CN104959719A - Quick nondestructive testing method for hole defect in welding seam of fusion welding - Google Patents
Quick nondestructive testing method for hole defect in welding seam of fusion welding Download PDFInfo
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- CN104959719A CN104959719A CN201510414709.0A CN201510414709A CN104959719A CN 104959719 A CN104959719 A CN 104959719A CN 201510414709 A CN201510414709 A CN 201510414709A CN 104959719 A CN104959719 A CN 104959719A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
Abstract
The invention discloses a quick nondestructive testing method for a hole defect in a welding seam of fusion welding. The quick nondestructive testing method for the hole defect in the welding seam of fusion welding comprises the following steps that firstly 3D scanning equipment is used to obtain point cloud data of a weldment to be tested; then the obtained point cloud data are transformed into a triangular mesh model through software; at the same time, a triangular mesh model surface of a base metal is used for fitting a smooth surface and a triangular mesh model surface of the surplus height portion of the welding seam, and the smooth surface and the triangular mesh model surface of the surplus height portion of the welding seam are intersected and form a closed space; the volume of the closed space is calculated, and the volume of the closed space is the measured volume of the surplus height portion of the welding bead; the volume of welding material which is actually consumed subtracts the volume of a groove between the base metals during welding, and the theoretical volume of the surplus height portion of the welding seam is obtained; finally the measured volume of the surplus height portion of the welding seam subtracts the theoretical volume, and the overall volume of the hole in the welding seam is obtained. The quick nondestructive testing method for the hole defect in the welding seam of fusion welding has the advantages of being nondestructive to the weldment to be tested, quick in test speed, comparatively high in testing accuracy, flexible in measuring mode, low in cost, convenient to operate and the like.
Description
Technical field
The present invention relates to welding and detect detection field, particularly relate to a kind of fast non-destructive detection method of melting weld seam Hole defect.
Background technology
Melting welding and melting are the welding methods utilizing the method for local heat the METAL HEATING PROCESS of junction to be completed to molten state, can form the firm welding point of metallurgical binding.In engineering practice, for various reasons, may there is pore class hole defect in arc-seam weld inside (namely weld seam is inner), these defects with the naked eye cannot carry out visual inspection and judgement, but can reduce effective bearing capacity and the mechanical property of weld seam, very harmful.Therefore, weld seam internal porosity class hole defect detection and assessment for evaluation weldquality for extremely important.
Weld seam internal porosity class hole defect conventional at present detects and appraisal procedure has following several:
1, existing document " trip Guoqiang etc. die casting AZ91D magnesium alloy TIG welding pore research [J]. material engineering .2014 (12): 23-28 " and existing document " Zhang Jing etc. welding procedure is to diecast magnesium alloy CO
2the impact [J] of the laser welded seam porosity. welding journal .2011,32 (5): 17-21 " all describe and intercept seam cross-section at postwelding and make metallographic specimen; with microscope, cross section being taken pictures; adopt software processing and measure the pore of weld seam, then obtaining weld porosity rate by calculating.The shortcoming of the method is: need to destroy weld seam to intercept section of weld joint and to make metallographic specimen, and often will intercept that multiple transversal not only process is loaded down with trivial details with the accuracy ensureing result, and cannot realize Non-Destructive Testing, and application is in the industry greatly limited.
2, existing document " river is gushed. the ultrasonic examination Non-Destructive Testing of welding quality analysis [J]. tech enterprises in China .2015; 326 (11): 76-77 " in describe the method for Ultrasonic Nondestructive weld blowhole, ultrasound examination have radiationless, excite easily, the advantage such as characterization processes is simple, easy to operate, low price; It is higher that ultrasound examination is used for stability when single pore detects, but when the porosity is higher, in pore testing process often there is a series of back wave in the intensive place of pore, and wave height can change along with the size of pore, when doing Fixed-point Motion of A when popping one's head in, it can produce this and play that phenomenon fallen, the result that severe jamming detects, the size of pore also can only be determined by the method for estimation simultaneously, makes testing result accurate not.
