.

[0038] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium having stored thereon a computer program that causes a computer to perform a method according to any of the first aspects.

[0039] In a sixth aspect, an embodiment of the present application provides a computer program product, the computer program product including a non-transitory computer-readable storage medium storing a computer program, the computer being operable to perform the method according to the first aspect.

[0040] As can be understood, any of the IPC described in the second aspect, the third aspect, the laser processing control system described in the fourth aspect, the computer-readable storage medium described in the fifth aspect, and the computer program product described in the sixth aspect can be used to realize any of the methods according to the first aspect, and therefore, for the beneficial effects that can be achieved by them, reference can be made to the beneficial effects of the corresponding methods, and they will not be repeated here. [Brief explanation of the drawings]

[0041] In order to more clearly describe the embodiments of the present invention or the technical solutions in the existing technology, the following briefly introduces the drawings necessary for the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings from these drawings without creative efforts. [Figure 1] FIG. 1 is a schematic diagram illustrating the architecture of a system for detecting poor penetration in laser welding according to an embodiment of the present application. [Figure 2] FIG. 2 is a flowchart showing a method for detecting poor penetration in welding according to an embodiment of the present application. [Figure 3a] FIG. 3a is a time sequence diagram of post-weld detection. [Figure 3b] FIG. 3b is a schematic diagram showing the welding process. [Figure 4a] FIG. 4a is a schematic diagram illustrating the calculation of the average offset according to an embodiment of the present application. [Figure 4b] FIG. 4b is a schematic diagram illustrating the top local area of ​​an infrared light signal according to an embodiment of the present application. [Figure 4c] FIG. 4c is a schematic diagram illustrating a slope of an infrared light signal according to an embodiment of the present application. [Figure 4d] FIG. 4d is a schematic diagram showing the detection result according to an embodiment of the present application. [Figure 5] FIG. 5 is a schematic diagram showing the structure of an industrial personal computer (IPC) according to an embodiment of the present application. [Figure 6]FIG. 6 is a schematic diagram showing the structure of another IPC according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0042] Hereinafter, the technical solutions of the embodiments of the present application will be clearly and comprehensively described with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments that can be obtained by those skilled in the art without creative efforts are all within the protection scope of the present invention.

[0043] The terms used in the embodiments of this application are not intended to limit the present invention and are used only for the purpose of describing specific embodiments. The singular forms "a," "an," and "the" used in the embodiments, drawings, and claims of this application are intended to include the plural forms unless the context clearly indicates otherwise. The term "and / or" used in this specification simply describes the relationship between related objects and indicates the existence of three types of relationships. For example, A and / or B indicates three situations: the presence of only A, the simultaneous presence of A and B, and the presence of only B. Furthermore, in this specification, the symbol " / " generally indicates that the related objects before and after it are in an "or" relationship. Terms such as "first," "second," and the like used in the embodiments of this application are used merely to distinguish different parts and do not denote any order, quantity, or importance. Similarly, terms such as "one" or "one" do not denote a numerical limitation but indicate the presence of at least one. In the embodiments of this application, "plurality" means two or more.

[0044] 1, which is a schematic diagram illustrating the architecture of a system for detecting poor penetration in laser welding according to an embodiment of the present application. As shown in FIG. 1, the system includes a laser welding system, a multi-optical sensor module 4, a signal processing module 6, and an industrial personal computer (IPC) 8.

[0045] The laser welding system includes a laser 1, an optical fiber 2, and a laser processing head 3. The laser 1 is connected to the laser processing head 3 via the optical fiber 2. A multi-optical sensor module 4 is coaxially attached to the laser processing head 3. The multi-optical sensor module 4 is connected to a signal processing module 6 via a first signal line 5, the signal processing module 6 is connected to an IPC 8 via a second signal line 7, and the IPC 8 is connected to the laser welding system via a third signal line 12.

[0046] In this embodiment, laser light generated by laser 1 is transmitted to laser processing head 3 via optical fiber 2 and then incident on upper plate 10, a metal material to be processed, via laser processing head 3. After absorbing the laser light, upper plate 10 melts and solidifies to form weld 9. Infrared light emitted by weld 9 after welding is transmitted to multi-optical sensor module 4 via laser processing head 3. Multi-optical sensor module 4 receives the infrared light emitted by weld 9 after welding and converts the infrared light signal into an electrical signal. The electrical signal is transmitted to signal processing module 6 via first signal line 5. After processing, the processed signal is transmitted to IPC 8 via second signal line 7. IPC 8 processes and identifies the received signal to determine whether there is poor penetration in weld 9.

[0047] Optionally, if it is determined that there is poor penetration in the welded portion 9, the position information of the welded portion 9 is determined, the position information of the welded portion 9 is transmitted to the laser welding system via the third signal line 12, and the laser welding system is controlled to perform repair welding on the welded portion 9.

[0048] In thin-plate welding, when insufficient penetration occurs, the volume of the exposed portion of the molten pool does not change significantly, and the infrared light signal emitted from the molten pool during welding (i.e., during the welding process) does not change significantly. Therefore, it is not possible to identify the insufficient penetration defect based on the infrared light signal emitted from the molten pool during welding. In other words, the molten pool does not completely penetrate the upper plate during welding, and the amount of heat transferred to the lower plate 11 during welding is small. After welding (after the welding process is completed), the initial accumulated heat in the weld of the upper plate 10 increases significantly. Therefore, in the technical solution of the present application, the presence of insufficient penetration in the weld 9 is determined based on the infrared light signal emitted by the weld 9 after welding. In other words, the infrared light signal emitted after welding is used as a characteristic of insufficient penetration to determine whether the weld 9 has a insufficient penetration defect.

[0049] In this application, a thin plate material refers to a material having a thickness smaller than a predetermined thickness. The thin plate material refers to a material having a thickness smaller than a predetermined thickness, which may be 0.01 mm to 0.6 mm. In one example, the thin plate material may refer to a material having a thickness smaller than 0.5 mm. During thin plate welding, the upper plate material 10 is a thin plate material. During laser processing, a laser is first irradiated onto the thin plate material, and the thin plate material and the lower welding material are melted and then welded together.

[0050] The preset thicknesses corresponding to sheets of different materials may be different. For example, the preset thickness corresponding to a sheet material with good heat dissipation performance is greater than the preset thickness corresponding to a sheet material with poor heat dissipation performance. For example, a copper sheet may correspond to a preset thickness within the range of 0.15 mm to 0.6 mm, with a preferred thickness of 0.25 mm. An aluminum sheet may correspond to a preset thickness within the range of 0.15 mm to 0.6 mm, with a preferred thickness of 0.2 mm. A stainless steel sheet may correspond to a preset thickness within the range of 0.1 mm to 0.5 mm, with a preferred thickness of 0.15 mm.

[0051] During laser additive machining, the topmost thin plate material can be the upper cladding layer. In order to detect poor penetration caused by insufficient melting during additive machining, the preset thickness corresponding to the thin plate material is 0.01 mm to 0.2 mm. Similarly, the preferred preset thickness corresponding to the upper cladding layer of different materials is different.

[0052] Before introducing the technical solution of this application, relevant terms of this application will be explained.

[0053] The envelope of the infrared signal is the envelope of the electrical signal curve corresponding to the infrared signal generated after a weld with no penetration defects or a passable weld is formed, where a passable weld has some acceptable deviation from a weld with no penetration defects.

[0054] The infrared signal reference line is the amplitude range of the infrared signal generated after a weld with no penetration defects or a passable weld is formed, where a passable weld has some acceptable deviation from a weld with no penetration defects.

[0055] The upper base edge-line of the infrared light signal is the upper edge line of the envelope of the infrared light signal. The upper base edge-line of the infrared light signal includes a plurality of third points, or the upper base edge-line of the infrared light signal consists of a plurality of third points. The upper base edge-line of the envelope can also be understood as the upper boundary of the amplitude range of the infrared light signal generated by welds without poor penetration or acceptable welds formed at corresponding positions on a plurality of workpieces at a single welding time.

