CN115841484B - Steel structure welding quality detection system based on three-dimensional laser scanning - Google Patents
Steel structure welding quality detection system based on three-dimensional laser scanning Download PDFInfo
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Abstract
The invention relates to the technical field of welding quality detection, in particular to a steel structure welding quality detection system based on three-dimensional laser scanning, which comprises a scanning module; the method comprises the steps of acquiring overall three-dimensional profile parameter information of a welding position, and constructing a real-time profile model; the reference module comprises a database, and an ideal contour model is called according to actual welding conditions; the processing module processes the real-time contour model and the ideal contour model to obtain a corresponding slice model and a standard model; and the comparison module compares the slice model corresponding to the sequence mark with the standard model to determine the welding quality. The quality analysis on two dimensions can be carried out on the welding position through the set slice comparison mode, the comparison results of the two dimensions are integrated, the comprehensive quality of the welding position is obtained according to the weight ratio, the welding quality is detected by comparing with the image, the comparison method in the scheme is more specific, the external influence factors are fewer, and the quality detection result is more accurate.
Description
Technical Field
The invention relates to the technical field of welding quality detection, in particular to a steel structure welding quality detection system based on three-dimensional laser scanning.
Background
The three-dimensional laser scanning technology is also called as a live-action copy technology, and is a technical revolution of the mapping field subsequent to the GPS technology. The method breaks through the traditional single-point measurement method and has the unique advantages of high efficiency and high precision. The three-dimensional laser scanning technology can provide three-dimensional point cloud data of the surface of a scanned object, and can be used for acquiring a high-precision high-resolution digital terrain model.
In the construction industry, the welding mode between the steel structures is more common, and in order to ensure the welding stability of the steel structures, the welding quality is required to be detected, so that the safety of the construction engineering is ensured. The application of three-dimensional laser scanning technology in welding quality detection is common, for example, patent numbers: the chinese patent CN112756840a uses the collected three-dimensional image color value to compare with the standard color value to determine the welding quality, but only adopts the image comparison method, which can affect the determination result due to uneven dispersion of the welding surface layer welding quality or the difference of the welding surface image caused by the uncertain external environment.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects existing in the prior art, the invention provides a steel structure welding quality detection system based on three-dimensional laser scanning, which can effectively solve the problem that in the existing welding quality detection system, the welding quality is judged by utilizing the color value of the surface image of a welding part, and the judgment result is influenced by uneven dispersion of the welding quality of a welding surface layer or the difference of the welding surface image caused by an uncertain external environment.
Technical proposal
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention provides a steel structure welding quality detection system based on three-dimensional laser scanning, which comprises
A scanning module; the method comprises the steps of acquiring overall three-dimensional profile parameter information of a welding position, and constructing a real-time profile model;
a reference module; the method comprises the steps of a database, and calling an ideal contour model according to actual welding conditions;
a processing module; processing the real-time contour model and the ideal contour model to obtain a corresponding slice model and a standard model;
comparison module; and comparing the slice model corresponding to the sequence mark with the standard model to obtain a welding quality coefficient, and determining the welding quality.
Further, the scanning module comprises a three-dimensional laser emitting module; the laser feedback device is used for emitting laser and receiving a laser feedback signal;
a track determining module; according to the established welding line, at least three scanning tracks parallel to the welding line are matched; according to the emission width of the three-dimensional laser emission module, ensuring that the three-dimensional laser emission module can completely scan and obtain the overall three-dimensional profile parameter information of the welding position;
constructing a module; and integrating the multiple groups of integral three-dimensional contour parameter information obtained by multiple scans, and combining the multiple groups of integral three-dimensional contour parameter information to construct a real-time contour model in three-dimensional coordinates.
Further, the reference module includes: an acquisition module; the method is used for collecting welding condition information such as the length and the width of a welding line between two steel structures to be welded, steel types of the two steel structures to be welded and the like;
a calling module; for retrieving an ideal profile model corresponding to the current welding condition information within a writable database.
Further, the processing module also comprises a slicing module for slicing the real-time contour model and the ideal contour model; slicing the real-time contour model according to the principle of equal distance in two dimensions perpendicular to the welding track, and obtaining a plurality of slice models with sequence marks according to a set slice sequence; and similarly, slicing the ideal contour model according to the equidistant principle, and obtaining a plurality of standard models with sequence marks according to a given slicing sequence.