3, existing document " straight dry etc. evaluation method summary [J] of X-ray detection of welding and result thereof. welding journal .2002; 23 (3): 85-89 " in describe traditional X-ray film camera technique and detect for weld porosity, the method reliably can detect fine pores, and have good visuality, but also there are some shortcomings: sense cycle is long; Weldment must be carried in stereotype guard chamber and detect, cannot on-line checkingi; Film camera can not carry out along each orientation, may can be undetected for some pores; There is potential problem of environmental pollution in radiographic source.
4) existing document " Sun Lingxia; Ye Yunchang. Industrial Computed Tomography Speciality and application example [J]. nuclear electronics and Detection Techniques .2006; 26 (4): 486-488 " in describe a kind of Dynamic Non-Destruction Measurement industry CT detection technique, the method has that imaging is very directly perceived, resolution ratio compares advantages of higher, and shortcoming is: apparatus expensive; Detection efficiency is low; Radiation source has potential environmental pollution possibility; Weldment need be carried to equipment location and hold detection, cannot realize on-line checkingi, and is difficult to use in large-scale welding products test.
In a word, all there is respective limitation in the detection of existing weld porosity class hole defect and appraisal procedure.How accurately and fast, mensuration weld blowhole rate convenient, with low cost is still urgently to be resolved hurrily.
Summary of the invention
For above-mentioned the deficiencies in the prior art, technical problem to be solved by this invention is: how to provide a kind of with low cost, easy and simple to handle, detection speed is fast, the lossless detection method of the melting weld seam Hole defect that accuracy of detection is high.
In order to solve the problems of the technologies described above, present invention employs following technical scheme:
The fast non-destructive detection method of melting weld seam Hole defect, during described melting, is connected to form groove by the position to be welded machined of mother metal to be welded; Utilizing the method for local heat that wlding is heated to melt after coagulation to groove together with the mother metal of groove junction during welding makes it in the weld reinforcement portion of mother metal surface formation evagination; It is characterized in that, described detection method comprises the following steps:
S1: cloud data collection is carried out to the weld seam of weldment to be detected; The weld seam position of 3D scanning device to weldment to be detected is utilized to carry out 3-D scanning, the cloud data of acquisition weld reinforcement portion and with it adjacent mother metal.
S2: the process of cloud data; Software is utilized cloud data to be changed into three-dimensional triangle grid model; The triangle mesh model face of a side surface in the contiguous described weld reinforcement portion of mother metal is utilized to simulate an even surface crossing with the triangle grid model face in weld reinforcement portion and form a confined space.
S3: the actual volume in weld reinforcement portion is measured; The volume of the confined space utilizing software to calculate to be formed in step S2, is the measurement volumes in weld reinforcement portion
v reinforcement-survey.
S4: the theoretical volume in weld reinforcement portion calculates; Utilize the wlding volume of actual consumption
v fillgroove volume when deducting welding between mother metal
v groove, obtain the theoretical volume in weld reinforcement portion
v reinforcement-theory.
S5: the calculating of weld seam Hole cumulative volume; Utilize the measurement volumes in weld reinforcement portion
v reinforcement-surveydeduct the theoretical volume in weld reinforcement portion
v reinforcement-theory, obtain the cumulative volume of weld seam Hole
v pore.
In theory, when in weld seam during pore-free class hole defect, the measurement volumes in weld reinforcement portion
v reinforcement-surveytheoretical volume should be equaled
v reinforcement-theory; Pore class hole defect is there is, the measurement volumes in weld reinforcement portion in weld seam
v reinforcement-surveythen can at theoretical volume
v reinforcement-theorybasis on increase thereupon, and the volume increased is exactly just in time the volume sum of weld seam internal porosity.Like this, just can according to the cumulative volume measuring hole
v poresize butt welded seam carry out Non-Destructive Testing.At present, 3D scanning technique and equipment are all very ripe, and the scanning accuracy of 3D scanning device is high, and sweep speed is fast; Be conducive to butt welded seam to detect fast, improve detection efficiency.Meanwhile, the volume of existing 3D scanning device is little, lightweight, can portable mobile, flexible working mode; For large-scale weldment, sectional scanning, Segment evaluation, without the need to moving weldment to be detected.Adopt in this way, carrying out sampling destruction without the need to butt-welding fitting can complete detection.Meanwhile, testing process adopts 3D scan mode to carry out, and radiationless, environmentally safe, to human-body safety fanout free region.