[0056] The lower base edge-line of the infrared light signal is the lower edge line of the envelope of the infrared light signal, which may also be understood as the lower boundary of the amplitude range of the infrared light signal generated by a weld without poor penetration or a pass-through weld formed at corresponding positions on multiple workpieces at a single welding time.

[0057] The reference middle line of the infrared light signal is the middle line between the reference upper edge line of the infrared light signal and the reference lower edge line of the infrared light signal. The reference middle line of the infrared light signal includes a plurality of second points, or the reference middle line of the infrared light signal consists of a plurality of second points. Optionally, the reference middle line of the infrared light signal can also be obtained according to the following method.

[0058] The amplitudes at different delay times of a plurality of welds without poor penetration or a plurality of acceptable welds in a plurality of historical welding runs are statistically collected, and average amplitude values ​​corresponding to the same plurality of delay times are calculated, and a reference middle line of the infrared light signal is obtained based on the average amplitude values ​​corresponding to the different delay times.

[0059] The average offset of the infrared light signal refers to the offset of the infrared light signal during welding relative to a reference middle line of the infrared light signal. It can be understood as follows: the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, the reference middle line includes a plurality of second points, and the plurality of first points correspond in time to the plurality of second points. Obtaining the average offset of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference middle line of the infrared light signal includes the following: calculating the absolute value of the difference between the amplitude represented by each of the plurality of first points and the amplitude represented by a second point corresponding in time to each of the first points, thereby obtaining the absolute values ​​of the plurality of differences; summing the obtained absolute values ​​of the differences and averaging the sum result, thereby obtaining the average offset of the infrared light signal.

[0060] In laser processing applications, the infrared radiation signal corresponds to an infrared radiation signal with a wavelength in the range of 1250 nm to 1700 nm. The visible light radiation signal corresponds to a visible light radiation signal with a wavelength in the range of 400 nm to 700 nm. The laser processing reflection signal corresponds to the processing laser reflection signal during actual laser processing. For example, the processing laser has a wavelength of 915 nm, 1064 nm, 1080 nm, etc. The wavelength of the processing laser light is related to the wavelength of the laser actually used. In some application environments, the appropriate wavelength range of the infrared radiation signal can be extended beyond the range of 1250 nm to 1700 nm. In some application environments, the appropriate wavelength range of the visible light radiation signal can be extended beyond the range of 400 nm to 700 nm.

[0061] The following provides a detailed description of specific embodiments of the technical solution of the present application.

[0062] Referring to Fig. 2, Fig. 2 is a flowchart illustrating a method for detecting poor penetration in welding according to an embodiment of the present application. As shown in Fig. 2, the method includes the following contents:

[0063] S201: The IPC acquires an electrical signal corresponding to an infrared light signal generated by a target weld during a first time period.

[0064] The first time period begins no earlier than the time when the complete target weld is formed by laser machining the sheet material.

[0065] It should be noted that a perfect target weld in this application does not mean that the target weld is free of penetration defects, but rather means a weld formed after one processing pass.

[0066] As shown in FIG. 3a, time t1 is the time when a welding defect detection (WDD) system starts operating, t2 is the time when the WDD system stops operating, t3 is the time when a laser starts emitting laser light, and t4 is the time when the laser stops emitting laser light. The target weld is formed by the laser operating on the workpieces (e.g., upper plate 10 and lower plate 11) to be processed during the time period from t3 to t4. Time t5 is the time when the light intensity of the infrared light emitted by the target weld begins to become smaller than a light intensity threshold, which may be 0. The time when the complete target weld is formed is time t4. Optionally, the first time period is included in the time period from t4 to t5.

[0067] It should be understood that laser processing is a continuous process. The laser's emission of laser light is discontinuous; during certain periods, the laser emits laser light and during subsequent periods, the laser does not emit laser light. The laser's emission and non-emission of laser light are controlled by the laser's laser light emission signal. As shown in Figure 3b, welds 1, 2, 3, and 4 are created by the laser processing the thin plate four times. The period from time T1 to time T2 is the period during which the laser emits laser light. During this period, weld 1 is created, and the time when weld 1 is completed is time T2. The period from time T3 to time T4 is the period during which the laser emits laser light. During this period, weld 2 is created, and the time when weld 2 is completed is time T4. The period from time T5 to time T6 is the period during which the laser emits laser light. During this period, weld 3 is created, and the time when weld 3 is completed is time T6. The time period from time T7 to time T8 is the time period during which the laser emits laser light, and welded portion 4 is generated during this time period, with the time at which the complete welded portion 4 is formed being time T8.

[0068] During welding, infrared light signals emitted by the weld are received by the multi-optical sensor module, converted into electrical signals, and then transmitted to the IPC. Optionally, before the multi-optical sensor module transmits the electrical signals to the IPC, i.e., before the IPC uses the electrical signals to determine whether poor penetration exists in the weld, the multi-optical sensor module processes the electrical signals, including, but not limited to, filtering, to increase the amplitude of the electrical signals and reduce noise in the electrical signals.

[0069] Optionally, the IPC may process the received electrical signal, including but not limited to filtering, before utilizing the received electrical signal to determine whether poor penetration exists in the weld. The IPC then utilizes the processed electrical signal to determine whether poor penetration exists in the weld.

[0070] S202: The IPC determines whether there is a penetration defect in the target weld based on the electrical signal corresponding to the infrared light signal.

[0071] In one possible embodiment, the IPC's determining whether insufficient penetration exists in the target weld based on the electrical signal corresponding to the infrared light signal includes: obtaining an average offset of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and a reference middle line of the infrared light signal; determining whether insufficient penetration exists in the target weld based on the average offset of the infrared light signal; if the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the average offset of the infrared light signal exceeds a preset offset range, it is determined that insufficient penetration exists in the target weld.

[0072] The reference middle line of the infrared light signal is the middle line between the reference upper edge line of the infrared light signal and the reference lower edge line of the infrared light signal. The middle line between the reference upper edge line of the infrared light signal and the reference lower edge line of the infrared light signal is the envelope of the electrical signal corresponding to the infrared light signal generated after welding by multiple welds without penetration defects obtained during multiple historical laser processing operations. The multiple welds without penetration defects are generated by performing laser processing on the same processing material using the same processing step.

[0073] Note that because the electrical signal corresponding to the infrared light signal consists of multiple points, the reference upper edge line and the reference lower edge line corresponding to the infrared light signal can also be considered to consist of multiple points. The first point in the reference upper edge line corresponding to the infrared light signal and the first point in the reference lower edge line corresponding to the infrared light signal can be considered to be collected at the time when a complete weld was formed during multiple historical laser processing operations. The reference middle line corresponding to the infrared light signal can also be considered to consist of multiple points. The amplitude corresponding to each point in the reference middle line corresponding to the infrared light signal is the average of the amplitude corresponding to the point in time on the reference upper edge line corresponding to the infrared light signal and the amplitude corresponding to the point in time on the reference lower edge line corresponding to the infrared light signal.

[0074] In one possible embodiment, the electrical signal curve corresponding to the infrared optical signal includes a plurality of first points, and the reference middle line includes a plurality of second points, where the plurality of first points correspond in time to the plurality of second points. The IPC obtaining an average offset of the infrared optical signal based on the electrical signal curve corresponding to the infrared optical signal and the reference middle line of the infrared optical signal includes the following: the IPC obtains a plurality of absolute difference values ​​by calculating an absolute value of a difference between an amplitude represented by each of the plurality of first points and an amplitude represented by a second point corresponding in time to each of the first points; the IPC sums the obtained absolute values ​​of the differences and averages the sum result to obtain an average offset of the infrared optical signal.

[0075] In one example, as shown in FIG. 4a, assume that the electrical signal curve corresponding to the infrared optical signal includes eight first points, a1, a2, a3, a4, a5, a6, a7, and a8, and the reference middle line corresponding to the infrared optical signal includes eight second points, b1, b2, b3, b4, b5, b6, b7, and b8. The eight first points correspond to the eight second points one by one in time. The IPC calculates the absolute value of the difference between the amplitude represented by each of the eight first points and the amplitude represented by each of the eight second points corresponding to the eight first points in time to obtain eight absolute values. Then, the eight absolute values ​​are summed and averaged to obtain the average offset of the infrared optical signal.

