CN118009875A - Laser focus position measurement method, device, equipment and storage medium - Google Patents
Laser focus position measurement method, device, equipment and storage medium Download PDFInfo
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- CN118009875A CN118009875A CN202410027680.XA CN202410027680A CN118009875A CN 118009875 A CN118009875 A CN 118009875A CN 202410027680 A CN202410027680 A CN 202410027680A CN 118009875 A CN118009875 A CN 118009875A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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Abstract
本发明涉及激光焦点测量技术领域，公开了一种激光焦点位置的测量方法、装置、设备及存储介质，用于提高激光焦点位置的测量效率。激光焦点位置的测量方法包括：通过控制同轴激光头沿高度方向倾斜从预设的起点位置移动至预设的终点位置，得到同轴激光头在焊接平面留下的焊接痕，控制辅助拍照装置对焊接痕进行拍摄，得到焊接轨迹宽度图，识别焊接轨迹宽度图中宽度最小的目标位置，并基于目标位置、起点位置和终点位置计算能量最集中的激光焦点位置。
The present invention relates to the field of laser focus measurement technology, and discloses a laser focus position measurement method, device, equipment and storage medium for improving the measurement efficiency of the laser focus position. The laser focus position measurement method includes: controlling a coaxial laser head to move from a preset starting position to a preset end position along a height direction, obtaining a welding mark left by the coaxial laser head on a welding plane, controlling an auxiliary photographing device to photograph the welding mark, obtaining a welding track width map, identifying a target position with the smallest width in the welding track width map, and calculating a laser focus position with the most concentrated energy based on the target position, the starting position and the end position.
Description
Technical Field
The present invention relates to the field of laser focal point measurement technologies, and in particular, to a method, an apparatus, a device, and a storage medium for measuring a laser focal point position.
Background
In coaxial laser welding, determining the position of the laser focus is important to ensure the stability of the welding process and to obtain a high quality welded joint.
In the current measuring method for the laser focus position, the laser focus position is generally measured by a ranging sensor, and the height of the laser focus needs to be repeatedly measured by the ranging sensor to obtain the accurate laser focus position, so that the final laser focus position is determined according to the measured values of the heights of a plurality of laser focuses.
In the prior art, repeated measurement is performed by a distance measuring sensor, resulting in low efficiency of measuring the laser focal point position.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for measuring the position of a laser focus, which are used for solving the problem of low measurement efficiency caused by the fact that the position of the laser focus is required to be repeatedly measured by a ranging sensor in the prior art.
The first aspect of the present invention provides a method for measuring a laser focal position, including: the coaxial laser head is controlled to move obliquely along the height direction from a preset starting point position to a preset end point position, and a welding mark left by the coaxial laser head on a welding plane is obtained; controlling an auxiliary photographing device to photograph the welding marks to obtain a welding track width diagram; and identifying a target position with the smallest width in the welding track width graph, and calculating the laser focus position with the most concentrated energy based on the target position, the starting point position and the end point position.
In a possible implementation manner, the control coaxial laser head moves from a preset starting point position to a preset end point position in a tilting manner along the height direction to obtain a welding mark left by the coaxial laser head on a welding plane, and the control coaxial laser head comprises: controlling the coaxial laser head to move to a preset starting point position for performing light-on treatment; controlling the coaxial laser head to move obliquely along the height direction based on a preset welding speed; and if the coaxial laser head moves to the preset end position, performing light-off treatment on the coaxial laser head, and obtaining a welding mark left by the coaxial laser head on a welding plane.
In a possible implementation manner, the control auxiliary photographing device photographs the welding trace to obtain a welding trace width map, including: determining a photographing position based on the starting point position and the ending point position; controlling the auxiliary photographing device to move to the photographing position for photographing; and identifying the endpoints of the line segment tracks in the pictures shot by the auxiliary shooting device, and drawing based on the endpoints of the line segment tracks to obtain a welding track width graph.
In a possible embodiment, the determining a photographing position based on the starting point position and the ending point position includes: determining the minimum width required to be photographed based on the starting point position and the ending point position; adjusting the height of the auxiliary photographing device until the width corresponding to the visual field of the auxiliary photographing device is larger than the minimum width, and determining photographing height coordinates of a photographing position; and calculating based on the starting point position, the end point position and preset offset information to obtain the two-dimensional coordinates of the photographing position.
