CN118010725B - Laser welding process detection system and method - Google Patents
Laser welding process detection system and method Download PDFInfo
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Abstract
The application relates to the field of laser welding, and provides a detection system and a detection method for a laser welding process, wherein the system comprises a first component, a second component and a third component, wherein the first component is used for receiving reflected light generated in the laser welding process, performing dispersion and splitting on the reflected light, splitting the reflected light into a plurality of light beams with different wavelength ranges, and sending the light beams with different wavelength ranges into the second component; the welding detection device comprises a first component, a second component and a third component, wherein the first component is used for receiving a plurality of light beams with different wavelength ranges, focusing each light beam to form a plurality of focusing units in the third component, and the third component is used for generating welding detection images according to the spectrum information of the plurality of focusing units. The detection system of the laser welding process has simple optical path, can be matched with different welding systems, is flexible to use, and can detect the laser welding process in real time because the first component is used for receiving the reflected light generated in the laser welding process.
Description
Technical Field
The invention relates to the field of laser welding, in particular to a detection system and method for a laser welding process.
Background
The laser welding and connecting field has remarkable advantages of high production efficiency, small deformation of workpieces, convenience in automatic operation and the like. Laser welding is increasingly being used for welding various materials. However, the influence factors of the welding process are too many, the forming and mechanical system can have important influence, the welding quality is easily influenced by factors such as assembly quality, surface stains, side blown gas, molten pool flow and the like, and in addition, the welding quality or the appearance of a welding seam can be influenced when large-particle splashing and large-size air holes are formed in the welding process. The welding quality is easy to be unqualified, such as bad and false welding, and the like, and is particularly important to monitor at the moment,
At present, the means for monitoring welding quality still stays at the manual inspection or the electrifying test and the partial destructive detection of the welded workpiece, and the method has low efficiency, low detection reliability and overlarge influence of artificial factors.
The optical system for real-time monitoring in the welding process has the advantages of complex optical path, complex structure of a beam splitting optical path and a monitoring optical path, and large number of lenses, and is not beneficial to the design and installation of a mechanical structure, and the machining difficulty of the mechanical structure is high.
Disclosure of Invention
Aiming at the defects in the prior art, the application provides a detection system and a detection method for a laser welding process, wherein the system has simple light path and flexible use, and the first component is used for receiving reflected light generated in the laser welding process, so that the laser welding process can be detected in real time.
In order to solve the problems, the invention provides the following technical scheme:
In a first aspect, an embodiment of the present application provides a detection system for a laser welding process, the system including:
The first component is used for receiving reflected light generated in the laser welding process, carrying out dispersion and splitting on the reflected light, splitting the reflected light into a plurality of light beams with different wavelength ranges, and sending the light beams with different wavelength ranges into the second component;
A second assembly for receiving the plurality of light beams of different wavelength ranges and focusing each of the light beams to form a plurality of focusing units in a third assembly;
and a third component for generating a welding detection image according to the spectrum information of the plurality of focusing units.
In some embodiments, the first component is configured to disperse and split reflected light having a wavelength in the [150nm,2000nm ] range.
In some embodiments, the first component is a grating, the grating is disposed obliquely, and a reflective surface of the grating faces the second component.
In some embodiments, the second component is used to form a plurality of focusing units on the same straight line in the third component.
In some embodiments, the second component is an aspheric lens that is aspheric on both sides and focuses light beams of different wavelength ranges at different positions on the same straight line.
In some embodiments, the third component is a line camera comprising a column of pixel columns in which each of the focusing units is located.
In some embodiments, the first component is configured to receive a multi-color light reflected from a welding workpiece during a welding process.
In a second aspect, an embodiment of the present application provides a method for detecting a laser welding process, which is applied to a detection system of a laser welding process as in the first aspect, and the method includes:
Determining pixel points contained in each detection unit in the welding detection image according to the welding detection image, wherein each detection unit comprises at least one focusing unit;
Determining a detection gray value corresponding to each detection unit according to the pixel points contained in each detection unit;
And determining whether the welding quality is qualified or not according to the detection gray value.