[0076] After obtaining the average offset of the infrared light signal, the IPC determines whether the average offset of the infrared light signal exceeds a preset offset range. If the average offset of the infrared light signal exceeds the preset offset range, the IPC determines that there is insufficient penetration in the target weld. If the average offset of the infrared light signal does not exceed the preset offset range, the IPC determines that there is no insufficient penetration in the target weld.

[0077] In another possible embodiment, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, and the reference middle line includes a plurality of second points, the plurality of first points corresponding in time to the plurality of second points. The IPC calculates a difference between the amplitude represented by each of the plurality of first points and the amplitude represented by a second point corresponding in time to each of the first points. The IPC obtains a difference greater than zero from the calculated differences, sums the differences greater than zero, and averages the summed results to obtain an upper average offset of the infrared light signal. The IPC determines whether the upper average offset of the infrared light signal exceeds a predetermined offset range. If the upper average offset of the infrared light signal exceeds the predetermined offset range, the IPC determines that there is insufficient penetration in the target weld. If the upper average offset of the infrared light signal does not exceed the predetermined offset range, the IPC determines that there is no insufficient penetration in the target weld. Note that determining whether the upper average offset of the infrared light signal exceeds the predetermined offset range specifically refers to determining whether the upper average offset of the infrared light signal is greater than the upper limit of the predetermined offset range. If the upper average offset of the infrared light signal is greater than the upper limit of the preset offset range, it is determined that poor penetration exists in the target weld.

[0078] Because the amount of heat radiated by a weld with poor penetration after welding is greater than the amount of heat radiated by a weld without poor penetration after welding, the difference greater than 0 can better represent the amount of heat radiated by a weld after welding. Therefore, when determining whether poor penetration exists in a weld based on a difference greater than 0, a more accurate result can be obtained.

[0079] In another possible embodiment, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, and the reference middle line includes a plurality of second points, the plurality of first points corresponding in time to the plurality of second points. The IPC calculates a difference between the amplitude represented by each of the plurality of first points and the amplitude represented by a second point corresponding in time to each of the first points. The IPC obtains a difference less than zero from the calculated differences, sums the differences less than zero, and averages the summed results to obtain a lower average offset of the infrared light signal. The IPC determines whether the lower average offset of the infrared light signal exceeds a predetermined offset range. If the lower average offset of the infrared light signal exceeds the predetermined offset range, the IPC determines that there is insufficient penetration in the target weld. If the lower average offset of the infrared light signal does not exceed the predetermined offset range, the IPC determines that there is no insufficient penetration in the target weld. Note that determining whether the lower average offset of the infrared light signal exceeds the predetermined offset range specifically refers to determining whether the lower average offset of the infrared light signal is less than the lower limit of the predetermined offset range. If the lower average offset of the infrared light signal is less than the lower limit of the preset offset range, it is determined that poor penetration exists in the target weld.

[0080] In one alternative embodiment, the preset offset range is [-μ-4σ, μ+4σ], where μ is the mean value of the average offset of the electrical signals corresponding to the infrared light signals produced during the second time period by a plurality of complete welds without penetration defects obtained during historical laser processing, and σ is the standard deviation of the average offset of the electrical signals corresponding to the infrared light signals produced during the second time period by a plurality of complete welds without penetration defects obtained during historical laser processing. The start time of the second time period is not earlier than the time when the complete welds without penetration defects are formed.

[0081] The time when a complete weld is formed during historical laser processing is the time when the laser stops operating during one processing. The start time of the second time period is not earlier than the time when the laser stops operating. In other words, the IPC acquires electrical signals corresponding to infrared light signals emitted after welding by multiple welds without penetration defects formed during historical laser processing, and calculates the mean value μ and standard deviation σ of the average offset of the electrical signals corresponding to infrared light signals emitted after welding by multiple welds without penetration defects.

[0082] Optionally, the difference between the start time of the first time slot and the time when the complete target weld is formed is equal to or greater than the difference between the start time of the second time slot and the time when the complete weld is formed during historical laser processing.

[0083] The reason for setting the difference between the start time of the first time period and the time when the complete target weld is formed greater than the difference between the start time of the second time period and the time when the complete weld is formed during hysteretic laser processing is as follows: After a complete weld is formed, the amount of heat radiated by the weld gradually decreases. After a complete weld is formed, for two welds without incomplete penetration, the amount of heat radiated by one weld without incomplete penetration and the amount of heat radiated by the other weld without incomplete penetration at the same time are the same or the difference between the two is small. For one weld with incomplete penetration and one weld without incomplete penetration, the amount of heat radiated by the weld with incomplete penetration at the same time is higher than the amount of heat radiated by the weld without incomplete penetration. Furthermore, the following situation also exists: After a complete weld is formed, the amount of heat radiated by the weld with incomplete penetration at a third time is higher than the amount of heat radiated by the weld without incomplete penetration at a fourth time, and the third time is later than the fourth time. In other words, for one weld A, if the amount of heat radiated by weld A at the third time is higher than the amount of heat radiated at the fourth time by a weld without poor penetration, it indicates that poor penetration exists in weld A.

[0084] Therefore, when detecting whether a target weld has a penetration defect, an electrical signal corresponding to an infrared light signal generated by the target weld during a first time period is acquired, and the electrical signal corresponding to the infrared light signal generated during the first time period is compared with the expectation and variance of electrical signals corresponding to infrared light signals generated during a second time period by a plurality of welds formed during historical laser processing that do not have penetration defects, thereby determining whether the target weld has a penetration defect, thereby improving the accuracy of detecting penetration defects.

[0085] Furthermore, because the amount of heat emitted by the weld gradually decreases after a complete weld is formed, the amplitude of the acquired electrical signal corresponding to the infrared light signal generated by the target weld during the first time period is smaller than the amplitude of the electrical signal corresponding to the infrared light signal generated by the target weld before the first time period. Therefore, the IPC can process smaller amplitude values ​​and operate at a relatively faster processing speed, thereby improving the efficiency of poor penetration detection.

[0086] In one possible embodiment, the IPC may also determine whether there is a lack of penetration in the target weld based on the following method.

[0087] In Method 1, the IPC obtains an upper limit value of the infrared signal based on the electrical signal curve corresponding to the infrared signal and the reference upper edge line of the infrared signal. The IPC determines whether there is poor penetration in the target weld based on the upper limit value of the infrared signal. If the amplitude of the electrical signal curve corresponding to the infrared signal is greater than the amplitude of the reference upper edge line of the infrared signal and the upper limit value of the infrared signal is greater than an upper limit threshold, the IPC determines there is poor penetration in the target weld.

[0088] The reference upper edge line of the infrared light signal is the upper edge line of the envelope obtained based on the electrical signal corresponding to the infrared light signal generated after a complete weld without penetration defects was formed during historical welding.

[0089] In one example, the upper limit of the infrared light signal is obtained as follows.

[0090] The electrical signal curve corresponding to the infrared optical signal includes a plurality of first points, or the electrical signal curve corresponding to the infrared optical signal consists of a plurality of first points. The reference upper edge line of the infrared optical signal includes a plurality of third points, or the reference upper edge line of the infrared optical signal consists of a plurality of third points. The plurality of first points correspond in time to the plurality of third points. The IPC calculates the difference between the amplitude represented by each of the plurality of first points and the amplitude represented by the third point corresponding in time to the first point. In this way, the IPC obtains a plurality of differences and determines the maximum of the plurality of differences as the upper limit value of the infrared optical signal.

[0091] In one example, the upper threshold is obtained as follows:

[0092] The reference middle line of the infrared light signal includes a plurality of second points, or the reference middle line of the infrared light signal consists of a plurality of second points. The plurality of second points correspond in time to a plurality of third points. The IPC calculates a difference between an amplitude represented by each of the plurality of third points and an amplitude represented by a second point corresponding in time to the third point. In this way, the IPC obtains a plurality of differences and determines the maximum of the plurality of differences as the upper threshold of the infrared light signal.

[0093] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Correspondingly, the upper limit value of the infrared light signal generated by a weld with incomplete penetration is higher than the upper limit value of the infrared light signal generated by a weld without incomplete penetration. Therefore, after a complete target weld is formed, the upper limit value of the infrared light signal generated by the target weld is compared with an upper threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether incomplete penetration exists in the target weld.