In a possible implementation manner, the identifying the target position with the smallest width in the welding track width map, and calculating the laser focus position with the most concentrated energy based on the target position, the starting position and the ending position includes: identifying a target position with the minimum width in the welding track width graph, and determining a two-dimensional coordinate corresponding to the target position; and calculating the target height of the laser focus with the most concentrated energy through a similar triangle based on the two-dimensional coordinates corresponding to the starting point position, the ending point position and the target position.
In a possible embodiment, the calculating the target height of the laser focus with the most concentrated energy by using a similar triangle based on the two-dimensional coordinates of the start position, the end position and the target position includes: drawing a first triangle based on the coordinates of the starting point position and the coordinates of the end point position; drawing a line segment in the vertical direction to intersect with the hypotenuse of the first triangle based on the two-dimensional coordinates of the target position to obtain a second triangle; and calculating the target height of the laser focus with the most concentrated energy based on the proportional relation between the first triangle and the second triangle.
In one possible embodiment, after identifying the target position with the smallest width in the welding track width map, and calculating the laser focus position with the most concentrated energy based on the target position, the start position, and the end position, the method further includes: controlling the coaxial laser head to move to a target height corresponding to the laser focus position; controlling the coaxial laser head to perform laser welding according to the target height and a preset height range to obtain a line segment track diagram; and judging whether the laser focus position is accurate or not based on the line segment track graph.
A second aspect of the present invention provides a laser focus position measurement apparatus comprising: the first control module is used for controlling the coaxial laser head to move obliquely along the height direction from a preset starting point position to a preset end point position, so as to obtain a welding mark left by the coaxial laser head on a welding plane; the second control module is used for controlling the auxiliary photographing device to photograph the welding marks to obtain a welding track width diagram; and the processing module is used for identifying a target position with the smallest width in the welding track width graph and calculating the laser focus position with the most concentrated energy based on the target position, the starting point position and the end point position.
In a possible embodiment, the first control module is specifically configured to: controlling the coaxial laser head to move to a preset starting point position for performing light-on treatment; controlling the coaxial laser head to move obliquely along the height direction based on a preset welding speed; and if the coaxial laser head moves to the preset end position, performing light-off treatment on the coaxial laser head, and obtaining a welding mark left by the coaxial laser head on a welding plane.
In a possible embodiment, the second control module includes: a determining unit configured to determine a photographing position based on the start position and the end position; the control unit is used for controlling the auxiliary photographing device to move to the photographing position for photographing; and the drawing unit is used for identifying the endpoints of the track of each line segment in the picture shot by the auxiliary shooting device, and drawing the end points of the track of each line segment to obtain a welding track width graph.
In a possible embodiment, the determining unit is specifically configured to: determining the minimum width required to be photographed based on the starting point position and the ending point position; adjusting the height of the auxiliary photographing device until the width corresponding to the visual field of the auxiliary photographing device is larger than the minimum width, and determining photographing height coordinates of a photographing position; and calculating based on the starting point position, the end point position and preset offset information to obtain the two-dimensional coordinates of the photographing position.
In a possible embodiment, the processing module includes: the processing unit is used for identifying a target position with the minimum width in the welding track width graph and determining a two-dimensional coordinate corresponding to the target position; and the calculating unit is used for calculating the target height of the laser focus with the most concentrated energy through a similar triangle based on the two-dimensional coordinates corresponding to the starting point position, the ending point position and the target position.
In a possible embodiment, the computing unit is specifically configured to: drawing a first triangle based on the coordinates of the starting point position and the coordinates of the end point position; drawing a line segment in the vertical direction to intersect with the hypotenuse of the first triangle based on the two-dimensional coordinates of the target position to obtain a second triangle; and calculating the target height of the laser focus with the most concentrated energy based on the proportional relation between the first triangle and the second triangle.
In a possible embodiment, the device for measuring the focal position of the laser further comprises: the third control module is used for controlling the coaxial laser head to move to a target height corresponding to the laser focus position; the welding module is used for controlling the coaxial laser head to perform laser welding in a preset height range based on the target height to obtain a line segment track diagram; and the judging module is used for judging whether the laser focus position is accurate or not based on the line segment track diagram.
A third aspect of the present invention provides a laser focus position measurement apparatus comprising: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the laser focus position measurement device to perform the laser focus position measurement method described above.
A fourth aspect of the present invention provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the above-described method of measuring a laser focus position.