In some embodiments, the determining whether the welding quality is acceptable according to the detected gray value includes:
acquiring a detection reference envelope curve corresponding to each detection unit;
And when the detection gray value corresponding to each detection unit is in the range of the detection reference envelope curve corresponding to the detection unit, determining that the welding quality is qualified.
In some embodiments, the determining the pixel point included in each detection unit in the welding detection image according to the welding detection image includes:
determining pixel points contained in each detection unit in each welding detection image according to a plurality of welding detection images obtained by welding the same welding workpiece;
The determining the detection gray value corresponding to each detection unit according to the pixel point included in each detection unit includes:
determining a detection gray value corresponding to each detection unit in each welding detection image according to pixel points contained in each detection unit in each welding detection image;
Determining a detection gray value curve corresponding to each detection unit according to a plurality of detection gray values corresponding to each detection unit;
The determining whether the welding quality is qualified according to the detection gray value comprises the following steps:
acquiring a detection reference envelope curve corresponding to each detection unit;
And when the detection gray value curve corresponding to each detection unit is positioned in the range of the detection reference envelope curve corresponding to the detection unit, determining that the welding quality is qualified.
The application provides a detection system and method for a laser welding process, wherein the system comprises a first component, a second component and a third component, wherein the first component is used for receiving reflected light generated in the laser welding process, carrying out dispersion and light splitting on the reflected light, splitting the reflected light into a plurality of light beams with different wavelength ranges, sending the light beams with different wavelength ranges into the second component, receiving the light beams with different wavelength ranges, focusing each light beam to form a plurality of focusing units in the third component, and generating a welding detection image according to spectrum information of the plurality of focusing units. The detection system of the laser welding process has simple optical path, can be matched with different welding systems, is flexible to use, and can detect the laser welding process in real time because the first component is used for receiving the reflected light generated in the laser welding process.
Drawings
Fig. 1 is a schematic structural diagram of a welding system and a detection system for a laser welding process according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of a method for detecting a laser welding process according to an embodiment of the application.
Fig. 3 is a second flow chart of a method for detecting a laser welding process according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a detection device for a laser welding process according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 6 is a block diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
For convenience in description of the first direction and the second direction in the embodiment of the present application, the first direction is an up-down direction in the drawing, the second direction is a front-back direction in the drawing, and the third direction is a left-right direction in the drawing. The x-axis arrow direction is referred to as an "up" direction, the y-axis arrow direction is referred to as a "back" direction, and the z-axis arrow direction is referred to as a "right" direction.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a welding system and a detection system for a laser welding process according to an embodiment of the application. As shown in fig. 1, fig. 1 includes a welding system and a detection system for a laser welding process.
In some embodiments, the welding system includes a first input 1, a first lens 2, a first galvanometer 3, a second lens 4, and a first workpiece 5.
In some embodiments, the first input 1 is a laser input.
Alternatively, the laser input port may select a fiber laser, a semiconductor laser, or the like to input laser light.
Alternatively, the laser input ports may be configured as a single point light output or a continuous light output.
In some embodiments, the first lens 2 is a lens, the plane of which faces the first input end 1, and the first lens 2 is configured to collimate the laser beam input by the first input end 1.
Alternatively, the first lens 2 is a plano-convex lens.
In some embodiments, the first galvanometer 3 is a welding galvanometer for controlling a welding direction and a welding pattern.
In some embodiments, the second lens 4 is a focusing field lens, and is connected to the first galvanometer 3, for focusing the laser beam.
In some embodiments, the first workpiece 5 is a welded workpiece.
In some embodiments, the welding system is configured such that when the first workpiece 5 is welded, reflected light generated by the first workpiece 5 is reflected by the welding system into the detection system of the laser welding process, such that the detection system of the laser welding process receives the reflected light.
Further, the reflected light shown in fig. 1 is reflected by the first galvanometer 3 into the detection system of the laser welding process, but the present application is not limited thereto.
In some embodiments, the detection system of the laser welding process comprises a first component 6, a second component 7 and a third component 8.
In some embodiments, the first component is configured to receive reflected light generated during laser welding, and to disperse and split the reflected light into a plurality of light beams of different wavelength ranges, and to send the plurality of light beams of different wavelength ranges to the second component;
In some embodiments, the second assembly is configured to receive the plurality of light beams of different wavelength ranges and focus each of the light beams to form a plurality of focusing units in the third assembly;
in some embodiments, the third component is configured to generate a welding detection image from the spectral information of the plurality of focusing units.