[0094] In Method 2, the IPC obtains an upper local area of ​​the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference upper edge line of the infrared light signal. The upper local area of ​​the infrared light signal is the area between the reference upper edge line of the infrared light signal and a portion of the electrical signal curve corresponding to the infrared light signal whose amplitude is greater than the amplitude of the reference upper edge line of the infrared light signal. The IPC determines whether there is a penetration defect in the target weld based on the upper local area of ​​the infrared light signal. If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper local area of ​​the infrared light signal is greater than an upper local area threshold, the IPC determines there is a penetration defect in the target weld.

[0095] In one example, the top local area of ​​the infrared light signal is obtained as follows.

[0096] A first time and a second time are determined. The first time is the start time of a first time period, and the second time is the time when the electrical signal curve corresponding to the infrared light signal intersects with a reference upper edge line of the infrared light signal. The electrical signal curve corresponding to the infrared light signal includes a plurality of first points, or the electrical signal curve corresponding to the infrared light signal consists of a plurality of first points. The reference upper edge line of the infrared light signal includes a plurality of third points, or the reference upper edge line of the infrared light signal consists of a plurality of third points. The plurality of first points correspond in time to the plurality of third points. The second time is the time when the amplitude represented by the first point is the same as the amplitude represented by the third point corresponding in time to the first point. The IPC calculates a first integral area under the electrical signal curve corresponding to the infrared light signal between the first time and the second time, and calculates a second integral area under the reference upper edge line of the infrared light signal between the first time and the second time. As shown in FIG. 4b, the IPC determines the difference between the first integrated area and the second integrated area as the upper local area of ​​the infrared light signal.

[0097] In one example, the upper local area threshold is obtained as follows:

[0098] The reference upper edge line of the infrared light signal includes a plurality of third points, or the reference upper edge line of the infrared light signal consists of a plurality of third points. The reference middle line of the infrared light signal includes a plurality of second points, or the reference middle line of the infrared light signal consists of a plurality of second points. The IPC determines a start third point and an end third point from the reference upper edge line of the infrared light signal. The start third point is a third point corresponding in time to the start second point. The end third point is a third point whose represented amplitude is the same as the amplitude represented by the second point corresponding in time. The start second point is the first second point in the reference middle line of the infrared light signal. The IPC calculates a third integral area under a portion between the start third point and the end third point in the reference upper edge line of the infrared light signal, and calculates a fourth integral area under a portion between the second point corresponding in time to the start third point and the second point corresponding in time to the end third point in the reference middle line of the infrared light signal. The IPC establishes half the difference between the third and fourth integrated areas as the upper local area threshold.

[0099] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Correspondingly, the upper local area of ​​the infrared light signal generated by a weld with incomplete penetration is larger than the upper local area of ​​the infrared light signal generated by a weld without incomplete penetration. Therefore, after a complete target weld is formed, the upper local area of ​​the infrared light signal generated by the target weld is compared with an upper local area threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether incomplete penetration exists in the target weld.

[0100] In Method 3, the IPC determines the slope of the infrared signal based on the electrical signal curve corresponding to the infrared signal. The slope of the infrared signal is used to determine whether there is poor penetration in the target weld. If the slope of the infrared signal is greater than a slope threshold, the IPC determines there is poor penetration in the target weld.

[0101] Furthermore, if the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the slope of the infrared light signal is greater than the slope threshold, the IPC determines that there is poor penetration in the target weld.

[0102] In one example, the slope of the infrared light signal is obtained as follows:

[0103] The IPC determines a first start point and a first end point from the electrical signal curve corresponding to the infrared optical signal. The amplitude represented by the first start point is collected at the start time of the first time period. The first end point is the first point where the represented amplitude is 0. As shown in Figure 4c, the IPC determines the collection times of the first start point and the first end point. The IPC calculates a first difference between the amplitude represented by the first start point and the amplitude represented by the first end point, calculates a second difference between the collection times of the first start point and the first end point, and calculates the ratio of the first difference to the second difference. This ratio is the slope of the infrared optical signal.

[0104] Note that an amplitude of 0 means that the difference between the temperature of the target welding portion and the temperature of the working environment is smaller than a preset temperature value. For example, an amplitude of 0 means that the temperature of the target welding portion and the temperature of the working environment are the same.

[0105] In one example, the slope threshold is obtained as follows:

[0106] The IPC determines a second start point and a second end point from the reference middle line of the infrared optical signal. The second start point is a second point in the reference middle line of the infrared optical signal that corresponds in time to the first start point. The second end point is a second point in the reference middle line of the infrared optical signal that corresponds in time to the first end point. The IPC calculates a third difference between the amplitude represented by the second start point and the amplitude represented by the second end point, calculates a ratio of the third difference to the second difference, and determines twice the absolute value of the ratio as a slope threshold.

[0107] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Correspondingly, the absolute value of the slope of the infrared light signal generated by a weld with incomplete penetration is greater than the absolute value of the slope of the infrared light signal generated by a weld without incomplete penetration. Therefore, after a complete target weld is formed, the absolute value of the slope of the infrared light signal generated by the target weld is compared to a slope threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether incomplete penetration exists in the target weld.

[0108] In Method 4, the IPC calculates the average amplitude of the infrared signal based on the electrical signal curve corresponding to the infrared signal, and determines whether there is poor penetration in the target weld based on the average amplitude of the infrared signal. If the average amplitude of the infrared signal is greater than the average threshold, the IPC determines there is poor penetration in the target weld.

[0109] Furthermore, if the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal, and the average value of the amplitude of the infrared light signal is greater than the average value threshold, the IPC determines that there is poor penetration in the target weld.

[0110] In one example, the average threshold is determined as follows:

[0111] The IPC calculates the average value of the amplitudes represented by a plurality of second points included in the reference middle line of the infrared light signal, and determines twice the average value as the average value threshold.

[0112] After a complete weld is formed, the energy of the infrared light generated by a weld with incomplete penetration is higher than the energy of the infrared light generated by a weld without incomplete penetration. Correspondingly, the average amplitude of the infrared light signals generated by the welds with incomplete penetration is higher than the average amplitude of the infrared light signals generated by welds without incomplete penetration. Therefore, after a complete target weld is formed, the average amplitude of the infrared light signals generated by the target weld is compared to an average threshold to determine whether the energy of the infrared light generated by the target weld is higher than the energy of the infrared light generated by a weld without incomplete penetration, thereby determining whether incomplete penetration exists in the target weld.

[0113] In one possible embodiment, the method of this embodiment further includes: after the complete target weld is formed, the IPC displays a diagram of the electrical signal curve corresponding to the infrared light signal generated by the target weld, and displays the result of whether there is poor penetration in the target weld.

[0114] 4d is a schematic diagram illustrating a detection result according to an embodiment of the present application. As shown in FIG. 4d, the IPC displays an electrical signal corresponding to the infrared light signal generated by the target weld after welding and a reference middle line of the infrared light signal, and also indicates whether there is poor penetration in the target weld.

[0115] By displaying the diagram of the electrical signal curve corresponding to the infrared light signal generated by the target weld after welding, and the result of whether there is poor penetration in the target weld, the operator can observe the result of the laser processing, i.e., whether there is poor penetration in the weld after laser processing, in real time.

[0116] S203: If it is determined that there is poor penetration in the target weld, the IPC obtains the position information of the target weld.

[0117] The location information of the target weld can be represented by the serial number of the target weld. Note that since laser processing is a continuous process and the resulting welds are also continuous, the location of the weld may also be represented by the serial number of the weld.

[0118] After obtaining the position information of the target weld, the IPC transmits the position information of the target weld to the laser welding system, which then reworks the target weld based on the position information of the target weld to remove the incomplete weld.

