CN107328391A - A kind of multi-sensor cooperation monitoring device and method for broadband laser cladding - Google Patents
A kind of multi-sensor cooperation monitoring device and method for broadband laser cladding Download PDFInfo
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- CN107328391A CN107328391A CN201710509752.4A CN201710509752A CN107328391A CN 107328391 A CN107328391 A CN 107328391A CN 201710509752 A CN201710509752 A CN 201710509752A CN 107328391 A CN107328391 A CN 107328391A
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- cladding
- laser cladding
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C24/00—Coating starting from inorganic powder
- C23C24/08—Coating starting from inorganic powder by application of heat or pressure and heat
- C23C24/10—Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
Abstract
The invention discloses a kind of multi-sensor cooperation monitoring device and method for broadband laser cladding, the device includes displacement sensing unit, image sensing cell and information process unit；4 sensor being centrosymmetric linking arms are provided with coaxial powder feeding head, the end of sensor linking arm is respectively arranged with image sensing cell or displacement sensing unit；Two image sensing cells are arranged around coaxial powder feeding head in certain angle adjustable, for gathering during broadband laser cladding Pool image on two different directions.The crater image of information process unit, the altitude information gathered for fusion treatment displacement sensing unit and image sensing cell collection, is calculated and be shown area and three-dimensional dimension, shaping floor height, defocusing amount, the overlapping rate in broadband rectangle molten bath in real time.The present invention multi-sensor cooperation monitoring device and method can in real time, precisely, comprehensively monitoring broadband laser cladding process.
Description
Technical field
The present invention relates to field of surface engineering technique, more particularly to a kind of multi-sensor cooperation for broadband laser cladding
Monitoring device and method.
Background technology
Laser melting and coating technique is to be melted dusty material and the radiation of matrix surface thin layer and fast rapid hardening using high energy laser beam
Gu after so that matrix surface reaches a kind of material surface modifying technique of metallurgical binding with dusty material.Laser only melts matrix
Surface, heat affected area is small, and powder coating dilution rate is low, and matrix realizes metallurgical binding with dusty material；Matrix can be effectively improved
Hardness, wearability, corrosion resistance and the antioxygenic property of material surface, are now widely used for Aero-Space, petrochemical industry, vapour
The key components and parts in the fields such as car manufacture remanufacture reparation.
With demand more and more higher of the large parts to surface reconditioning, the laser action region very little of traditional small light spot,
The method that multi-track overlapping must be taken, efficiency is low and defect tendency is big, it is impossible to meet large parts to remediation efficiency, reparation matter
The demand of amount, large spot broadband laser cladding equipment is arisen at the historic moment, and overlapping fraction can be reduced in cladding workpiece of the same area
And overlap joint number of times, obtain good laser cladding layer.In laser cladding process, the stability of Pool and cladding layer height
The dimensional accuracy and mechanical performance of parts reparation are directly affected, therefore, the real-time monitoring to Pool is that control broadband is swashed
The key of light cladding quality.At present, the real-time monitoring system in laser melting coating molten bath is used：Adopted by CMOS/CCD sensors
Collect the luminous molten bath of high-temperature liquid state and extract weld pool resonance.This method has certain accuracy, but the result measured is not reality
Border cladding layer height, and Molten pool image gathering influenceed by a variety of extraneous factors, is only applicable to swashing for circular or square focus spot
Light cladding process is monitored.Because the laser melting coating of big broadband rectangular light spot is special in terms of processing parameter setting and trajectory planning
Property, prior art can not meet detection requirement.
The content of the invention
The technical problem to be solved in the present invention is low and defect tendency is big for efficiency in the prior art, it is impossible to meet big
There is provided a kind of multisensor association for broadband laser cladding for defect of the type parts to remediation efficiency, the demand of repairing quality
With monitoring device and method.