In some embodiments, the first component is configured to disperse and split reflected light having a wavelength in the [150nm,2000nm ] range.
In some embodiments, the first component 8 is a grating, the grating being disposed obliquely with its reflective surface facing the second component.
In some embodiments, the first component 8 is configured to receive the polychromatic light reflected from the welded workpiece, i.e., the first workpiece 5, during the welding process.
Optionally, the first component 8 is a plane reflection grating, and is inclined by 45 degrees, the reflection surface faces the second component 7, so that the complex light incident on the plane reflection grating is diffracted on the plane reflection grating, and dispersion and light splitting are realized according to different diffraction angles of light with different wavelengths, so that the light with different wavelengths is separated.
Alternatively, to increase the diffraction efficiency of the grating, the first component 8 is a planar blazed grating, passing through the planar blaze
The blazed grating light splitting device can acquire real-time spectrum information of a target at the same time, and has the characteristics of simple structure, good stability and high spectrum resolution.
Through the first component 8, the light with multiple colors incident on the first component 8 is split into light with different wave bands to form a spectrum signal, so that a light splitting system is simplified, and light splitting of each wave band is completed at one time.
In some embodiments, the second component 7 is used to form a plurality of focusing units in the third component 6 that are positioned on the same line.
Specifically, the second component 7 focuses the light beams with different wavelengths separated by the first component 8, converges on a straight line receivable by the third component 8, focuses adjacent wavelengths as a point, and divides the spectrum information into a plurality of focusing units.
In some embodiments, because of the presence of the aspheric lens, different wavelengths are focused at specific points on a straight line, with different wavelengths of light appearing as different focus positions on the third component.
Illustratively, the light with different wavelengths has different duty ratios in the polychromatic light, the formed focusing units have different light intensities, the light intensity of the focusing units formed by the high duty ratio light is stronger, and the light intensity is higher in a third component, such as a line camera, so that the welding effect can be judged according to the gray value presented by the focusing units formed by the back reflection in the line camera.
Optionally, the second component 7 is an aspheric focusing lens with both aspheric surfaces, and the first component 8 uses the aspheric characteristics of the aspheric focusing lens to focus the light beams with different wavelengths separated by the first component 8, focus the light beams on a straight line receivable by the third component 6, focus adjacent wavelengths to a point, and divide the spectrum information into a preset number of focusing points.
Preferably, the predetermined number is in the range of [80,100].
Alternatively, the preset number is 80 or 90 or 100.
Alternatively, the second component 7 is a lens group, in particular a coaxial optical system consisting of two or more lenses.
In some embodiments, the third component 6 is a line camera comprising a column of pixel columns in which each of the focusing units is located.
Optionally, the third component 6 is a line camera, and only has a column of pixel points for receiving the spectrum information collected by the second component 7 and imaging, and because the different wavelengths have different duty ratios in the complex color light, points with different gray values are formed in the imaging of the line camera.
Specifically, the line camera only has a row of pixels and only represents the imaging range of the line camera, and the line camera can also be described as having a row of pixels and other description forms, which is not limited by the application.
The welding process can be monitored in real time through the high-speed operation of the linear array camera, and the detection system of the laser welding process receives the retro-reflection light which can be generated only when the welding starts to detect the welding quality, so that the real-time detection of the laser welding process is realized.
In some embodiments, referring to fig. 2, fig. 2 is a schematic flow chart of a method for detecting a laser welding process according to an embodiment of the application. The detection method of the laser welding process is applied to the detection system of the laser welding process, as shown in fig. 2, and the detection method of the laser welding process comprises steps 110 to 130.
And 110, determining pixel points contained in each detection unit in the welding detection image according to the welding detection image, wherein each detection unit comprises at least one focusing unit.
In some embodiments, the division basis of the focusing unit includes a wavelength and the number of pixels in the third component.
Alternatively, focusing units are divided according to wavelength, each 50nm is divided into one focusing unit, when the wavelength range of the polychromatic light is 200nm-2000nm, 36 groups are divided, and each focusing unit occupies 4-5 pixels in the welding detection image.