Further, the processing module further comprises a projection module, wherein the projection module is used for projecting the slice model and the standard model which correspond to the sequence marks on the same reference plane to obtain corresponding slice curves and standard curves; and a positioning module is further arranged in the projection module and is used for corresponding the two end base points of the slicing curve and the standard curve.
Further, the comparison module further comprises a difference calculation module for calculating the difference between the slice curve and the standard curve on the same reference plane to obtain the difference value of the sequence marking position, the comparison module further comprises a weight proportioning module for giving different weight coefficients to sequence marks of different positions, multiplying the corresponding difference value by the weight coefficient to obtain the quality evaluation coefficient of the sequence marking position, summing the quality evaluation coefficients of all the sequence marking positions and taking an average value to obtain the welding quality coefficient of the corresponding welding position, and determining the welding quality.
Further, the comparison module further comprises a limit correction module for judging the extreme value of the difference value, wherein a preset value is arranged in the limit correction module, and when the difference value exceeds the preset value, the welding quality coefficient is automatically corrected to be a welding risk coefficient.
Further, the ultrasonic flaw detection device also comprises an ultrasonic flaw detection module, wherein flaw detection is carried out on the welding position while the scanning module operates, and whether bubbles exist in the welding position is judged.
A steel structure welding quality detection method based on three-dimensional laser scanning comprises the following steps:
s100, utilizing scanning equipment, realizing complete acquisition of three-dimensional contour information of a welding position according to a track determination principle, and constructing a real-time contour model;
s200, acquiring ideal contour models corresponding to current welding condition information by acquiring the current welding condition information;
s300, slicing the real-time contour model and the ideal contour model along two mutually perpendicular directions by utilizing a slicing technology according to an equidistant principle to obtain a corresponding slice model and a standard model, positioning and projecting the obtained slice model and the standard model, and simultaneously obtaining a slice curve and a standard curve on a reference plane;
s400, comparing the slice curves with the standard curves to obtain difference values in unit scale distance between the slice curves and the standard curves, matching corresponding weight coefficients according to the difference of the positions, multiplying the difference values by the weight coefficients to obtain corresponding quality evaluation coefficients, summing all the quality evaluation coefficients, taking out an average value to obtain welding quality coefficients of welding positions, and determining welding quality.
In step S300, the following steps are further included: s310, determining two directions perpendicular to a welding track; s320, integrating the two directions with the welding direction respectively to form two mutually perpendicular reference surfaces; s330, obtaining a corresponding slice curve and a model curve by utilizing a parallel projection mode, and aligning endpoints of the two corresponding curves.
Advantageous effects
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
according to the invention, through the set slice comparison mode, the quality analysis on two dimensions of the welding position can be performed, the comparison results of the two dimensions are integrated, the comprehensive quality of the welding position is obtained according to the weight ratio, the welding quality is detected by comparing with the image, the comparison method in the scheme is more specific, the external influence factors are fewer, and the quality detection result is more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a detection system according to the present invention;
FIG. 2 is a flow chart of the detection method of the present invention;
FIG. 3 is a flow chart of a slicing method in the detection method of the present invention;
FIG. 4 is a schematic diagram of a scanning mode of a three-dimensional laser emitting module when a real-time contour model is constructed according to the present invention;
FIG. 5 is a schematic diagram of a real-time contour model structure according to the present invention;
FIG. 6 is a schematic diagram of an ideal contour model structure according to the present invention;
FIG. 7 is a schematic view of a slice model and a standard model acquisition mode according to the present invention;
FIG. 8 is a schematic view of another slice model and standard model acquisition mode according to the present invention;
FIG. 9 is a schematic diagram of a slice curve versus standard curve comparison in accordance with the present invention;
FIG. 10 is a schematic diagram of another slice curve versus standard curve according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Embodiment one:
referring to fig. 1, a steel structure welding quality detection system based on three-dimensional laser scanning comprises a scanning module; the method comprises the steps of acquiring overall three-dimensional profile parameter information of a welding position, and constructing a real-time profile model;
a reference module; the method comprises the steps of a database, and calling an ideal contour model according to actual welding conditions;
a processing module; processing the real-time contour model and the ideal contour model to obtain a corresponding slice model and a standard model;
comparison module; and comparing the slice model corresponding to the sequence mark with the standard model to obtain a welding quality coefficient, and determining the welding quality.