[0119] In one possible embodiment, when determining that there is insufficient penetration in the target weld, the IPC obtains from the laser welding system the distance between the laser processing head and the workpiece (i.e., the upper plate 10) when the target weld is created during processing. This distance may be referred to as the processing distance. The IPC compares the processing distance with a preset distance. If the processing distance differs from the preset distance, this indicates that there is insufficient penetration in the target weld because the amount of defocus changes with the change in processing distance, thereby resulting in the occurrence of insufficient penetration. The IPC then sends instruction information to the laser welding system, instructing the laser welding system to adjust the distance between the laser processing head and the plate. The adjusted distance is the same as the preset distance. The preset distance is a distance between the laser processing head and the workpiece that is manually set so that there is no insufficient penetration in the weld created during processing.

[0120] Optionally, if the processing distance is the same as the preset distance, it indicates that the cause of the poor penetration is not the amount of defocus. The IPC acquires the temperature of the lens inside the laser processing head during processing. Note that if the lens is dirty, the lens temperature will rise, so whether the lens is dirty is determined by determining whether the lens temperature is higher than the temperature of an uncontaminated lens. If it is determined that the lens temperature is higher than the temperature of an uncontaminated lens, the IPC sends a warning to the operator to warn them that the lens inside the laser processing head is dirty.

[0121] Optionally, if the processing distance is the same as the preset distance, it indicates that the cause of the poor penetration is not the amount of defocus, and the IPC sends instruction information to the laser welding system to instruct the laser welding system to increase the laser power.

[0122] After the above adjustment is completed, the IPC transmits the position information of the target weld to the laser welding system, which then reworks the target weld based on the position information of the target weld to remove the incomplete weld.

[0123] As can be seen from the above, in the solution of the present application, during laser processing, the multi-optical sensor module acquires the infrared light signal generated by the weld after welding. Then, based on the infrared light signal, it is determined whether there is poor penetration in the weld. Compared with existing technologies, the solution of the present application has non-contact and real-time characteristics, and can be used to perform full inspection during industrial production. Furthermore, the solution of the present application can be used to detect defects such as poor penetration. After obtaining the position information of the target weld, the position information of the target weld is transmitted to the laser welding system. The laser welding system can then rework the target weld and automatically perform repair welding.

[0124] Referring to FIG. 5, FIG. 5 is a schematic diagram illustrating the structure of an industrial personal computer (IPC) according to an embodiment of the present application. As shown in FIG. 5, the IPC 500 includes an acquisition unit 501 and a determination unit 502. The acquisition unit 501 is configured to acquire an electrical signal corresponding to an infrared light signal generated by a target weld during a first time period, the start time of the first time period being no earlier than the time when the complete target weld is formed, and the target weld is formed by laser processing a thin sheet material. The determination unit 502 is configured to determine whether there is a penetration defect in the target weld based on the electrical signal corresponding to the infrared light signal.

[0125] In one possible embodiment, the determining unit 502 is configured to determine whether there is a poor penetration in the target weld based on the electrical signal curve corresponding to the infrared light signal.

[0126] In one possible embodiment, the determination unit 502 is configured to obtain an average offset of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and a reference middle line of the infrared light signal, and determine whether there is poor penetration in the target weld based on the average offset of the infrared light signal. If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the average offset of the infrared light signal exceeds a preset offset range, it is determined that there is poor penetration in the target weld.

[0127] In one possible embodiment, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, the reference middle line includes a plurality of second points, and the plurality of first points correspond in time to the plurality of second points. Regarding obtaining an average offset of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference middle line of the infrared light signal, the determination unit 502 is configured to: calculate an absolute value of a difference between an amplitude represented by each of the plurality of first points and an amplitude represented by a second point corresponding in time to each of the first points to obtain the plurality of absolute values ​​of the differences; sum the obtained absolute values ​​of the differences and average the sum result to obtain the average offset of the infrared light signal.

[0128] In one possible embodiment, the preset offset range is [-μ-4σ, μ+4σ], where μ is the mean value of the average offset of the electrical signals corresponding to the infrared light signals produced during the second time period by a plurality of complete welds without penetration defects obtained during historical laser processing, and σ is the standard deviation of the average offset of the electrical signals corresponding to the infrared light signals produced during the second time period by a plurality of complete welds without penetration defects obtained during historical laser processing. The start time of the second time period is not earlier than the time when the complete welds without penetration defects were formed.

[0129] In one possible embodiment, the determination unit 502 is specifically configured to obtain an upper limit value of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal, and determine whether there is poor penetration in the target weld based on the upper limit value of the infrared light signal. If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper limit value of the infrared light signal is greater than an upper threshold, it is determined that there is poor penetration in the target weld.

[0130] In one possible embodiment, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, the reference upper edge line includes a plurality of third points, and the plurality of first points correspond in time to the plurality of third points. Regarding obtaining the upper limit value of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference upper edge line of the infrared light signal, the determining unit 502 is specifically configured to calculate a difference between an amplitude represented by each of the plurality of first points and an amplitude represented by a third point corresponding in time to the first point to obtain the plurality of differences, and determine the maximum value of the plurality of differences as the upper limit value of the infrared light signal.

[0131] In one possible embodiment, the reference middle line of the infrared light signal includes a plurality of second points, and the reference upper edge line includes a plurality of third points, where the plurality of second points correspond in time to the plurality of third points. The determining unit 502 is further configured to calculate a difference between an amplitude represented by each of the plurality of third points and an amplitude represented by a second point corresponding in time to the third point, to obtain a plurality of differences, and determine a maximum value of the plurality of differences as the upper threshold.

[0132] In one possible embodiment, the determination unit 502 is configured to obtain an upper local area of ​​the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal, where the upper local area of ​​the infrared light signal is the area of ​​a region between a portion of the electrical signal curve corresponding to the infrared light signal whose amplitude is greater than the amplitude of the reference upper edge line and the reference upper edge line. The determination unit 502 is configured to determine whether poor penetration exists in the target weld based on the upper local area of ​​the infrared light signal. If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper local area of ​​the infrared light signal is greater than an upper local area threshold, it is determined that poor penetration exists in the target weld.

[0133] In one possible embodiment, obtaining an upper local area of ​​the infrared light signal based on an electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal includes: The determining unit 502 is configured to determine a first time and a second time, where the first time is a start time of a first time period and the second time is a time when an electrical signal curve corresponding to the infrared light signal intersects with a reference upper edge line, the determining unit 502 is configured to calculate a first integral area under the electrical signal curve corresponding to the infrared light signal between the first time and the second time, calculate a second integral area under the reference upper edge line between the first time and the second time, and determine a difference between the first integral area and the second integral area as the upper local area of ​​the infrared light signal.

[0134] In one possible embodiment, the reference upper edge line of the infrared light signal includes a plurality of third points, and the reference middle line of the infrared light signal includes a plurality of second points, where the plurality of third points correspond in time to the plurality of second points. The determining unit 502 is further configured to determine a start third point and an end third point from the reference upper edge line of the infrared light signal, where the start third point is a third point that corresponds in time to the start second point, the end third point is a third point whose represented amplitude is the same as the amplitude represented by the time-corresponding second point, and the start second point is the first second point in the reference middle line of the infrared light signal. The determination unit 502 is further configured to calculate a third integral area under a portion between a third start point and a third end point within the reference upper edge line of the infrared light signal, calculate a fourth integral area under a portion between a second point temporally corresponding to the third start point and a second point temporally corresponding to the third end point within the reference middle line of the infrared light signal, and determine half of the difference between the third integral area and the fourth integral area as the upper local area threshold.

[0135] In one possible embodiment, the determining unit 502 is configured to determine a slope of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal, and determine whether there is poor penetration in the target weld based on the slope of the infrared light signal, and if the slope of the infrared light signal is greater than a slope threshold, it is determined that there is poor penetration in the target weld.

[0136] Optionally, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points. Regarding determining a slope of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal, the determining unit 502 is configured to determine a start first point and an end first point from the plurality of first points, where the amplitude represented by the start first point is collected at a start time of a first time period, and the end first point is a first point whose represented amplitude is 0. The determining unit 502 is configured to determine a collection time of the start first point and a collection time of the end first point, calculate a first difference between the amplitude represented by the start first point and the amplitude represented by the end first point, calculate a second difference between the collection time of the start first point and the collection time of the end first point, calculate a ratio of the first difference to the second difference, and determine the ratio as the slope of the infrared light signal.