Wherein, the light of every 50nm is focused into a focusing unit, in particular, by changing the characteristics of the aspheric surface, the light of every 50nm wavelength can be focused into a point.
Optionally, the third component is a line camera, the pixels of the line camera are all located on a straight line, the line camera comprises 2k pixels, and each 55 pixels are divided into a focusing unit and 36 groups.
And 120, determining a detection gray value corresponding to each detection unit according to the pixel points contained in each detection unit.
In some embodiments, the average of the gray values of the pixels included in each detection unit is referred to as a detection gray value, that is, the detection gray value=the sum of the gray values of the pixels included in the detection unit/the total number of pixels.
And 130, determining whether the welding quality is qualified or not according to the detection gray value.
Specifically, the gray value refers to a luminance value of each pixel in an image, and is generally expressed as an integer of 0 to 255. In a grayscale image, the grayscale value of each pixel represents the luminance of the pixel, and a larger grayscale value represents a higher luminance of the pixel and a smaller grayscale value represents a lower luminance of the pixel.
In some embodiments, step 130 includes the following steps.
And 131, acquiring a detection reference envelope curve corresponding to each detection unit.
And 132, determining that the welding quality is qualified when the detection gray value corresponding to each detection unit is within the range of the detection reference envelope curve corresponding to the detection unit.
Illustratively, the detected gray value corresponding to the first detecting unit is within the range of the detected reference envelope corresponding to the first detecting unit, and the detected gray value corresponding to the second detecting unit is within the range of the detected reference envelope corresponding to the second detecting unit. . . And if the detection gray value corresponding to the last detection unit is positioned in the range of the detection reference envelope curve corresponding to the last detection unit, the welding quality is qualified.
Referring to fig. 3, fig. 3 is a second flow chart of a method for detecting a laser welding process according to an embodiment of the application. As shown in fig. 3, the method 200 for detecting a laser welding process includes steps 210 to 250.
And 210, determining pixel points contained in each detection unit in each welding detection image according to a plurality of welding detection images obtained by welding the same welding workpiece.
And 220, determining a detection gray value corresponding to each detection unit in each welding detection image according to the pixel points contained in each detection unit in each welding detection image.
Illustratively, the average gray value of the pixel points included in each detection unit is a detection gray value corresponding to each detection unit.
For example, 36 focusing units are formed in the line camera in total, each of the detecting units comprises one focusing unit, and then 36 detecting units exist, and each detecting unit in a single image can calculate a corresponding detecting gray value.
Step 230, determining a detection gray value curve corresponding to each detection unit according to the plurality of detection gray values corresponding to each detection unit.
In some embodiments, during welding of the workpiece, the welding process is monitored in real time by the linear array camera, so that a plurality of welding detection images are acquired from the beginning of welding to the end of welding, and each detection unit can acquire a detection gray value curve with an X axis as time and a Y axis as a detection gray value according to the acquisition sequence of the welding detection images.
And 240, acquiring a detection reference envelope curve corresponding to each detection unit.
And 250, determining that the welding quality is qualified when the detection gray value curve corresponding to each detection unit is within the range of the detection reference envelope curve corresponding to the detection unit.
In an exemplary embodiment, the detected gray value curve corresponding to the first detecting unit is located within the range of the detected reference envelope corresponding to the first detecting unit, and the detected gray value curve corresponding to the second detecting unit is located within the range of the detected reference envelope corresponding to the second detecting unit. . . And if the detection gray value curve corresponding to the last detection unit is positioned in the range of the detection reference envelope curve corresponding to the last detection unit, the welding quality is qualified.
In some embodiments, the present embodiments further include the following steps.
(1) A plurality of welding detection images generated by the third component when the laser welding system welds the nth calibration workpiece are acquired, wherein n=1 in the initial state.
(2) And generating a calibration gray value curve of each detection unit according to the welding detection images and the acquisition time of each welding detection image, wherein the abscissa of the calibration gray value curve is time and the ordinate is detection gray value.
(3) Judging whether N is equal to P, if N is smaller than P, enabling N to be equal to N+1, and returning to the executing step to acquire a plurality of welding detection images generated by the third component when the N-th welding workpiece is welded by the laser welding system, wherein P is a positive integer and P is larger than 1.