According to the technical scheme provided by the invention, the coaxial laser head is controlled to move from a preset starting point position to a preset end point position in a tilting manner along the height direction, so that a welding mark left by the coaxial laser head on a welding plane is obtained; controlling an auxiliary photographing device to photograph the welding marks to obtain a welding track width diagram; and identifying a target position with the smallest width in the welding track width graph, and calculating the laser focus position with the most concentrated energy based on the target position, the starting point position and the end point position. According to the embodiment of the invention, the coaxial laser head is controlled to move from the preset starting point position to the preset end point position in the inclination manner along the height direction, so that the welding mark left by the coaxial laser head on the welding plane is obtained, the auxiliary photographing device is controlled to photograph the welding mark, a welding track width diagram is obtained, the target position with the minimum width in the welding track width diagram is identified, the laser focus position with the most concentrated energy is calculated based on the target position, the starting point position and the end point position, and the measurement efficiency of the laser focus position is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a method for measuring a laser focal position according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another embodiment of a method for measuring a laser focal position according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of a coaxial laser head and an auxiliary photographing device in an embodiment of the invention;
FIG. 4 is a diagram illustrating a width of a welding track according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of coordinates corresponding to a target position in an embodiment of the present invention;
FIG. 6 is a schematic view of similar triangles in an embodiment of the present invention;
FIG. 7 is a schematic view of a segment trajectory in an embodiment of the present invention;
FIG. 8 is a schematic view of an embodiment of a laser focus position measuring apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic view of another embodiment of a laser focus position measuring apparatus according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of an embodiment of a laser focus position measurement apparatus according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method, a device, equipment and a storage medium for measuring the position of a laser focus, which are used for solving the problem of low measurement efficiency caused by the fact that the position of the laser focus is required to be repeatedly measured by a ranging sensor in the prior art.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
It is to be understood that the execution body of the present invention may be a device for measuring a focal position of a laser, and may also be a terminal or a server, which is not limited herein. The embodiment of the invention is described by taking a server as an execution main body as an example.
For ease of understanding, a specific flow of an embodiment of the present invention is described below, referring to fig. 1, and one embodiment of a method for measuring a laser focal position in an embodiment of the present invention includes:
101. the coaxial laser head is controlled to move obliquely along the height direction from a preset starting point position to a preset end point position, and a welding mark left by the coaxial laser head on a welding plane is obtained;
And when the coaxial laser head moves to the end position and is kept for Guan Guangyan hours, the light-off treatment is carried out, and a welding plane is welded by the laser of the coaxial laser head, so that a welding mark is left.
102. Controlling an auxiliary photographing device to photograph welding tracks to obtain a welding track width diagram;
The auxiliary photographing device is adjusted to a preset photographing position, and the welding marks on the x-y plane can be clearly photographed by the auxiliary photographing device located at the photographing position.
After a picture containing welding marks is acquired, inputting the picture into a line segment identification model, determining each line segment corresponding to the welding marks through the line segment identification model, extracting endpoints corresponding to each line segment, determining adjacent endpoint data sets, cleaning, filtering and normalizing the endpoint data sets to obtain processed endpoint data sets, fitting endpoints in the processed endpoint data sets through a least square method based on preset curve types to obtain a fitted curve, evaluating the fitted curve, and if the fitting error is larger than the preset error, re-fitting the curve until the fitting error is not larger than the preset error, and obtaining a welding track width picture.
103. And identifying a target position with the smallest width in the welding track width graph, and calculating the laser focus position with the most concentrated energy based on the target position, the starting point position and the end point position.
And measuring the length of each line segment, determining a first endpoint and a second endpoint corresponding to the line segment with the minimum length, determining the width between the first endpoint and the second endpoint as the minimum width in the welding track width graph, determining the two-dimensional coordinates of the target position corresponding to the minimum width in the welding track width graph through the first endpoint and the second endpoint, drawing a first triangle through the coordinates of the starting point position and the coordinates of the end point position, drawing a line segment in the height direction until the line segment intersects the first triangle based on the two-dimensional coordinates of the target position, obtaining a second triangle, wherein the vertex coordinates shared by the first triangle and the second triangle are coordinates corresponding to the starting point position, the first triangle and the second triangle are similar triangles, and calculating the height of the laser focus based on the comparison relation of the similar triangles through the coordinates of the starting point position, the coordinates of the end point position and the two-dimensional coordinates of the target position.