[0137] Optionally, the reference middle line of the infrared light signal includes a plurality of second points, and the plurality of first points correspond in time to the plurality of second points. The determining unit 502 is further configured to determine a start second point and an end second point from the plurality of second points, where the start second point is a second point in the reference middle line of the infrared light signal that corresponds in time to the start first point, and the end second point is a second point in the reference middle line of the infrared light signal that corresponds in time to the end first point. The determining unit 502 is further configured to calculate a third difference between the amplitude represented by the start second point and the amplitude represented by the end second point, calculate a ratio of the third difference to the second difference, and determine twice the absolute value of the ratio as the slope threshold.

[0138] In combination with the first aspect, in one possible embodiment, the electrical signal curve corresponding to the infrared light signal includes a plurality of first points. The determination unit 502 is configured to calculate an average value of the amplitude of the infrared light signal based on the plurality of first points, where the average value of the amplitude of the infrared light signal is an average value of the amplitudes represented by the plurality of first points. The determination unit 502 is configured to determine whether insufficient penetration exists in the target weld based on the average value of the amplitude of the infrared light signal. If the average value of the amplitude of the infrared light signal is greater than an average value threshold, the determination unit 502 determines that insufficient penetration exists in the target weld.

[0139] Optionally, the reference middle line of the infrared light signal includes a plurality of second points, and the average value threshold is twice the average value of the amplitudes represented by the plurality of second points.

[0140] In one possible embodiment, the acquisition unit 501 is configured to acquire position information of the target weld when it is determined that a penetration defect exists in the target weld.

[0141] IPC 500 further includes a transceiver unit 503. Transceiver unit 503 is configured to transmit the target weld position information to the laser welding system and cause the laser welding system to rework the target weld based on the target weld position information.

[0142] In one possible embodiment, the IPC 500 further comprises a display unit 504. The display unit 504 is configured to display a diagram of an electrical signal curve corresponding to the infrared light signal generated by the target weld after a complete target weld is formed, and to display a result of whether or not there is a penetration gap in the target weld.

[0143] Note that each of the above units (acquisition unit 501, determination unit 502, transceiver unit 503, and display unit 504) is used to perform the corresponding step of the above method. For example, the acquisition unit 501 is used to perform the content related to S201, the determination unit 502 is used to perform the content related to S202, and the transceiver unit 503 and display unit 504 are used to perform the content related to S203. Each or all of the units or modules in the IPC 500 may be integrated into one or several other units or modules, or some of the units or modules may be further functionally divided into multiple smaller units or modules, thereby achieving the same operations without affecting the technical effects of the embodiments of the present invention. The above units or modules are divided based on logic functions. In actual application, the function of one unit (or module) may be realized by multiple units (or modules), or the functions of multiple units (or modules) may be realized by one unit (or module).

[0144] Based on the description of the above method and device embodiments, reference is now made to Fig. 6, which is a schematic diagram illustrating the structure of another IPC 600 according to an embodiment of the present application. The IPC 600 shown in Fig. 6 (the IPC 600 may specifically be a computer device) includes a memory 601, a processor 602, a communication interface 603, and a bus 604. The memory 601, the processor 602, and the communication interface 603 are communicatively connected to each other via the bus 604.

[0145] The memory 601 can be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0146] The memory 601 can store a program. When the program stored in the memory 601 is executed by the processor 602, the processor 602 and the communication interface 603 are used to execute various steps of the method for detecting poor penetration in welding according to an embodiment of the present application.

[0147] The processor 602 may be a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU), or one or more integrated circuits, and is used to execute associated programs to implement the functions performed by units in the IPC 600 according to embodiments of the present application or to perform the method for detecting poor penetration in welding according to method embodiments of the present application.

[0148] The processor 602 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the method for detecting poor penetration in welding of the present application can be completed by an integrated logic circuit in the form of hardware or instructions in the form of software in the processor 602. The processor 602 can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The processor 602 can realize or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of the present application can be performed and completed directly by a hardware decoding processor, or can be performed and completed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well known in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in memory 601. Processor 602 reads information in memory 601 and, in cooperation with its hardware, realizes the functions performed by the units in IPC 500 according to the embodiments of the present application, or performs the method for detecting poor penetration in welding according to the method embodiments of the present application.

[0149] The communication interface 603 may be, for example, a transceiver device such as a walkie-talkie, but is not limited to this. The communication interface 603 enables communication between the IPC 600 and other devices or communication networks. For example, data may be obtained via the communication interface 603.

[0150] The bus 604 may include a connection path used to transfer information between each component of the IPC 600 (eg, the memory 601, the processor 602, and the communication interface 603).

[0151] Although the IPC 600 shown in FIG. 6 only illustrates a memory, a processor, and a communication interface, those skilled in the art should understand that in a specific embodiment, the IPC 600 also includes other components necessary for normal operation. At the same time, those skilled in the art should understand that the IPC 600 may also include other hardware components for realizing other additional functions according to specific needs. Furthermore, those skilled in the art should understand that the IPC 600 may include only the components necessary to implement an embodiment of the present application, and need not include all of the components shown in FIG. 6.

[0152] An embodiment of the present application further provides a chip, the chip including a processor and a data interface, wherein the processor reads instructions stored in the memory via the data interface to execute the method for detecting poor penetration in a weld.

[0153] Optionally, in one embodiment, the chip may further include a memory having instructions stored therein, the processor being adapted to execute the instructions stored in the memory, and when executed, the processor being adapted to perform the method for detecting poor penetration in a weld.

[0154] An embodiment of the present application further provides a computer-readable storage medium having stored thereon instructions that, when executed by a computer or processor, cause the computer or processor to perform one or more steps of any of the methods described above.

[0155] An embodiment of the present application further provides a computer program product comprising instructions which, when executed on a computer or processor, cause the computer or processor to perform one or more steps of any of the methods described above.

[0156] Those skilled in the art will recognize that the functions described in conjunction with the various exemplary logical block diagrams, modules, and algorithm steps set forth in this disclosure can be implemented by hardware, software, firmware, or any combination thereof. If implemented by software, the functions described in the various exemplary logical block diagrams, modules, and steps can be stored on or transmitted via a computer-readable medium as one or more instructions or code and executed by a hardware-based processing unit. Computer-readable media include computer-readable storage media. Computer-readable media correspond to tangible media, such as data storage media or communication media, including any medium that facilitates transfer of a computer program from one place to another (e.g., based on a communication protocol). As such, computer-readable media generally may correspond to (1) non-transitory tangible computer-readable storage media or (2) communication media, such as a signal or carrier. Data storage media may be any available medium that can be accessed by one or more computers or one or more processors to retrieve instructions, code, and / or data structures for implementing the techniques described herein. The computer program product may include a computer-readable medium.

[0157] By way of example, and not limitation, such computer-readable storage media may include RAM, ROM, electrically erasable programmable read-only memory (EEPROM), compact disk read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage, flash memory, or any other medium that can store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection can be properly referred to as a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, or microwave, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, or microwave are included within the definition of medium. However, computer-readable storage media and data storage media do not include connections, carriers, signals, or other transitory media, and indeed cover non-transitory tangible storage media. As used herein, magnetic disks and optical disks include compact disks (CDs), laser disks, optical disks, digital versatile discs (DVDs), and Blu-ray disks, where magnetic disks typically reproduce data magnetically and optical disks reproduce data optically using a laser. Combinations of the above should also be included within the scope of computer-readable media.

[0158] The instructions may be executed by one or more processors, such as, for example, one or more DSPs, general-purpose microprocessors, ASICs, FPGAs, or other equivalent integrated circuits or discrete logic circuits. Accordingly, the term "processor," as used herein, may refer to any one of the above structures, or any other structure suitable for implementing the techniques described herein. Furthermore, in some aspects, the functionality illustrated in the various exemplary logical block diagrams, modules, and steps described herein may be provided in dedicated hardware and / or software modules configured for use in encoding and decoding, or may be incorporated into an integrated encoder-decoder. Alternatively, the techniques may be implemented entirely in one or more circuits or logic elements.