The whole shape of the welding completion position is scanned through the arranged scanning module, and the scanning module comprises a three-dimensional laser emitting module; the laser feedback device is used for emitting laser and receiving a laser feedback signal; specifically, a three-dimensional laser scanner can be used for scanning the whole shape of the welding position, and in order to ensure that the welding position is completely scanned, a scanning track of the three-dimensional scanner is limited, and a track determining module is specifically used; according to the established welding line, at least three scanning tracks parallel to the welding line are matched; according to the emission width of the three-dimensional laser emission module, the three-dimensional laser emission module can be ensured to be completely scanned and obtain the overall three-dimensional profile parameter information of a welding position, and through planning not less than three scanning paths, the three scanning paths are scanned along the welding track, the welding track is taken as an axis, the included angle among the three scanning tracks can be one of 30 degrees, 50 degrees or 60 degrees, and particularly, the three different scanning tracks are distributed at angles which are suitable for different scanning widths.
Particularly, a construction module is also arranged in the scanning module; the method is used for integrating multiple groups of integral three-dimensional profile parameter information obtained by multiple scanning, combining the multiple groups of integral three-dimensional profile parameter information, constructing a real-time profile model in three-dimensional coordinates, specifically, integrating multiple scanning results with different scanning angles through the principle of integral coverage by aggregating and arranging the set multiple groups of scanning shapes, specifically, carrying out concentrated projection on multiple scanning according to the actual scanning angle, and integrating the multiple scanning results into a three-dimensional structure with welding lines in the same three-dimensional coordinates, thus completing the construction of the real-time profile model.
The scanning module is capable of scanning the real-time lines of the welding positions and completing the construction of the real-time contour model through the set construction module, and it is worth explaining that the scanning module is capable of scanning the whole external shape of the welding lines as an appearance judgment standard of welding quality, and the whole external shape of the welding lines can be obtained, and in the actual quality judgment process, an ideal contour model is required to be compared with the ideal contour model to obtain a gap between the ideal contour model and the ideal contour model, so that the welding quality of the welding positions can be judged, and therefore, in the system, a reference module is also arranged and used for obtaining the ideal welding model according to the existing welding conditions so as to conveniently compare the ideal welding model with the real-time contour model, and the reference module comprises an acquisition module; the method comprises the steps of acquiring welding condition information such as the length and the width of a welding seam between two steel structures to be welded and the type of steel materials of the two steel structures to be welded, and matching a rational profile model stored in a writable database according to the acquired length and the width of the welding seam of an actual welding position and basic condition information corresponding to welding, wherein a reference module further comprises a retrieval module; the method is used for retrieving an ideal contour model corresponding to the current welding condition information in a writable database, firstly, the ideal contour model in the database can be manually input, according to the previous welding experience and different welding quality brought by different welding shapes, the corresponding optimal ideal contour model under the welding condition is obtained, the ideal contour model is retrieved, and the difference between the ideal contour model and the real-time contour model obtained by current scanning is judged, so that the real-time welding quality is judged.
In the system, the ideal contour model is compared with the real-time contour model, and the comparison is carried out through a processing module, wherein the processing module also comprises a slicing module for slicing the real-time contour model and the ideal contour model; slicing the real-time contour model according to the principle of equal distance in two dimensions perpendicular to the welding track, and obtaining a plurality of slice models with sequence marks according to a set slice sequence; similarly, the ideal contour model is sliced according to the equidistant principle, a plurality of standard models with sequence marks are obtained according to the established slicing sequence, in particular, the slicing module can slice the real-time contour model and the ideal contour model on a plane perpendicular to the welding track, in particular, a plane perpendicular to the welding track is a plane, and two references which are perpendicular to each other are defined on the plane. It can be understood that, for convenience of description, the two references can be constructed into a three-dimensional coordinate system, in this embodiment, the welding track is taken as a Y axis, the height of the welding line is taken as a Z axis, the width of the welding line is taken as an X axis, and the slice model can slice the welding line, specifically, the two directions of the slice are respectively the X axis and the Y axis, and the interval between each slice is the unit scale distance on the X axis and the Y axis;
when slicing is carried out on the X axis, the obtained slice model is a two-dimensional graph projected on the Y-Z plane, when slicing is carried out on the Y axis, the obtained slice model is a two-dimensional graph projected on the X-Z plane, and when the slicing is carried out on different references, the real-time contour model and the ideal contour model are required to be synchronously sliced, and the slice model and the ideal model which are positioned on the same reference slice are placed on the same plane for subsequent comparison.