According to the embodiment of the invention, the coaxial laser head is controlled to move from the preset starting point position to the preset end point position in the inclination manner along the height direction, so that the welding mark left by the coaxial laser head on the welding plane is obtained, the auxiliary photographing device is controlled to photograph the welding mark, a welding track width diagram is obtained, the target position with the minimum width in the welding track width diagram is identified, the laser focus position with the most concentrated energy is calculated based on the target position, the starting point position and the end point position, and the measuring efficiency of the laser focus position is improved.
Referring to fig. 2, another embodiment of a method for measuring a laser focal position according to an embodiment of the present invention includes:
201. the coaxial laser head is controlled to move obliquely along the height direction from a preset starting point position to a preset end point position, and a welding mark left by the coaxial laser head on a welding plane is obtained;
Controlling the coaxial laser head to move to a preset starting point position for performing light-on treatment; controlling the coaxial laser head to move obliquely along the height direction based on a preset welding speed; and if the coaxial laser head moves to the preset end position, performing light-off treatment on the control coaxial laser head to obtain a welding mark left by the coaxial laser head on a welding plane.
The coaxial laser head is controlled to move to a preset starting point position, the coaxial laser head is subjected to light-on treatment based on preset power, the coaxial laser head starts to move after the preset light-on delay time is kept, when the coaxial laser head moves to a preset end point position and is kept for preset Guan Guangyan hours, light-off treatment is performed, the coaxial laser head starts to move obliquely along the height direction from the starting point position at a preset welding speed in the light-on keeping process, and welding marks are left on a welding plane due to the action of laser in the moving process of the coaxial laser head.
The coaxial laser heads may be moved obliquely in the x-z plane, also in the y-z plane, or in other planes in the height direction, as long as the coaxial laser heads are ensured to move on the same plane.
202. Determining a photographing position based on the starting point position and the end point position;
Determining the minimum width required to be photographed based on the starting point position and the end point position; adjusting the height of the auxiliary photographing device until the width corresponding to the visual field of the auxiliary photographing device is larger than the minimum width, and determining photographing height coordinates of the photographing position; and calculating based on the starting point position, the end point position and the preset offset information to obtain the two-dimensional coordinates of the photographing position.
As shown in fig. 3, in this embodiment, the auxiliary photographing device is a CCD camera, connected to the coaxial laser head, and the battery carrier is disposed on the welding plane and holds the battery, and the auxiliary photographing device can detect the position of the battery through the built-in sensor and the electronic chip, so that the battery can be clearly displayed in the photograph, and the photographing height can be saved.
The auxiliary photographing device can be connected with the coaxial laser head to synchronously move as shown in fig. 3, and can also be separated from the coaxial laser head to independently move.
Determining a first two-dimensional coordinate corresponding to a starting point position and a second two-dimensional coordinate corresponding to an ending point position, moving the battery from the first two-dimensional coordinate to the second two-dimensional coordinate, transmitting continuously-changed position information to an auxiliary photographing device, enabling the distance between the first two-dimensional coordinate and the second two-dimensional coordinate to be the minimum width, enabling the auxiliary photographing device to receive the position information, automatically adjusting the focal length of a lens of the auxiliary photographing device based on the position information, determining a photographing height coordinate of a photographing position when the width corresponding to the visual field of the auxiliary photographing device is larger than the minimum width, calculating according to the first two-dimensional coordinate, the second two-dimensional coordinate and preset offset information to obtain the two-dimensional coordinate of the photographing position, and enabling the preset offset information to include an offset X P in the X-axis direction and an offset Y P in the Y-axis direction because the installation position of the auxiliary photographing device and the installation position of the coaxial laser head are offset in the X-axis direction.
If the two-dimensional coordinates of the start point position are (X 1,Y1), the two-dimensional coordinates of the end point position are (X 2,Y2), the photographing height is Z 0, and the photographing position is (X 1+X2/2+XP,Y1+Y2/2+YP,Z0).
203. Controlling the auxiliary photographing device to move to a photographing position for photographing;
and after receiving the welding instruction of the coaxial laser head, controlling the auxiliary photographing device to move to a photographing position, and photographing a picture corresponding to the x-y plane through the auxiliary photographing device.