[0159] The technology of the present application may be implemented in a variety of devices or equipment, including a wireless mobile phone, an integrated circuit (IC), or a set of ICs (e.g., a chipset). This application emphasizes the functionality of a device configured to perform the disclosed technology using various components, modules, or units, not necessarily realized by different hardware units. Indeed, as described above, the various units may be combined with appropriate software and / or firmware in a hardware unit of a codec, or may be provided in interoperable hardware units (including one or more processors as described above).

[0160] Those skilled in the art will clearly understand that for convenience and conciseness of explanation, the specific operating processes of the above systems, devices, and units may refer to the specific descriptions of the processes of the corresponding steps in the above method embodiments, and will not be repeated in this specification.

[0161] In the description of this application, unless otherwise specified, the symbol " / " indicates that the related objects before and after it are in an "or" relationship. For example, A / B refers to A or B, and A and B may be singular or plural. In the description of this application, unless otherwise specified, "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, "at least one of a, b, or c" can refer to a, b, c, a and b, a and c, b and c, or a, b, and c. Each of a, b, and c may be singular or plural. In order to facilitate a clear description of the technical solutions of the embodiments of this application, the embodiments of this application use terms such as "first," "second," etc. to distinguish between identical or similar entities having the same basic functions and roles. Those skilled in the art will understand that terms such as "first" and "second" do not limit the number or execution order, and terms such as "first" and "second" do not necessarily limit different items. Furthermore, in the embodiments of this application, terms such as "exemplary" or "for example" mean "as an example, an illustration, an explanation." In the embodiments of this application, any embodiment or design described as "for example" or "exemplary" should not be construed as superior to other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present related concepts in a concrete manner for ease of understanding.

[0162] It should be understood that in some embodiments of the present application, the disclosed systems, devices, and methods may be realized in other forms. For example, the division of units is merely a division of logical functions, and in actual implementation, other division forms may be used. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not implemented. Couplings, direct couplings, and communication connections between shown or discussed may be indirect couplings or communication connections through several interfaces, devices, or units, and may be in electrical, mechanical, or other forms.

[0163] Units described as separate components may or may not be physically separated. Components shown as units may or may not be physical units, i.e., they may be located in one place or may be distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the technical solution of this embodiment.

[0164] All or part of the above embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the above embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored on or transmitted via a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, DSL, etc.) or wireless (e.g., infrared, radio, microwave, etc.). The computer-readable storage medium can be any available medium accessible by a computer, or a data storage device incorporating one or more available media, such as a server, data center, etc. The available medium may be a ROM, a RAM, a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape, a magnetic disk), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)).

[0165] The above is only a specific embodiment of the present application, and the protection scope of the present application is not limited thereto. Any modifications or replacements within the technical scope disclosed in the embodiments of the present application should be included in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be determined by the protection scope of the claims.

[0166] The above-described device embodiments are merely illustrative, and the units and modules described as separate components may or may not be physically separated. Furthermore, some or all of the units and modules may be selected according to actual needs to achieve the objectives of the technical solutions of the present embodiments. Those skilled in the art can understand and implement these without any creative efforts.

[0167] The above is only a specific embodiment of the present application, and those skilled in the art may make some improvements and modifications without departing from the principles of the present application, which should also fall within the protection scope of the present application.

Claims

1. A method for detecting poor penetration in welding, comprising: acquiring an electrical signal corresponding to an infrared light signal produced by a target weld during a first time period, the first time period starting at a time not earlier than a time when the complete target weld is formed, the target weld being formed by laser machining a sheet material; determining whether there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal; determining whether there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal; Obtaining an upper limit value of the infrared light signal based on an electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal; determining whether a penetration defect exists in the target weld based on an upper limit value of the infrared light signal; If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper limit value of the infrared light signal is greater than an upper threshold, it is determined that there is poor penetration in the target weld; Or, determining whether there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal; Obtaining an upper local area of ​​the infrared light signal based on an electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal, the upper local area of ​​the infrared light signal being an area of ​​a region between a portion of the electrical signal curve corresponding to the infrared light signal, the portion having an amplitude greater than the amplitude of the reference upper edge line, and the reference upper edge line; determining whether a poor penetration exists in the target weld based on an upper local area of ​​the infrared light signal; If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper local area of ​​the infrared light signal is greater than an upper local area threshold, it is determined that there is poor penetration in the target weld; Or, determining whether there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal; determining a slope of the infrared optical signal based on an electrical signal curve corresponding to the infrared optical signal; determining whether a poor penetration exists in the target weld based on a slope of the infrared light signal; If the slope of the infrared light signal is greater than a slope threshold, it is determined that there is poor penetration in the target weld; The curve of the electrical signal corresponding to the infrared light signal includes a plurality of first points, and determining a slope of the infrared light signal based on the curve of the electrical signal corresponding to the infrared light signal includes: determining a start first point and an end first point from the plurality of first points, wherein the amplitude represented by the start first point is collected at the start time, and the end first point is a first point represented by an amplitude of 0; determining a collection time of the first starting point and a collection time of the first ending point; calculating a first difference between an amplitude represented by the starting first point and an amplitude represented by the ending first point; calculating a second difference between a collection time of the starting first point and a collection time of the ending first point; and calculating a ratio of the first difference to the second difference, wherein the ratio is a slope of the infrared light signal; Or, The electrical signal curve corresponding to the infrared light signal includes a plurality of first points, and determining whether there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal is: Calculating an average value of the amplitude of the infrared light signal based on the plurality of first points, wherein the average value of the amplitude of the infrared light signal is an average value of amplitudes represented by the plurality of first points; determining whether a poor penetration exists in the target weld based on an average value of the amplitude of the infrared light signal; If the average value of the amplitude of the infrared light signal is greater than an average value threshold, it is determined that there is poor penetration in the target weld; The reference middle line of the infrared light signal includes a plurality of second points, and the method for detecting poor penetration in welding includes: calculating an average value of amplitudes represented by the plurality of second points and determining twice the average value as the average value threshold; Or, determining whether there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal; Obtaining an average offset of the infrared optical signal based on an electrical signal curve corresponding to the infrared optical signal and a reference middle line of the infrared optical signal; determining whether a poor penetration exists in the target weld based on the average offset of the infrared light signal; If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the average offset of the infrared light signal exceeds a preset offset range, it is determined that there is poor penetration in the target weld. A method for detecting poor penetration in welding, comprising:

2. the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, the reference upper edge line includes a plurality of third points, the plurality of first points correspond in time to the plurality of third points, and obtaining an upper limit value of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference upper edge line of the infrared light signal; calculating a difference between an amplitude represented by each of the plurality of first points and an amplitude represented by a third point corresponding in time to the first points to obtain a plurality of differences; determining a maximum value of the plurality of differences as an upper limit value of the infrared light signal; Including, 2. The method for detecting poor penetration in welding according to claim 1.

3. a reference middle line of the infrared light signal including a plurality of second points, a reference upper edge line of the infrared light signal including a plurality of third points, the plurality of second points corresponding in time to the plurality of third points, and the method for detecting poor penetration in welding includes: calculating a difference between an amplitude represented by each of the plurality of third points and an amplitude represented by a second point corresponding in time to the third point to obtain a plurality of differences; determining the maximum value of the plurality of differences as the upper threshold value; further comprising:

2. The method for detecting poor penetration in welding according to claim 1.

4. Obtaining an upper local area of ​​the infrared light signal based on an electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal includes: determining a first time and a second time, the first time being a start time of the first time period, and the second time being a time at which an electrical signal curve corresponding to the infrared light signal intersects with the reference upper edge line; calculating a first integrated area under an electrical signal curve corresponding to the infrared light signal between the first time and the second time; and calculating a second integrated area under the reference upper edge line between the first time and the second time. determining a difference between the first integrated area and the second integrated area as an upper local area of ​​the infrared light signal.