As optimization, described wlding is the strip wlding that cross section is constant; The wlding volume of actual consumption in described step S4
v fillfor the wlding length of actual consumption
l fillbe multiplied by wlding cross-sectional area
s fillobtain.Like this, for the strip wlding that cross section is constant, adopt mode that cross-sectional area is multiplied by length faster can calculate the volume of actual consumption wlding.
As optimization, the wlding volume of actual consumption in described step S4
v fillfor by postwelding gross weight M
postweldingdeduct the front gross mass M of weldering
before welderingobtain wlding gross mass M
wlding, and then obtain divided by wlding density.
Like this, may be used for calculating difform wlding volume.Meanwhile, the wlding volume adopting weight to calculate divided by the mode of density
v fillthe interference of pore to testing result of wlding self can be avoided, make testing result more accurate.
As optimization, groove volume in described step S4
v groove is groovecross-sectional area
s groovebe multiplied by the physical length of weld seam
l weld seamobtain.
A fast non-destructive detection method for melting weld seam Hole defect, during described melting, is connected the position to be welded of mother metal to be welded; Then utilize the method for local heat the mother metal of groove junction is heated to melt after coagulation to groove and make its mother metal surface formation evagination weld reinforcement portion; It is characterized in that, described detection method comprises the following steps:
S1: cloud data collection is carried out to the weld seam of weldment to be detected; The weld seam position of 3D scanning device to weldment to be detected is utilized to carry out 3-D scanning, the cloud data of acquisition weld reinforcement portion and with it adjacent mother metal;
S2: the process of cloud data; Software is utilized cloud data to be changed into three-dimensional triangle grid model; The triangle mesh model face of a side surface in the contiguous described weld reinforcement portion of mother metal is utilized to simulate an even surface crossing with the triangle grid model face in weld reinforcement portion and form a confined space;
S3: the actual volume in weld reinforcement portion is measured; The volume of the confined space utilizing software to calculate to be formed in step S2, is the measurement volumes in weld reinforcement portion
v reinforcement-survey, the namely cumulative volume of weld seam Hole
v pore.
Due to undressed groove during welding, adopt I type groove, then groove volume
v groovebe 0.Meanwhile, in welding process, do not use wlding, by mother metal fuse itself, then wlding volume
v fillbe 0.Like this, measurement volumes
v reinforcement-surveythe namely cumulative volume of weld seam Hole
v pore.
The advantages such as in sum, the present invention has welding not damaged to be measured, and detection speed is fast, and accuracy of detection is higher, and detection mode is flexible, with low cost, easy and simple to handle.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the fast non-destructive detection method of the melting weld seam Hole defect of embodiment of the present invention.
Fig. 2 adopts the inventive method not fill silk to casting magnesium alloy to weld weldment from molten TIG and carry out mother metal top surface plane that software the simulates schematic diagram crossing with weld seam triangle grid model face.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 is the schematic flow sheet of the fast non-destructive detection method of the melting weld seam Hole defect of embodiment of the present invention.As shown in Figure 1, the fast non-destructive detection method of melting weld seam Hole defect provided by the invention comprises:
S1: cloud data collection is carried out to the weld seam of weldment to be detected; The weld seam position of 3D scanning device to weldment to be detected is utilized to carry out 3-D scanning, the cloud data of acquisition weld reinforcement portion and with it adjacent mother metal.