Particularly, the processing module in the system also comprises a projection module, wherein the projection module is used for projecting the slice model and the standard model which correspond to the sequence marks on the same reference plane to obtain corresponding slice curves and standard curves; the projection module is internally provided with a positioning module which is used for corresponding the two end base points of the slicing curve and the standard curve, synchronously projecting the slicing model and the ideal model at the same slicing position at the obtained corresponding positions, aligning the positions of the corresponding end points, and partially overlapping and partially separating the slicing model and the ideal model, wherein the overlapped parts can be considered that the external shape of the welding lines meets the standard, and the welding quality at the positions can be recognized.
Specifically, the comparison module in the comparison model further comprises a difference calculation module, which is used for calculating the difference between the slice curves and the standard curves on the same reference plane to obtain the difference value of the sequence marking positions, firstly, the difference calculation module can calculate the corresponding difference values of the corresponding different positions according to the obtained difference values between the plurality of groups of slice curves and the standard curves, and then the welding quality information of the corresponding welding lines at the positions can be obtained;
particularly, the comparison module further comprises a weight proportioning module, different weight coefficients are given to sequential marks of different positions, corresponding difference values are multiplied by the weight coefficients to obtain quality evaluation coefficients of the sequential mark positions, then the quality evaluation coefficients of all the sequential mark positions are summed and averaged to obtain welding quality coefficients of corresponding welding positions, the welding quality is determined, the weight of the welding position, which affects the whole welding quality, is different from the weight of the welding line, particularly, the quality of the welding line, which is close to the welding position, is different from the weight of the welding line, which is far away from the welding position, so that in the intrinsic quality detection system, after the difference values of the welding position are obtained, the welding quality coefficients of the welding position can be obtained through the weight coefficients of the corresponding positions, the obtained welding quality coefficients can be compared with each other equally, and the quality of the actual welding position can be obtained through the mode of summing the whole welding coefficients and averaging, and the quality of the welding position can be obtained, and the quality of the welding position can be compared with the current welding quality coefficient to obtain a preset standard;
the comparison module further comprises a limit correction module, wherein the limit correction module is used for judging the extreme value of the difference value, a preset value is arranged in the limit correction module, when the difference value exceeds the preset value, the welding quality coefficient is automatically corrected to be a welding risk coefficient, the welding quality coefficient at the corresponding position can be obtained by multiplying the preset weight proportioning module by the corresponding difference value, the judgment of the whole welding quality coefficient at the welding position is realized by adopting a mean value taking mode, but in order to avoid the condition that the difference value is larger or smaller at part of the welding position, the obtained mean value welding quality coefficient meets the requirement, but the quality of part of the welding line can not meet the requirement, therefore, in the scheme, the limit correction module is arranged, the difference value exceeding the preset value part can be marked by carrying out preliminary screening on the obtained multiple groups of difference values, and when the obtained multiple groups of difference values exceed the preset value, the corresponding welding quality coefficient is directly marked to be the welding risk coefficient, and even if the obtained welding quality coefficient meets the requirement, but a certain part of the welding position does not meet the requirement of the preset value, so that the whole welding quality is affected and does not meet the standard.
The method mainly detects the external contour of a welding position to obtain the integral quality of the corresponding welding position, but in the welding process, as the purity of the welding gas is insufficient, or other impurities are doped in the welding gas, bubbles can be generated in the welding position, therefore, under the detection of the external contour, the welding position meets the standard, but the welding quality of the part cannot meet the requirement due to the influence of the bubbles, an ultrasonic flaw detection module is further arranged in the detection system, the scanning module operates, the welding position is subjected to flaw detection to judge whether bubbles exist in the welding position, the ultrasonic flaw detection module is used for obtaining the size and position information of the corresponding bubbles in the welding position, the contour information of the bubbles is fused into a corresponding real-time contour model, the shape information of the bubbles is reserved in a subsequent slicing module, in a final slicing curve, the bubbles can be obtained in the corresponding slicing curve, the height or the specific gravity of the length of the bubbles is judged, the welding quality is influenced by the bubbles, in the judging process, the mode that the standard value is set is not influenced is obtained, and the welding quality is directly influenced by the serial connection with the serial connection of the high-risk coefficient, and the welding quality is not influenced by the serial high-risk coefficient.