204. Identifying the end points of the line segment tracks in the pictures shot by the auxiliary shooting device, and drawing based on the end points of the line segment tracks to obtain a welding track width graph;
And converting the picture shot by the auxiliary shooting device into a gray picture based on a gray conversion function, determining end points of each line segment in the gray picture through edge feature detection, and smoothly connecting adjacent end points to obtain a welding track width diagram shown in fig. 4.
In the edge feature detection, the turning position of each line segment is identified, and the endpoint corresponding to each line segment is determined through the turning position of each line segment. The method for smoothly connecting adjacent endpoints can be as follows: determining coordinate data of adjacent endpoints, constructing spline curves through an interpolation algorithm based on preset spline types and the coordinate data of the adjacent endpoints, and adjusting corresponding spline curves based on spline curve adjustment parameters to obtain adjusted curves, wherein the spline curve adjustment parameters comprise positions of control points, curve compactness and the like.
205. Identifying a target position with the minimum width in the welding track width graph, and determining a two-dimensional coordinate corresponding to the target position;
And measuring the distance between the endpoints corresponding to each line segment in the welding track width graph to obtain each distance value, wherein the distance value indicates the width between the two corresponding endpoints, comparing each distance value, determining the width corresponding to the minimum distance value, and obtaining the target position with the width corresponding to the minimum distance value to obtain the two-dimensional coordinate corresponding to the target position.
The method for comparing the distance values can be as follows: and randomly sequencing all the distance values, acquiring a first distance value according to a sequencing sequence, comparing the first distance value with a second distance value sequenced next to the first distance value, reserving the distance value with smaller value to obtain a first comparison result, continuously comparing the first distance value or the second distance value with a third distance value sequenced next to the second distance value in the first comparison result, reserving the distance value with smaller value, and so on until the comparison of the last distance value sequenced to the last distance value is completed, determining the finally reserved distance value, and obtaining the minimum distance value in all the distance values.
As shown in fig. 5, when the welding mark shot by the CCD camera is a welding mark left by the movement of the coaxial laser head in the X-z plane, identifying the target position with the smallest width in the welding track width graph, and determining the target abscissa corresponding to the target position according to the data mapping relation between the target position and the welding mark shot by the CCD camera, wherein the target abscissa is X3 shown in fig. 5.
206. And calculating the target height of the laser focus with the most concentrated energy through the similar triangle based on the two-dimensional coordinates corresponding to the starting point position, the end point position and the target position.
Drawing a first triangle based on the coordinates of the starting point position and the coordinates of the end point position; drawing a line segment in the vertical direction to intersect with the hypotenuse of the first triangle based on the two-dimensional coordinates corresponding to the target position to obtain a second triangle; and calculating the target height of the laser focus with the most concentrated energy based on the proportional relation between the first triangle and the second triangle.
As shown in fig. 6, fig. 6 is a schematic view of a similar triangle in an embodiment of the present invention. If the coaxial laser head moves obliquely on the X-Z plane to leave a welding mark, a first triangle is drawn based on a first abscissa X 1 and a first height coordinate Z 1 of a starting point position, a second abscissa X 2 and a second height coordinate Z 2 of an end point position, the first triangle is delta ABC, a second triangle is drawn based on an abscissa X 3 of a target position, the second triangle is delta ADE, and a target height coordinate Z 3 of a laser focus with most concentrated energy is calculated based on a proportional relation between the first triangle and the second triangle.
In Δabc and Δade, AD/ab=de/BC, then (X 3-X1)/(X2-X1)＝(Z3-Z31)/(Z2-Z1), whereby: z 3＝(Z2-Z1)*(X3-X1)/(X2-X1)+Z3.
After identifying the target position with the smallest width in the welding track width graph and calculating the laser focus position with the most concentrated energy based on the target position, the starting point position and the end point position, the method further comprises the following steps: controlling the coaxial laser head to move to a target height corresponding to the laser focus position; controlling a coaxial laser head to perform laser welding in a preset height range based on the target height to obtain a line segment track diagram; and judging whether the laser focus position is accurate or not based on the line segment track graph.
The preset spacing can be set to control the coaxial laser head to operate within a preset height range.
For example, the preset height range is: and Z 3 -2 to Z 3 +2, wherein the preset interval is 0.1mm, and then in the range from Z 3 -2 to Z 3 +2, the coaxial laser heads are controlled to weld once at intervals of 0.1mm to obtain a line segment track diagram shown in fig. 7, the line segment track diagram is scanned, the thickness degree of each line segment is determined, the thickness degree of each line segment is compared, and whether the laser focus position is accurate or not is judged based on the thickness degree of each line segment.