S2: the process of cloud data; Software is utilized cloud data to be changed into three-dimensional triangle grid model; The triangle mesh model face of a side surface in the contiguous described weld reinforcement portion of mother metal is utilized to simulate an even surface crossing with the triangle grid model face in weld reinforcement portion and form a confined space.
S3: the actual volume in weld reinforcement portion is measured; The volume of the confined space utilizing software to calculate to be formed in step S2, is the measurement volumes in weld reinforcement portion
v reinforcement-survey.
S4: the theoretical volume in weld reinforcement portion calculates; Utilize the wlding volume of actual consumption
v fillgroove volume when deducting welding between mother metal
v groove, obtain the theoretical volume in weld reinforcement portion
v reinforcement-theory.
S5: the calculating of weld seam Hole cumulative volume; Utilize the measurement volumes in weld reinforcement portion
v reinforcement-surveydeduct the theoretical volume in weld reinforcement portion
v reinforcement-theory, obtain the cumulative volume of weld seam Hole
v pore.
In theory, when in weld seam during pore-free class hole defect, the measurement volumes in weld reinforcement portion
v reinforcement-surveytheoretical volume should be equaled
v reinforcement-theory; Pore class hole defect is there is, the measurement volumes in weld reinforcement portion in weld seam
v reinforcement-surveythen can at theoretical volume
v reinforcement-theorybasis on increase thereupon, occur after being similar to wheaten food fermentation that pore causes volume to increase, like this, the volume of increase is exactly just in time the volume sum of weld seam internal porosity.
Current 3D scanning technique and equipment are very ripe, and domestic industrial high-precision blue light 3D scanner is for the object of measurement category within 1.5 meters, and scanning accuracy can reach 5 microns; In engineering, the size of most weld seam and reinforcement thereof is at grade, little of 1/10 grade, roughly tens of milliseconds level, and under the prerequisite ensureing scanning accuracy, sweep speed (containing data processing) can reach 5-6 minute/meter, and therefore existing 3D scanning technique and equipment easily can complete weld seam involved in the present invention rapidly and scans and ensure its dimensional accuracy.In addition, existing 3D scanning device volume is little, lightweight (only counting kilogram weight), can portable mobile, fixes during work with tripod; When scanning, workpiece can keep motionless at the scene, is set up at the scene by 3D scanning device, connects notebook computer and gets final product work, very convenient easy; For large-scale weldment, sectional scanning, Segment evaluation.
Use 3D scanning device software kit in step S2, it is that software carries function that scanning gained cloud data is changed into " three-dimensional triangle grid model ", is also the software operation that skilled addressee knows, and is easy to realize; Triangle mesh model adopts threedimensional model the most widely in computer graphics, and it splices by multiple triangle the surface texture describing object.
In step S3, the calculating of the groove cross section between mother metal only need with reference to the groove type adopted during welding and in conjunction with field measurement, then carry out simple geometry and calculate and can complete.For plate sheet welding, sometimes adopt I shape groove, then groove volume
v groovebe 0.
A length is less than for the weld seam of 1.5m, completes whole detection and only need 10 to 30 minutes, and without the need to mobile weldment, very fast with convenient; For the weld seam that length is greater than 1.5m, sectional operates.
Wherein, described wlding is the strip wlding that cross section is constant; The wlding volume of actual consumption in described step S4
v fillfor the wlding length of actual consumption
l fillbe multiplied by wlding cross-sectional area
s fillobtain.Like this, for the strip wlding that cross section is constant, adopt mode that cross-sectional area is multiplied by length faster can calculate the volume of actual consumption wlding.During welding, if adopt the mode of being welded by base metals fuse itself, then do not use wlding, wlding volume
v fillcalculate with 0.
During concrete enforcement, the wlding volume of actual consumption in described step S4
v fillcan also adopt and obtain with the following method: by postwelding gross weight M
postweldingdeduct the front gross mass M of weldering
before welderingobtain wlding gross mass M
wlding, and then obtain divided by wlding density.