It is worth to say that, the quality detection mode that provides in this system is mainly through carrying out comprehensive judgement to welding position outside profile shape, through the scanning show of audio-visual welding position outside shape to through the comparison of two dimensions, whether the welding quality of obtaining the welding position accords with the standard, the mode of comparing the image shaping, it can more direct show the welding quality of welding position, and can very big reduction external environment brings the influence to the testing result.
Embodiment two:
referring to fig. 2-10, a method for detecting welding quality of a steel structure based on three-dimensional laser scanning comprises the following steps:
s100, utilizing scanning equipment, realizing complete acquisition of three-dimensional contour information of a welding position according to a track determination principle, and constructing a real-time contour model;
s200, acquiring ideal contour models corresponding to current welding condition information by acquiring the current welding condition information;
s300, slicing the real-time contour model and the ideal contour model along two mutually perpendicular directions by utilizing a slicing technology according to an equidistant principle to obtain a corresponding slice model and a standard model, positioning and projecting the obtained slice model and the standard model, and simultaneously obtaining a slice curve and a standard curve on a reference plane;
s400, comparing the slice curves with the standard curves to obtain difference values in unit scale distance between the slice curves and the standard curves, matching corresponding weight coefficients according to the difference of the positions, multiplying the difference values by the weight coefficients to obtain corresponding quality evaluation coefficients, summing all the quality evaluation coefficients, taking out an average value to obtain welding quality coefficients of welding positions, and determining welding quality.
In the foregoing, steps S100-S400, a method for detecting welding quality of a steel structure based on three-dimensional laser scanning is provided, specifically, an external real-time contour model of a welding position is obtained through a three-dimensional laser scanner, in this process, welding condition information of the welding position is completely collected, a corresponding ideal contour model corresponding to the middle welding condition information is obtained in a writable database by using the collected information, a corresponding welding quality judgment is obtained by comparing the real-time contour model with the ideal contour model, specifically, equidistant slicing is performed on the real-time contour model and the ideal contour model in two mutually perpendicular directions through a slicing mode, a plurality of obtained corresponding slice models and ideal models are projected onto a reference plane at the same time, a corresponding slice curve and a standard curve are obtained, a difference value is obtained by comparing two curves of the corresponding positions, an equivalent welding quality coefficient of the corresponding position is obtained through a weight distribution module, a quality coefficient of the welding position is obtained by using a mode of summing and averaging, and a welding quality coefficient is determined.
Further, in step S300, the following steps are further included: s310, determining two directions perpendicular to a welding track; s320, integrating the two directions with the welding direction respectively to form two mutually perpendicular reference surfaces; s330, obtaining a corresponding slicing curve and a model curve by utilizing a parallel projection mode, aligning endpoints of the two corresponding curves, and realizing complete scanning of the welding position through the set steps S310-S330 when scanning a real-time contour model of the welding position.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; 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; these modifications or substitutions do not depart from the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. Steel construction welding quality detecting system based on three-dimensional laser scanning, characterized in that includes:
a scanning module; the method comprises the steps of acquiring overall three-dimensional profile parameter information of a welding position, and constructing a real-time profile model;
a reference module; the method comprises the steps of a database, and calling an ideal contour model according to actual welding conditions;
a processing module; processing the real-time contour model and the ideal contour model, slicing the real-time contour model and the ideal contour model along two mutually perpendicular directions by utilizing a slicing technology according to an equidistant principle to obtain a corresponding slice model and a standard model, positioning and projecting the obtained slice model and the standard model, and simultaneously obtaining a slice curve and a standard curve on a reference plane;
comparison module; comparing the slice model corresponding to the sequence mark with the standard model to obtain a welding quality coefficient, and determining welding quality; specifically, comparing a slice curve and a standard curve obtained by a processing module to obtain a difference value in unit gauge length between the slice curve and the standard curve, matching corresponding weight coefficients according to the difference of positions, multiplying the difference value by the weight coefficients to obtain corresponding quality evaluation coefficients, summing all the quality evaluation coefficients, taking out an average value to obtain a welding quality coefficient of a welding position, and determining welding quality.