By verifying the laser focus position, the accuracy of laser focus position measurement is improved.
According to the embodiment of the invention, the coaxial laser head is controlled to move from the preset starting point position to the preset end point position in the height direction in an inclined manner, so that a welding trace left by the coaxial laser head on a welding plane is obtained, the photographing position is determined based on the starting point position and the end point position, the auxiliary photographing device is controlled to move to the photographing position to photograph, the end points of all line segment tracks in a picture photographed by the auxiliary photographing device are identified and controlled, the end points of all line segment tracks are drawn based on the end points of all line segment tracks, a welding track width diagram is obtained, the target position with the minimum width in the welding track width diagram is identified, the two-dimensional coordinate corresponding to the target position is determined, the target height of the laser focus with the most concentrated energy is calculated based on the two-dimensional coordinate corresponding to the starting point position, the end point position and the target position, and the measuring efficiency of the laser focus position is improved.
The method for measuring the position of the laser focus in the embodiment of the present invention is described above, and the device for measuring the position of the laser focus in the embodiment of the present invention is described below, referring to fig. 8, and one embodiment of the device for measuring the position of the laser focus in the embodiment of the present invention includes:
A first control module 801, configured to control the coaxial laser head to move obliquely in a height direction from a preset starting point position to a preset ending point position, so as to obtain a welding mark left by the coaxial laser head on a welding plane;
The second control module 802 is configured to control the auxiliary photographing device to photograph the welding track, so as to obtain a welding track width map;
a processing module 803 is configured to identify a target position with the smallest width in the welding track width map, and calculate a laser focus position with the most concentrated energy based on the target position, the start position, and the end position.
According to the embodiment of the invention, the coaxial laser head is controlled to move from the preset starting point position to the preset end point position in the inclination manner along the height direction, so that the welding mark left by the coaxial laser head on the welding plane is obtained, the auxiliary photographing device is controlled to photograph the welding mark, a welding track width diagram is obtained, the target position with the minimum width in the welding track width diagram is identified, the laser focus position with the most concentrated energy is calculated based on the target position, the starting point position and the end point position, and the measuring efficiency of the laser focus position is improved.
Referring to fig. 9, another embodiment of a laser focal position measuring apparatus according to an embodiment of the present invention includes:
A first control module 801, configured to control the coaxial laser head to move obliquely in a height direction from a preset starting point position to a preset ending point position, so as to obtain a welding mark left by the coaxial laser head on a welding plane;
The second control module 802 is configured to control the auxiliary photographing device to photograph the welding track, so as to obtain a welding track width map;
a processing module 803 is configured to identify a target position with the smallest width in the welding track width map, and calculate a laser focus position with the most concentrated energy based on the target position, the start position, and the end position.
The optional first control module 801 may be specifically configured to:
controlling the coaxial laser head to move to a preset starting point position for performing light-on treatment; controlling the coaxial laser head to move obliquely along the height direction based on a preset welding speed; and if the coaxial laser head moves to the preset end position, performing light-off treatment on the control coaxial laser head, and obtaining a welding mark left by the coaxial laser head on a welding plane.
Optionally, the second control module 802 includes:
a determination unit 8021 for determining a photographing position based on the start position and the end position;
The control unit 8022 is used for controlling the auxiliary photographing device to move to a photographing position for photographing;
And the drawing unit 8023 is configured to identify an endpoint of each line segment track in the picture shot by the auxiliary shooting device, and draw the line segment track based on the endpoint of each line segment track, so as to obtain a welding track width graph.
Alternatively, the determining unit 8021 may be specifically configured to:
Determining the minimum width required to be photographed based on the starting point position and the end point position; adjusting the height of the auxiliary photographing device until the width corresponding to the visual field of the auxiliary photographing device is larger than the minimum width, and determining photographing height coordinates of the photographing position; and calculating based on the starting point position, the end point position and the preset offset information to obtain the two-dimensional coordinates of the photographing position.
Optionally, the processing module 803 includes:
a processing unit 8031, configured to identify a target position with a minimum width in the welding track width map, and determine a two-dimensional coordinate corresponding to the target position;
a calculation unit 8032 for calculating a target height of the laser focus at which energy is most concentrated by a similar triangle based on two-dimensional coordinates corresponding to the start point position, the end point position, and the target position.