The technical solution adopted for the present invention to solve the technical problems is：
The present invention provides a kind of multi-sensor cooperation monitoring device for broadband laser cladding, including centrally disposed position
The coaxial powder feeding head put, the alloy powder inside coaxial powder feeding head is melted by broad band laser, forms broadband laser cladding molten bath,
Broadband cladding layer is combined to form with metallurgical material on base material；Wherein：
4 sensor being centrosymmetric linking arms, the end difference of sensor linking arm are provided with coaxial powder feeding head
It is provided with image sensing cell or displacement sensing unit；The device also includes information process unit, image sensing cell and displacement
Sensing unit is connected with information process unit；
Displacement sensing unit projects the static measurement line that length is multiple times than laser bandwidth, static measurement line and broad band laser
Cladding molten bath is parallel, and static measurement line is arranged closely in broadband laser cladding molten bath both sides, and displacement sensing unit receives static
The diffusing reflection light of line is measured, the cladding area parallel to broadband laser cladding molten bath and the altitude information of non-cladding area is measured；
Image sensing cell is used to gather the shape during broadband laser cladding in the both direction of broadband laser cladding molten bath
Looks image；
Information process unit is used to merge altitude information and feature image, determines broadband laser cladding perpendicular to coaxially sending
The direction of motion and broad band laser bandwidth direction on the perspective plane in prostitute axle center, and then it is molten that broad band laser is calculated and be shown in real time
Cover area and three-dimensional dimension, shaping floor height, defocusing amount and the overlapping rate in molten bath.
Further, device of the invention is on the perspective plane perpendicular to coaxial powder feeding head axle center, using axle center subpoint as
Benchmark, two displacement sensing units are in 180 degree symmetry arrangement, and two image sensing cells are passed in 180 degree symmetry arrangement, and image
The angle for feeling unit and displacement sensing unit can adjust.
Further, coaxial powder feeding head upper end of the invention is provided with adpting flange, and sensor linking arm passes through connection method
Orchid is connected with coaxial powder feeding head, annular groove is provided with coaxial powder feeding head, adpting flange is arranged in annular groove, and adpting flange
It can be rotated around annular groove.
Further, image sensing cell connection is provided between image sensing cell of the invention and sensor linking arm
Plate, is provided with displacement sensing unit connecting plate, image sensing cell connecting plate between displacement sensing unit and sensor linking arm
With threaded mounting hole is provided with displacement sensing unit connecting plate, image sensing cell and displacement sensing unit can pacify around screw thread
Fill hole rotation regulation setting angle.
Further, displacement sensing unit of the invention is 2D displacement transducers.
Further, image sensing cell of the invention includes industrial camera, camera lens and filter system.
The present invention provides a kind of multi-sensor cooperation monitoring method for broadband laser cladding, comprises the following steps：
S1, adjustment displacement sensing unit and image sensing cell operating position, two displacement sensing units of measurement to base
Material surface apart from h10、h20, by setting displacement sensing unit to project the static measurement parallel to broadband laser cladding molten bath
Line, static measurement line ESEM number on 2-3 times that the length of substrate surface is broad band laser bandwidth, every static measurement line
For 40-50/mm；
After S2, broadband laser cladding start, displacement sensing unit gathers the height parallel to broadband laser cladding molten bath in real time
Degrees of data h1n、h2n, the broad band laser that image sensing cell gathers during broadband laser cladding on two different directions in real time melts
The feature image in molten bath is covered, and the information collected is converted into digital quantity and is transferred to information process unit；
S3, information process unit fusion altitude information and feature image, according to the feature image in broadband laser cladding molten bath
The three-dimensional appearance in Real-time Reconstruction molten bath, calculates the area and three-dimensional dimension in broadband laser cladding molten bath, and determines that broad band laser melts
The laser melting coating direction overlayed on the perspective plane perpendicular to coaxial powder feeding head axle center and broad band laser bandwidth direction, are marked respectively
For vector2 groups of altitude informations are sequentially stored into 2 one-dimension array h by information process unit by scanning dot sequency1n[Ni]、
h2n[Ni], it is with the angular relationship in laser melting coating direction that the altitude information in array is right one by one by calculating broad band laser bandwidth
Should, and then obtain representing the distribution curve of the shaping floor height of cladding layer, will non-cladding layer altitude information h1n[Ni] and initial alignment
Height h10Contrast, obtains the variable quantity of defocusing amount；
S4, the data obtained according to information process unit, judge whether to meet desired value, and the continuation that how not adjust then is supervised
Survey, do not meet then feedback regulation laser cladding technological parameter and machining locus.