(4) And if n=p, generating a detection reference envelope curve corresponding to each detection unit according to the plurality of calibration gray value curves corresponding to each detection unit.
In some embodiments, the calibration process described above is a process of detecting a reference envelope, and therefore the welded workpiece is referred to as a calibration workpiece.
In some embodiments, a point (x, y) exists in a calibration gray value curve of a certain detection unit is defined, where x is time, and y is a detection gray value of the detection unit in a welding detection image acquired when the time is x.
In some embodiments, after a plurality of calibration gray value curves of a certain detection unit are obtained, because whether welding is qualified when welding the calibration workpiece is unknown, calibration gray value curves with obviously larger difference between the rest calibration gray value curves in the plurality of calibration gray value curves are deleted.
Optionally, when the peak value of a certain calibration gray value curve and the peak value of the rest calibration gray value curves are all larger than the preset difference value, the difference between the certain calibration gray value curve and the rest calibration gray value curves is considered to be obviously larger.
In some embodiments, the plurality of calibration gray value curves of the detection units are referred to as a curve family corresponding to the detection units, if it is determined that the difference between the first calibration gray value curve and the rest of the calibration gray value curves is significantly larger in the curve family of a certain detection unit, the first calibration gray value curve is deleted from the curve family, the calibration workpiece corresponding to the first calibration gray value curve is determined, and the rest of the calibration gray value curves corresponding to the calibration workpiece are deleted from the curve family of the rest of the detection units.
In some embodiments, the third component is a line camera, the line camera can only acquire images of one row/one column at a time, after the line camera acquires images of N rows/N columns, the images of N rows/N columns are spliced according to the acquisition sequence to form a detection image containing more information, and an average gray value of the detection image is calculated, wherein N is a positive integer.
Furthermore, the image can be spliced based on whether the first workpiece is welded or not, the welding detection image of the first row/column is obtained when the first workpiece is just welded, and the welding detection image of the Nth row/column is obtained when the first workpiece is welded.
(1) The method comprises the steps of obtaining a welding starting signal, and marking a first welding detection image obtained after the welding starting signal is obtained as a starting detection image, wherein the welding starting signal is used for reflecting that a first workpiece starts to be welded;
(2) The method comprises the steps of obtaining a welding completion signal, and marking an Nth welding detection image obtained after the welding completion signal is obtained as a completion detection image, wherein the welding completion signal is used for reflecting the completion of welding of a first workpiece;
(3) Determining an intermediate detection image with the image time between the first image time and the second image time according to the first image time for starting the welding detection image and the second image time for finishing the welding detection image;
(4) Splicing the initial detection image, the intermediate detection image and the finished detection image according to a preset splicing mode to form a complete detection image;
(5) And judging the welding quality of the first workpiece according to the complete detection image.
In some embodiments, the welding quality of the first workpiece is determined by calculating an average gray value of the complete inspection image, and the welding quality is determined to be acceptable when a difference between the average gray value of the complete inspection image and a preset average gray value is within a preset range.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a laser welding detection device according to an embodiment of the application. As shown in fig. 4, the detection apparatus for laser welding includes a first determination unit 310, a second determination unit 320, and a third determination unit 330.
A first determining unit 310, configured to determine pixel points included in each detecting unit in the welding detection image according to the welding detection image, where each detecting unit includes at least one focusing unit.
The second determining unit 320 is configured to determine a detection gray value corresponding to each detecting unit according to the pixel point included in each detecting unit.
And a third determining unit 330, configured to determine whether the welding quality is acceptable according to the detected gray value.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the application. As shown in FIG. 5, the electronic device 400 includes one or more processors 410 and a memory 420, one processor 410 being illustrated in FIG. 5.
In some embodiments, processor 410 and memory 420 may be connected by a bus or otherwise, for example in FIG. 5.
In some embodiments, the processor 410 is configured to determine a pixel point included in each detection unit in the welding detection image according to the welding detection image, where each detection unit includes at least one focusing unit, determine a detection gray value corresponding to each detection unit according to the pixel point included in each detection unit, and determine whether welding quality is acceptable according to the detection gray value.