Like this, may be used for calculating difform wlding volume.Meanwhile, the wlding volume adopting weight to calculate divided by the mode of density
v fillthe interference of pore to testing result of wlding self can be avoided, make testing result more accurate.
Wherein, groove volume in described step S4
v groove is groovecross-sectional area
s groovebe multiplied by the physical length of weld seam
l weld seamobtain.During welding, if adopt I type groove, then groove volume
v groovecalculate with 0.
During concrete enforcement, groove volume in described step S4
v groovecan also obtain in the following ways, weldment to be detected be separated calculated population together with groove and amasss
v always, gross mass M before then welding
before welderingdivided by mother metal density, obtain the actual volume of mother metal
v actual, finally use cumulative volume
v alwaysdeduct actual volume
v actualobtain.
Adopt the inventive method to detect diecast magnesium alloy not fill silk and to elaborate from the fast non-destructive detection method of specific embodiment to above-mentioned melting weld seam Hole defect of molten TIG welding line with a kind of below.
During concrete enforcement: as shown in Figure 2, with pressure as-cast magnesium alloy as mother metal, what do not fill silk welds from molten TIG, does not namely use wlding, uses tungsten electrode argon-arc welding electric arc to carry out from fusion welding on mother metal, the weld reinforcement portion of weldment is comparatively obvious, then adopts the inventive method to proceed as follows:
1) utilize the weld seam position of high accuracy blue light 3D scanning device butt-welding fitting to carry out 3-D scanning, obtain the cloud data of weld reinforcement portion 2 and adjacent mother metal 1 with it.
2) the threedimensional model process software (Geomagic Studio 2013) using 3D scanning device supporting, changes into triangle grid model by cloud data.
3) plane 3 is simulated with the triangle grid model face of a side surface in the contiguous described weld reinforcement portion 2 of mother metal 1, plane 3 is crossing with the triangle grid model face in weld reinforcement portion 2, the enclosure space formed is weld reinforcement portion 2, then automatically calculates the volume in weld reinforcement portion 2
v reinforcement-survey=110.365147mm
3.
4) with the wlding volume of actual consumption
v fillgroove volume when deducting welding between mother metal 1
v groove, obtain the theoretical volume in weld reinforcement portion 2
v reinforcement-theory.Be from fusion welding in the present embodiment, do not use wlding, namely
v fillbe 0.Meanwhile, I type groove is adopted, i.e. groove volume
v groovebe 0, the therefore theoretical volume in weld reinforcement portion 2
v reinforcement-theory=0.
5) with the actual volume in weld reinforcement portion 2
v reinforcement-surveydeduct the theoretical volume in weld reinforcement portion 2
v reinforcement-theory, obtain the cumulative volume of weld seam internal porosity class hole defect:
v hole=
v reinforcement-survey-
v reinforcement-theory=110.365147-0=110.365147mm
3.
Like this, just can complete diecast magnesium alloy is not filled silk from the detection of molten TIG welding line.
The foregoing is only preferred embodiment of the present invention, is not restriction with the present invention, and all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a fast non-destructive detection method for melting weld seam Hole defect, during described melting, is connected to form groove by the position to be welded machined of mother metal to be welded; Utilizing the method for local heat that wlding is heated to melt after coagulation to groove together with the mother metal of groove junction during welding makes it in the weld reinforcement portion of mother metal surface formation evagination; It is characterized in that, described detection method comprises the following steps:
S1: cloud data collection is carried out to the weld seam of weldment to be detected; The weld seam position of 3D scanning device to weldment to be detected is utilized to carry out 3-D scanning, the cloud data of acquisition weld reinforcement portion and with it adjacent mother metal;
S2: the process of cloud data; Software is utilized cloud data to be changed into three-dimensional triangle grid model; The triangle mesh model face of a side surface in the contiguous described weld reinforcement portion of mother metal is utilized to simulate an even surface crossing with the triangle grid model face in weld reinforcement portion and form a confined space;
S3: the actual volume in weld reinforcement portion is measured; The volume of the confined space utilizing software to calculate to be formed in step S2, is the measurement volumes in weld reinforcement portion
v reinforcement-survey;
S4: the theoretical volume in weld reinforcement portion calculates; Utilize the wlding volume of actual consumption
v fillgroove volume when deducting welding between mother metal
v groove, obtain the theoretical volume in weld reinforcement portion
v reinforcement-theory;
S5: the calculating of weld seam Hole cumulative volume; Utilize the measurement volumes in weld reinforcement portion
v reinforcement-surveydeduct the theoretical volume in weld reinforcement portion
v reinforcement-theory, obtain the cumulative volume of weld seam Hole
v pore.