2. The method for detecting poor penetration in welding according to claim 1.

5. a reference upper edge line of the infrared light signal including a plurality of third points, a reference middle line of the infrared light signal including a plurality of second points, the plurality of third points corresponding in time to the plurality of second points, and the method for detecting poor penetration in welding includes: determining a third start point and a third end point from a reference upper edge line of the infrared light signal, wherein the third start point is a third point corresponding in time to the second start point, the third end point is a third point whose represented amplitude is the same as the represented amplitude of the second point corresponding in time, and the second start point is a first second point within a reference middle line of the infrared light signal; calculating a third integral area under a portion of a reference upper edge line of the infrared light signal between the third starting point and the third ending point, and calculating a fourth integral area under a portion of a reference middle line of the infrared light signal between a second point corresponding in time to the third starting point and a second point corresponding in time to the third ending point; determining half the difference between the third integrated area and the fourth integrated area as the upper local area threshold; further comprising:

2. The method for detecting poor penetration in welding according to claim 1.

6. a reference middle line of the infrared light signal including a plurality of second points, the plurality of first points corresponding in time to the plurality of second points, and the method for detecting poor penetration in welding includes: determining a second start point and a second end point from the plurality of second points, wherein the second start point is a second point within a reference middle line of the infrared light signal that corresponds in time to the first start point, and the second end point is a second point within a reference middle line of the infrared light signal that corresponds in time to the first end point; calculating a third difference between the amplitude represented by the starting second point and the amplitude represented by the ending second point, calculating a ratio of the third difference to the second difference, and determining twice the absolute value of the ratio as the slope threshold; further comprising:

2. The method for detecting poor penetration in welding according to claim 1.

7. the electrical signal curve corresponding to the infrared light signal includes a plurality of first points, the reference middle line includes a plurality of second points, the plurality of first points correspond in time to the plurality of second points, and obtaining an average offset of the infrared light signal based on the electrical signal curve corresponding to the infrared light signal and the reference middle line of the infrared light signal; calculating an absolute value of a difference between an amplitude represented by each of the plurality of first points and an amplitude represented by a second point corresponding in time to each of the plurality of first points, thereby obtaining a plurality of absolute difference values; summing the absolute values ​​of the obtained differences and averaging the summation result to obtain an average offset of the infrared light signal; Including, 2. The method for detecting poor penetration in welding according to claim 1.

8. the preset offset range is [-μ-4σ, μ+4σ], μ is a mean value of average offsets of electrical signals corresponding to infrared light signals generated during a second time period by a plurality of complete welds without penetration defects obtained during historical laser processing, and σ is a standard deviation of average offsets of electrical signals corresponding to infrared light signals generated during a second time period by a plurality of complete welds without penetration defects obtained during the historical laser processing, and a start time of the second time period is not earlier than a time when the complete welds without penetration defects are formed.

2. The method for detecting poor penetration in welding according to claim 1.

9. The method for detecting poor penetration in welding comprises: If it is determined that there is poor penetration in the target weld, acquiring position information of the target weld; transmitting position information of the target weld to a laser welding system, and causing the laser welding system to rework the target weld based on the position information of the target weld; further comprising:

2. The method for detecting poor penetration in welding according to claim 1.

10. The method for detecting poor penetration in welding comprises: After the target weld is completely formed, displaying a diagram of an electrical signal curve corresponding to the infrared light signal generated by the target weld, and displaying a result of whether or not there is a penetration defect in the target weld.

2. The method for detecting poor penetration in welding according to claim 1.

11. The thickness of the thin plate material is 0.01 mm to 0.6 mm; 2. The method for detecting poor penetration in welding according to claim 1.

12. An industrial personal computer (IPC) comprising an acquisition unit, a display unit, and a determination unit, the acquisition unit is configured to acquire an electrical signal corresponding to an infrared light signal generated by a target weld during a first time period, the start time of the first time period being no earlier than a time when the complete target weld is formed, and the target weld is formed by laser processing a thin sheet material; the display unit is configured to display an electrical signal corresponding to an infrared light signal generated by the target weld during a first time period; The determining unit is configured to determine whether there is a penetration defect in the target weld based on an electrical signal curve corresponding to the infrared light signal; The determining unit is configured to determine whether there is a penetration defect in the target weld based on an electrical signal curve corresponding to the infrared light signal, and Obtaining an upper limit value of the infrared light signal based on an electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal; determining whether or not there is insufficient penetration in the target weld based on an upper limit value of the infrared light signal; If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper limit value of the infrared light signal is greater than an upper threshold, it is determined that there is poor penetration in the target weld; Or, The determining unit is configured to determine whether there is a penetration defect in the target weld based on an electrical signal curve corresponding to the infrared light signal, and The method is configured to acquire an upper local area of ​​the infrared light signal based on an electrical signal curve corresponding to the infrared light signal and a reference upper edge line of the infrared light signal, wherein the upper local area of ​​the infrared light signal is an area of ​​a region between a portion of the electrical signal curve corresponding to the infrared light signal, the portion having an amplitude greater than the amplitude of the reference upper edge line, and the reference upper edge line; determining whether a poor penetration exists in the target weld based on an upper local area of ​​the infrared light signal; If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the upper local area of ​​the infrared light signal is greater than an upper local area threshold, it is determined that there is poor penetration in the target weld; Or, The determining unit is configured to determine whether there is a penetration defect in the target weld based on an electrical signal curve corresponding to the infrared light signal, and determining a slope of the infrared light signal based on an electrical signal curve corresponding to the infrared light signal; determining whether a poor penetration exists in the target weld based on a slope of the infrared light signal; If the slope of the infrared light signal is greater than a slope threshold, it is determined that there is poor penetration in the target weld; The electrical signal curve corresponding to the infrared light signal includes a plurality of first points, and the determining unit is configured to determine a slope of the infrared light signal according to the electrical signal curve corresponding to the infrared light signal, a first start point and a first end point are determined from the plurality of first points, the amplitude represented by the first start point being collected at the start time, and the first end point is a first point whose represented amplitude is 0; configured to determine a collection time of the first starting point and a collection time of the first ending point; calculating a first difference between an amplitude represented by the starting first point and an amplitude represented by the ending first point; calculating a second difference between a collection time of the starting first point and a collection time of the ending first point; and calculating a ratio of the first difference to the second difference, the ratio being a slope of the infrared light signal; Or, The electrical signal curve corresponding to the infrared light signal includes a plurality of first points, and the determining unit is configured to determine whether there is a penetration defect in the target weld based on the electrical signal curve corresponding to the infrared light signal, a mean value of the amplitude of the infrared light signal is calculated based on the plurality of first points, and the mean value of the amplitude of the infrared light signal is an average value of amplitudes represented by the plurality of first points; determining whether a poor penetration exists in the target weld based on an average value of the amplitude of the infrared light signal; If the average value of the amplitude of the infrared light signal is greater than an average value threshold, it is determined that there is poor penetration in the target weld; The reference middle line of the infrared light signal includes a plurality of second points, and the determination unit further comprises: configured to calculate an average value of amplitudes represented by the plurality of second points and determine twice the average value as the average value threshold; Or, The determining unit is configured to determine whether there is a penetration defect in the target weld based on an electrical signal curve corresponding to the infrared light signal, and Obtaining an average offset of the infrared optical signal based on an electrical signal curve corresponding to the infrared optical signal and a reference middle line of the infrared optical signal; determining whether a poor penetration exists in the target weld based on the average offset of the infrared light signal; If the amplitude of the electrical signal curve corresponding to the infrared light signal is greater than the amplitude of the reference upper edge line of the infrared light signal and the average offset of the infrared light signal exceeds a preset offset range, it is determined that there is poor penetration in the target weld.

1. An industrial personal computer characterized by:

13. 1. An industrial personal computer (IPC), comprising: a processor; The processor is connected to a memory, and the memory is configured to store a computer program, and the processor causes the IPC to perform the method for detecting poor penetration in welding according to any one of claims 1 to 11 by executing the computer program stored in the memory.

1. An industrial personal computer characterized by:

14. A laser processing control system, comprising: The present invention includes a laser welding system, a multi-optical sensor module, a signal processing module, and an industrial personal computer (IPC), The IPC is configured to perform the method for detecting poor penetration in welding according to any one of claims 1 to 11. A laser processing control system characterized by:

15. 1. A computer-readable storage medium, comprising: A computer program is stored in the computer-readable storage medium, and the method for detecting poor penetration in welding according to any one of claims 1 to 11 is performed by executing the computer program by a processor. A computer-readable storage medium comprising:

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