In some embodiments, the memory 420 is used as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules for a method of detecting a laser welding process in an embodiment of the present application. The processor 410 executes various functional applications of the electronic device and data processing, i.e., implements the detection method of the laser welding process of the above-described method embodiment, by running non-volatile software programs, instructions, and modules stored in the memory 420.
In some embodiments, the memory 420 may include a storage program area that may store an operating system, application programs required for at least one function, a storage data area that may store data created according to the use of the electronic device, and the like. In addition, memory 420 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 420 optionally includes memory remotely located relative to processor 410, which may be connected to the controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In some embodiments, one or more modules are stored in memory 420 that, when executed by one or more processors 410, perform the method of detecting a laser welding process in any of the method embodiments described above, e.g., perform method steps 110-130 in fig. 2 described above.
Referring to fig. 6, fig. 6 is a block diagram illustrating a computer readable storage medium according to an embodiment of the application. The computer readable storage medium 500 has stored therein a program code 510, the program code 510 being executable by a processor to invoke a detection method for performing the laser welding process described in the method embodiments described above.
The computer readable storage medium 500 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium comprises a non-volatile computer readable medium (non-transitory computer-readable storage medium). The computer readable storage medium 500 has a storage space for program code to perform any of the method steps in the control method described above. The program code can be read from or written to one or more computer program products. The program code may be compressed, for example, in a suitable form.
In summary, the application provides a detection system and a detection method for a laser welding process, wherein the system comprises a first component, a second component and a third component, wherein the first component is used for receiving reflected light generated in the laser welding process, performing dispersion and splitting on the reflected light, splitting the reflected light into a plurality of light beams with different wavelength ranges, sending the plurality of light beams with different wavelength ranges into the second component, receiving the plurality of light beams with different wavelength ranges, focusing each light beam to form a plurality of focusing units in the third component, and generating a welding detection image according to the spectrum information of the plurality of focusing units. The detection system of the laser welding process has simple optical path, can be matched with different welding systems, is flexible to use, and can detect the laser welding process in real time because the first component is used for receiving the reflected light generated in the laser welding process.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it will be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or replacements do not drive the essence of the corresponding technical solution to deviate from the spirit and scope of the technical solution of the embodiments of the present application.
Claims (3)
1. The detection method for the laser welding process is characterized by being applied to a detection system of the laser welding process, and comprises a first component, a second component and a third component, wherein the first component is used for receiving reflected light generated in the laser welding process, dispersing and splitting the reflected light into a plurality of light beams with different wavelength ranges, and sending the light beams with different wavelength ranges into the second component, the second component is used for receiving the light beams with different wavelength ranges, focusing each light beam to form a plurality of focusing units in the third component, and the third component is used for generating welding detection images according to the spectrum information of the plurality of focusing units, and the method comprises the following steps:
Determining pixel points contained in each detection unit in the welding detection image according to the welding detection image, wherein each detection unit comprises at least one focusing unit;
Determining a detection gray value corresponding to each detection unit according to the pixel points contained in each detection unit;
And determining whether the welding quality is qualified or not according to the detection gray value.
2. The method of claim 1, wherein determining whether the weld quality is acceptable based on the detected gray value comprises:
acquiring a detection reference envelope curve corresponding to each detection unit;
And when the detection gray value corresponding to each detection unit is in the range of the detection reference envelope curve corresponding to the detection unit, determining that the welding quality is qualified.
3. The method of claim 1, wherein the determining pixels included in each detection unit in the welding detection image from the welding detection image comprises:
determining pixel points contained in each detection unit in each welding detection image according to a plurality of welding detection images obtained by welding the same welding workpiece;
The determining the detection gray value corresponding to each detection unit according to the pixel point included in each detection unit includes:
determining a detection gray value corresponding to each detection unit in each welding detection image according to pixel points contained in each detection unit in each welding detection image;
Determining a detection gray value curve corresponding to each detection unit according to a plurality of detection gray values corresponding to each detection unit;
The determining whether the welding quality is qualified according to the detection gray value comprises the following steps:
acquiring a detection reference envelope curve corresponding to each detection unit;
And when the detection gray value curve corresponding to each detection unit is positioned in the range of the detection reference envelope curve corresponding to the detection unit, determining that the welding quality is qualified.
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