2. The steel structure welding quality detection system based on three-dimensional laser scanning of claim 1, wherein the scanning module comprises:
a three-dimensional laser emission module; the laser feedback device is used for emitting laser and receiving a laser feedback signal;
a track determining module; according to the established welding line, at least three scanning tracks parallel to the welding line are matched; according to the emission width of the three-dimensional laser emission module, ensuring that the three-dimensional laser emission module can completely scan and obtain the overall three-dimensional profile parameter information of the welding position;
constructing a module; and integrating the multiple groups of integral three-dimensional contour parameter information obtained by multiple scans, and combining the multiple groups of integral three-dimensional contour parameter information to construct a real-time contour model in three-dimensional coordinates.
3. The steel structure welding quality detection system based on three-dimensional laser scanning of claim 1, wherein the reference module comprises:
an acquisition module; the method is used for collecting welding condition information such as the length and the width of a welding line between two steel structures to be welded, steel types of the two steel structures to be welded and the like;
a calling module; for retrieving an ideal profile model corresponding to the current welding condition information within a writable database.
4. The steel structure welding quality detection system based on three-dimensional laser scanning according to claim 1, wherein,
the processing module also comprises a slicing module which is used for slicing the real-time contour model and the ideal contour model;
slicing the real-time contour model according to the principle of equal distance in two dimensions perpendicular to the welding track, and obtaining a plurality of slice models with sequence marks according to a set slice sequence;
and similarly, slicing the ideal contour model according to the equidistant principle, and obtaining a plurality of standard models with sequence marks according to a given slicing sequence.
5. The steel structure welding quality detection system based on three-dimensional laser scanning according to claim 4, wherein,
the processing module further comprises a projection module, wherein the projection module is used for projecting the slice model and the standard model which correspond to the sequence marks on the same reference plane to obtain corresponding slice curves and standard curves;
and a positioning module is further arranged in the projection module and is used for corresponding the two end base points of the slicing curve and the standard curve.
6. The steel structure welding quality detection system based on three-dimensional laser scanning according to claim 5, wherein,
the comparison module also comprises a difference calculation module which is used for calculating the difference between the slice curve and the standard curve which are positioned on the same reference plane and solving the difference value of the sequence marking position;
the comparison module further comprises a weight proportioning module, different weight coefficients are given to sequence marks of different positions, corresponding difference values are multiplied by the weight coefficients to obtain quality evaluation coefficients of the sequence mark positions, then the quality evaluation coefficients of all the sequence mark positions are summed and averaged to obtain welding quality coefficients of corresponding welding positions, and welding quality is determined.
7. The system for detecting the welding quality of the steel structure based on the three-dimensional laser scanning according to claim 6, wherein the comparison module further comprises a limit correction module for judging the extreme value of the difference value, wherein a preset value is arranged in the limit correction module, and when the difference value exceeds the preset value, the welding quality coefficient is automatically corrected to be a welding risk coefficient.
8. The steel structure welding quality detection system based on three-dimensional laser scanning of claim 1, further comprising an ultrasonic flaw detection module, wherein flaw detection is performed on the welding position while the scanning module is running, and whether bubbles exist inside the welding position is judged.
9. A method for detecting the welding quality of a steel structure based on three-dimensional laser scanning is characterized by comprising the following steps,
s100, utilizing scanning equipment, realizing complete acquisition of three-dimensional contour information of a welding position according to a track determination principle, and constructing a real-time contour model;
s200, acquiring ideal contour models corresponding to current welding condition information by acquiring the current welding condition information;
s300, slicing the real-time contour model and the ideal contour model along two mutually perpendicular directions by utilizing a slicing technology according to an equidistant principle to obtain a corresponding slice model and a standard model, positioning and projecting the obtained slice model and the standard model, and simultaneously obtaining a slice curve and a standard curve on a reference plane;
s400, comparing the slice curves with the standard curves to obtain difference values in unit scale distance between the slice curves and the standard curves, matching corresponding weight coefficients according to the difference of the positions, multiplying the difference values by the weight coefficients to obtain corresponding quality evaluation coefficients, summing all the quality evaluation coefficients, taking out an average value to obtain welding quality coefficients of welding positions, and determining welding quality.
10. The method for detecting welding quality of steel structures based on three-dimensional laser scanning according to claim 9, further comprising the steps of:
s310, determining two directions perpendicular to a welding track;
s320, integrating the two directions with the welding direction respectively to form two mutually perpendicular reference surfaces;
s330, using a parallel projection mode, respectively taking two reference planes as projection planes, projecting to obtain a corresponding slice curve and a model curve, and aligning the endpoints of the two corresponding curves.
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