Alternatively, the computing unit 8032 may be specifically configured to:
Drawing a first triangle based on the coordinates of the starting point position and the coordinates of the end point position; drawing a line segment in the vertical direction to intersect with the hypotenuse of the first triangle based on the two-dimensional coordinates of the target position to obtain a second triangle; and calculating the target height of the laser focus with the most concentrated energy based on the proportional relation between the first triangle and the second triangle.
Optionally, the device for measuring a laser focus position further includes:
The moving module 804 is used for controlling the coaxial laser head to move to a target height corresponding to the laser focus position;
the welding module 805 is configured to control the coaxial laser head to perform laser welding in a preset height range based on the target height, so as to obtain a line segment trajectory graph;
And a judging module 806, configured to judge whether the laser focus position is accurate based on the line segment trajectory graph.
According to the embodiment of the invention, the coaxial laser head is controlled to move from the preset starting point position to the preset end point position in the height direction in an inclined manner, so that a welding trace left by the coaxial laser head on a welding plane is obtained, the photographing position is determined based on the starting point position and the end point position, the auxiliary photographing device is controlled to move to the photographing position to photograph, the end points of all line segment tracks in a picture photographed by the auxiliary photographing device are identified and controlled, the end points of all line segment tracks are drawn based on the end points of all line segment tracks, a welding track width diagram is obtained, the target position with the minimum width in the welding track width diagram is identified, the two-dimensional coordinate corresponding to the target position is determined, the target height of the laser focus with the most concentrated energy is calculated based on the two-dimensional coordinate corresponding to the starting point position, the end point position and the target position, and the measuring efficiency of the laser focus is improved.
The above-described measuring apparatus for laser focus position in the embodiment of the present invention is described in detail from the point of view of the modularized functional entity in fig. 8 and 9, and the following describes the measuring apparatus for laser focus position in the embodiment of the present invention in detail from the point of view of hardware processing.
Fig. 10 is a schematic structural diagram of a laser focal position measurement device according to an embodiment of the present invention, where the laser focal position measurement device 1000 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 1010 (e.g., one or more processors) and a memory 1020, and one or more storage mediums 1030 (e.g., one or more mass storage devices) storing application programs 1033 or data 1032. Wherein the memory 1020 and storage medium 1030 may be transitory or persistent. The program stored on the storage medium 1030 may include one or more modules (not shown), each of which may include a series of instruction operations in the measuring device 1000 for the laser focus position. Still further, the processor 1010 may be configured to communicate with a storage medium 1030 to execute a series of instruction operations in the storage medium 1030 on the laser focal position measuring device 1000.
The laser focal position measurement device 1000 may also include one or more power supplies 1040, one or more wired or wireless network interfaces 1050, one or more input/output interfaces 1060, and/or one or more operating systems 1031, such as Windows Serve, mac OS X, unix, linux, freeBSD, and so forth. It will be appreciated by those skilled in the art that the configuration of the laser focus position measurement device shown in fig. 10 does not constitute a limitation of the laser focus position measurement device and may include more or fewer components than shown, or may combine certain components, or may be arranged in a different arrangement of components.
The present invention also provides a laser focal position measurement apparatus, where the computer apparatus includes a memory and a processor, and the memory stores computer readable instructions that, when executed by the processor, cause the processor to execute the steps of the laser focal position measurement method in the foregoing embodiments.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and may also be a volatile computer readable storage medium, in which instructions are stored which, when executed on a computer, cause the computer to perform the steps of the method for measuring a focal position of a laser.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for measuring a laser focus position, the method comprising:
The coaxial laser head is controlled to move obliquely along the height direction from a preset starting point position to a preset end point position, and a welding mark left by the coaxial laser head on a welding plane is obtained;
Controlling an auxiliary photographing device to photograph the welding marks to obtain a welding track width diagram;
And identifying a target position with the smallest width in the welding track width graph, and calculating the laser focus position with the most concentrated energy based on the target position, the starting point position and the end point position.
2. The method for measuring a laser focal point position according to claim 1, wherein the controlling the coaxial laser head to move obliquely in a height direction from a preset starting point position to a preset ending point position to obtain a weld mark left by the coaxial laser head on a welding plane comprises:
controlling the coaxial laser head to move to a preset starting point position for performing light-on treatment;
controlling the coaxial laser head to move obliquely along the height direction based on a preset welding speed;
And if the coaxial laser head moves to the preset end position, performing light-off treatment on the coaxial laser head to obtain a welding mark left by the coaxial laser head on a welding plane.