Further, the method for distribution curve for obtaining representing the shaping floor height of cladding layer in step S3 of the invention is：
Curve is set up according to the difference of altitude information corresponding in two arrays, its formula is：
Wherein, z0For the initial alignment height of displacement sensing unit Laser emission plane to processing workpiece surface；D is displacement
Distance between sensing unit horizontal survey line；N is the scanning element number on every measurement line of displacement sensing unit；h10、h20For position
Sensing unit is moved to be distributed to the initial distance of measurement point；h1nFor the cladding area parallel to broad band laser sensor measure away from
From；h2nSensor for the non-cladding area parallel to broad band laser measures distance.
Further, this method of the invention also includes gathering multi-track overlapping laser melting coating in real time according to displacement sensing unit
Height distribution curve method：Overlap is the overlapping region between adjacent cladding area, determines overlap and non-overlapping area
Width, the ratio that calculating overlap joint sector width accounts for single track cladding layer width obtains overlapping rate, and taking for broadband laser cladding is monitored in real time
Connect rate.
The beneficial effect comprise that：For the multi-sensor cooperation monitoring device and method of broadband laser cladding,
Displacement sensing unit cooperates with image sensing cell, and installation site and angle are adjustable with sensor mount；Displacement sensing
Unit measurement accuracy height, fast response time, by processing environment influenceed small, can quick and precisely be measured parallel to broadband molten bath zone
Height distributed data；Image sensing cell can the highlighted crater image of clear Quick Acquisition high temperature, the shape and size in extraction molten bath；
Information process unit adaptability is good, arithmetic speed fast, and Real-time Feedback calculates machined parameters.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is that the axonometric drawing of the multi-sensor cooperation monitoring device for broadband laser cladding is (coaxial comprising broad band laser
Feeding head).
Fig. 2 is that the top view of the multi-sensor cooperation monitoring device for broadband laser cladding is (coaxial comprising broad band laser
Feeding head).
Fig. 3 is the A-A sectional views of sensor mount in Fig. 2.
Fig. 4 is the multi-sensor cooperation monitoring flow chart for broadband laser cladding.
In figure：1- broadband laser claddings molten bath；2- rectangle cladding layers；3- base materials；4- image sensing cells；5- displacement sensings
Unit；6- coaxial powder feeding heads；7- adpting flanges；8- sensor linking arms；9- image sensing cell connecting plates；10- displacement sensings
Unit connecting plate.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in figure 1, the multi-sensor cooperation monitoring device for broadband laser cladding of the embodiment of the present invention, including set
The coaxial powder feeding head 6 in center is put, the alloy powder inside coaxial powder feeding head 6 is melted by broad band laser, broadband is formed
Metallurgical material combines to form broadband cladding layer 2 on laser melting coating molten bath 1, with base material 3；Wherein：
4 sensor being centrosymmetric linking arms 8, the end part of sensor linking arm 8 are provided with coaxial powder feeding head 6
Image sensing cell 4 or displacement sensing unit 5 are not provided with；The device also includes information process unit, the He of image sensing cell 4
Displacement sensing unit 5 is connected with information process unit；
Displacement sensing unit 5 projects the static measurement line that length is multiple times than laser bandwidth, and static measurement line swashs with broadband
Light cladding molten bath 1 is parallel, and static measurement line is arranged closely in the both sides of broadband laser cladding molten bath 1, and displacement sensing unit 5 is received
The diffusing reflection light of static measurement line, measures the cladding area parallel to broadband laser cladding molten bath 1 and the height of non-cladding area
Data；
Image sensing cell 4 is used to gather during broadband laser cladding in the both direction of broadband laser cladding molten bath 1
Feature image；
Information process unit is used to merge altitude information and feature image, determines broadband laser cladding perpendicular to coaxially sending
The direction of motion and broad band laser bandwidth direction on the perspective plane in the axle center of prostitute 6, and then broad band laser is calculated and be shown in real time
The area and three-dimensional dimension in cladding molten bath 1, shaping floor height, defocusing amount and overlapping rate.
On the perspective plane perpendicular to the axle center of coaxial powder feeding head 6, on the basis of the subpoint of axle center, two displacement sensing units
5 be in 180 degree symmetry arrangement, and two image sensing cells 4 are in 180 degree symmetry arrangement, and image sensing cell 4 and displacement sensing list
The angle of member 5 can adjust.