2. the fast non-destructive detection method of melting weld seam Hole defect as claimed in claim 1, it is characterized in that, described wlding is the strip wlding that cross section is constant; The wlding volume of actual consumption in described step S4
v fillfor the wlding length of actual consumption
l fillbe multiplied by wlding cross-sectional area
s fillobtain.
3. the fast non-destructive detection method of melting weld seam Hole defect as claimed in claim 1, is characterized in that, the wlding volume of actual consumption in described step S4
v fillfor by postwelding gross weight M
postweldingdeduct the front gross mass M of weldering
before welderingobtain wlding gross mass M
wlding, and then obtain divided by wlding density.
4. the fast non-destructive detection method of melting weld seam Hole defect as claimed in claim 1, is characterized in that, groove volume in described step S4
v groovefor the cross-sectional area of groove
s groovebe multiplied by the physical length of weld seam
l weld seamobtain.
5. a fast non-destructive detection method for melting weld seam Hole defect, during described melting, is connected the position to be welded of mother metal to be welded; Then utilize the method for local heat the mother metal of groove junction is heated to melt after coagulation to groove and make its mother metal surface formation evagination weld reinforcement portion; It is characterized in that, described detection method comprises the following steps:
S1: cloud data collection is carried out to the weld seam of weldment to be detected; The weld seam position of 3D scanning device to weldment to be detected is utilized to carry out 3-D scanning, the cloud data of acquisition weld reinforcement portion and with it adjacent mother metal;
S2: the process of cloud data; Software is utilized cloud data to be changed into three-dimensional triangle grid model; The triangle mesh model face of a side surface in the contiguous described weld reinforcement portion of mother metal is utilized to simulate an even surface crossing with the triangle grid model face in weld reinforcement portion and form a confined space;
S3: the actual volume in weld reinforcement portion is measured; The volume of the confined space utilizing software to calculate to be formed in step S2, is the measurement volumes in weld reinforcement portion
v reinforcement-survey, the namely cumulative volume of weld seam Hole
v pore.
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| CN108932713A (en) * | 2018-07-20 | 2018-12-04 | 成都指码科技有限公司 | A kind of weld porosity defect automatic testing method based on deep learning |
| CN110132975A (en) * | 2019-03-28 | 2019-08-16 | 中核建中核燃料元件有限公司 | A kind of method, apparatus for nuclear fuel pencil cladding Surface testing |
| CN110132975B (en) * | 2019-03-28 | 2022-04-12 | 中核建中核燃料元件有限公司 | Method and device for detecting surface of cladding of nuclear fuel rod |
| CN111462110A (en) * | 2020-04-20 | 2020-07-28 | 广东利元亨智能装备股份有限公司 | Welding seam quality detection method, device and system and electronic equipment |
| CN111462110B (en) * | 2020-04-20 | 2021-04-13 | 广东利元亨智能装备股份有限公司 | Welding seam quality detection method, device and system and electronic equipment |
| CN114240944A (en) * | 2022-02-25 | 2022-03-25 | 杭州安脉盛智能技术有限公司 | Welding defect detection method based on point cloud information |
| CN115294105A (en) * | 2022-09-28 | 2022-11-04 | 南京理工大学 | Multilayer multi-pass welding remaining height prediction method |
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