3. The method for measuring a laser focus position according to claim 1, wherein the controlling the auxiliary photographing device photographs the welding mark to obtain a welding track width map, comprises:
determining a photographing position based on the starting point position and the ending point position;
controlling the auxiliary photographing device to move to the photographing position for photographing;
And identifying the endpoints of the line segment tracks in the pictures shot by the auxiliary shooting device, and drawing based on the endpoints of the line segment tracks to obtain a welding track width graph.
4. A method of measuring a laser focus position as defined in claim 3, wherein the determining a photographing position based on the start position and the end position includes:
determining the minimum width required to be photographed based on the starting point position and the ending point position;
Adjusting the height of the auxiliary photographing device until the width corresponding to the visual field of the auxiliary photographing device is larger than the minimum width, and determining photographing height coordinates of a photographing position;
And calculating based on the starting point position, the end point position and preset offset information to obtain the two-dimensional coordinates of the photographing position.
5. The method according to claim 1, wherein the identifying a target position having a smallest width in the welding track width map, and calculating a laser focus position at which energy is most concentrated based on the target position, the start position, and the end position, comprises:
identifying a target position with the minimum width in the welding track width graph, and determining a two-dimensional coordinate corresponding to the target position;
And calculating the target height of the laser focus with the most concentrated energy through a similar triangle based on the two-dimensional coordinates corresponding to the starting point position, the ending point position and the target position.
6. The method according to claim 5, wherein the calculating the target height of the laser focus with the highest energy concentration by a similar triangle based on two-dimensional coordinates of the start position, the end position, and the target position comprises:
drawing a first triangle based on the coordinates of the starting point position and the coordinates of the end point position;
Drawing a line segment in the vertical direction to intersect with the hypotenuse of the first triangle based on the two-dimensional coordinates of the target position to obtain a second triangle;
and calculating the target height of the laser focus with the most concentrated energy based on the proportional relation between the first triangle and the second triangle.
7. The method according to any one of claims 1 to 6, characterized by further comprising, after identifying a target position having a smallest width in the welding track width map and calculating a laser focus position at which energy is most concentrated based on the target position, the start position, and the end position:
controlling the coaxial laser head to move to a target height corresponding to the laser focus position;
Controlling the coaxial laser head to perform laser welding according to the target height and a preset height range to obtain a line segment track diagram;
and judging whether the laser focus position is accurate or not based on the line segment track graph.
8. A laser focus position measuring apparatus, characterized in that the laser focus position measuring apparatus includes:
The first control module is used for controlling the coaxial laser head to move obliquely along the height direction from a preset starting point position to a preset end point position, so as to obtain a welding mark left by the coaxial laser head on a welding plane;
the second control module is used for controlling the auxiliary photographing device to photograph the welding marks to obtain a welding track width diagram;
And the processing module is used for identifying a target position with the smallest width in the welding track width graph and calculating the laser focus position with the most concentrated energy based on the target position, the starting point position and the end point position.
9. A laser focus position measurement apparatus, characterized in that the laser focus position measurement apparatus comprises: a memory and at least one processor, the memory having instructions stored therein;
The at least one processor invokes the instructions in the memory to cause the laser focus position measurement device to perform the laser focus position measurement method according to any one of claims 1-7.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement a method of measuring a laser focus position according to any one of claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119810186A (en) * | 2024-12-11 | 2025-04-11 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Method, device, product, equipment and medium for locating reference welding points of beveled rib plates |
| CN120080018A (en) * | 2025-03-19 | 2025-06-03 | 深圳拓竹科技有限公司 | Processing parameter calibration method of processing equipment and processing equipment |
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2024
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119810186A (en) * | 2024-12-11 | 2025-04-11 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Method, device, product, equipment and medium for locating reference welding points of beveled rib plates |
| CN119810186B (en) * | 2024-12-11 | 2026-05-01 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Positioning method, positioning device, product, equipment and medium for reference welding spot of inclined rib plate |
| CN120080018A (en) * | 2025-03-19 | 2025-06-03 | 深圳拓竹科技有限公司 | Processing parameter calibration method of processing equipment and processing equipment |
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