The upper end of coaxial powder feeding head 6 is provided with adpting flange 7, and sensor linking arm 8 passes through adpting flange 7 and coaxial powder feeding head
6 are connected, and annular groove are provided with coaxial powder feeding head 6, adpting flange 7 is arranged in annular groove, and adpting flange 7 can be around annular groove
Rotate.
Image sensing cell connecting plate 9, displacement sensing list are provided between image sensing cell 4 and sensor linking arm 8
Displacement sensing unit connecting plate 10 is provided between member 5 and sensor linking arm 8, image sensing cell connecting plate 9 and displacement are passed
Threaded mounting hole is provided with sense unit connecting plate 10, image sensing cell 4 and displacement sensing unit 5 can be around threaded mounting holes
Rotation regulation setting angle.
Displacement sensing unit 5 is 2D displacement transducers.Image sensing cell 4 includes industrial camera, camera lens and the system that filters
System.
The multi-sensor cooperation monitoring method for broadband laser cladding of the embodiment of the present invention, comprises the following steps：
S1, adjustment displacement sensing unit and image sensing cell operating position, two displacement sensing units of measurement to base
Material surface apart from h10、h20, by setting displacement sensing unit to project the static measurement parallel to broadband laser cladding molten bath
Line, static measurement line ESEM number on 2-3 times that the length of substrate surface is broad band laser bandwidth, every static measurement line
For 40-50/mm；
After S2, broadband laser cladding start, displacement sensing unit gathers the height parallel to broadband laser cladding molten bath in real time
Degrees of data h1n、h2n, the broad band laser that image sensing cell gathers during broadband laser cladding on two different directions in real time melts
The feature image in molten bath is covered, and the information collected is converted into digital quantity and is transferred to information process unit；
S3, information process unit fusion altitude information and feature image, according to the feature image in broadband laser cladding molten bath
The three-dimensional appearance in Real-time Reconstruction molten bath, calculates the area and three-dimensional dimension in broadband laser cladding molten bath, and determines that broad band laser melts
The laser melting coating direction overlayed on the perspective plane perpendicular to coaxial powder feeding head axle center and broad band laser bandwidth direction, are marked respectively
For vector2 groups of altitude informations are sequentially stored into 2 one-dimension array h by information process unit by scanning dot sequency1n[Ni]、
h2n[Ni], it is with the angular relationship in laser melting coating direction that the altitude information in array is right one by one by calculating broad band laser bandwidth
Should, and then obtain representing the distribution curve of the shaping floor height of cladding layer, will non-cladding layer altitude information h1n[Ni] and initial alignment
Height h10Contrast, obtains the variable quantity of defocusing amount；
S4, the data obtained according to information process unit, judge whether to meet desired value, and the continuation that how not adjust then is supervised
Survey, do not meet then feedback regulation laser cladding technological parameter and machining locus.
The method of distribution curve for obtaining representing the shaping floor height of cladding layer in step S3 is：
Curve is set up according to the difference of altitude information corresponding in two arrays, its formula is：
Wherein, z0For the initial alignment height of displacement sensing unit Laser emission plane to processing workpiece surface；D is displacement
Distance between sensing unit horizontal survey line；N is the scanning element number on every measurement line of displacement sensing unit；h10、h20For position
Sensing unit is moved to be distributed to the initial distance of measurement point；h1nFor the cladding area parallel to broad band laser sensor measure away from
From；h2nSensor for the non-cladding area parallel to broad band laser measures distance.
This method also includes the height distribution curve for gathering multi-track overlapping laser melting coating in real time according to displacement sensing unit
Method：Overlap is the overlapping region between adjacent cladding area, determines the width of overlap and non-overlapping area, calculates overlap wide
The ratio that degree accounts for single track cladding layer width obtains overlapping rate, in real time the overlapping rate of monitoring broadband laser cladding.
In another specific embodiment of the present invention, as depicted in figs. 1 and 2, swashed using the broadband of coaxial powder-feeding mode
Light cladding, high energy laser beam melted alloy powder forms broadband laser cladding molten bath 1, with metallurgical binding formation broadband on base material 3
Cladding layer 2.Broadband laser cladding Pool monitoring device includes：Displacement sensing unit 5, two 2D displacement transducers pass through position
Sensing unit connecting plate 10, sensor linking arm 8 and sensor adpting flange 7 are moved, 180 ° of angles is in and is fitted around same
Around axle feeding head 6, its project length be multiple times than laser bandwidth static measurement line it is parallel with broadband laser cladding molten bath and
Both sides are distributed in minimum spacing, sensor photosensitive matrix receives the diffusing reflection light of the static measurement line, parallel for measuring
In the machined region in broadband laser cladding molten bath and i.e. by the height distributed data of machining area.The inside of 2D displacement sensing units
Controller will be exported after the information processing collected；2D displacement transducers use the scanCONTROL of Micro-Epsilon companies
High-speed type 2D displacement transducers, setting sample frequency is 1000Hz~1200Hz, is existed parallel to the sampling line in broad band laser molten bath
The length of finished surface is that the number of scan points on 2~3 times of broad band laser hot spot bandwidth length, every sampling line is 40~50
Individual/mm.
Image sensing cell 4 is made up of industrial camera, camera lens and filter system, and two image sensing cells pass through image
Sensing unit connecting plate 9, sensor linking arm 8 and sensor adpting flange 7, are fitted around around coaxial powder feeding head 6, are used for
Pool image on two different directions during collection broadband laser cladding, sensor linking arm 8 can be connected in sensor
Slide and fixed by screw in the guide rail groove of flange 7, regulation image sensing cell operating position；Industrial camera is used
The acA1300-30uc type CCD industry color video cameras of BASLER companies, resolution ratio is 1296 × 966 pixels, CCD target surface sizes
For 1/3 ", filter system is 808nm by centre wavelength, and half-band width constitutes for 10nm narrow band pass filter with neutral light damping plate.
Information process unit, the altitude information and the molten bath figure of image sensing cell 4 of the described displacement sensing unit 5 of collection
Picture, determines the direction of motion and broad band laser bandwidth direction of the broadband laser cladding on the perspective plane perpendicular to axle center, in real time
Area and three-dimensional dimension, shaping floor height, defocusing amount and the overlapping rate in broadband rectangle molten bath is calculated and be shown.
Referring to Fig. 4, the present invention is directed to the multi-sensor cooperation monitoring method of broadband laser cladding, comprised the following steps：
Step 1：Sensor linking arm 8, image sensing cell connecting plate 9, displacement sensing unit connecting plate 10 are adjusted, makes position
Move sensing unit 4 and image sensing cell 5 is located at suitable operating position and operating angle, two 2D displacement transducers of measurement are extremely
The surface of base material 3 apart from h10、h20, be arranged parallel to broad band laser molten bath sampling line finished surface length for broadband swash
Number of scan points on 2~3 times of light hot spot bandwidth length, every sampling line is 40~50/mm, the described industry shooting of demarcation
The inside and outside parameter of machine, input information processing system is used as initial alignment value；
Step 2：After laser melting coating starts, the displacement sensing unit 4 gathers the high number of degrees parallel to broad band laser molten bath
According to h1n、h2n, Pool image on two different directions during the collection broadband laser cladding of described image sensing unit 5, and
Change into digital quantity and be transferred to information processing system；
Step 3：The data that multiple sensors are gathered in described information processing system fusion steps 2, according to crater image
Information Real-time Reconstruction molten bath three-dimensional appearance, calculates the area and three-dimensional dimension in rectangle molten bath 1, and determines that broadband laser cladding is hanging down
Directly in the direction of motion on the perspective plane in axle center and broad band laser bandwidth direction, vector is respectively labeled asAt information
2 groups of altitude informations are sequentially stored into 2 one-dimension array h by reason system by scanning dot sequency on sampling line1n[Ni]、h2n[Ni], passes through
Calculate broad band laser bandwidth and the angular relationship in laser melting coating direction is corresponding one by one by the altitude information in array, their difference
The curve set up is the height distribution of current cladding layer.By the non-cladding layer altitude information h gathered in real time1nIt is [Ni] and initial
Calibrated altitude h10Contrast, then can obtain the variable quantity of defocusing amount.
Step 4：The melting pool shape and size of the broadband laser cladding obtained according to data processing, cladding floor height, shaping are high
Degree, defocusing amount and overlapping rate, judge whether to meet desired value, meet, and the continuation that do not adjust is monitored, and does not meet then feedback regulation
Laser cladding technological parameter and machining locus.
In order to understand the present invention is further, an explanation now is done to its measuring principle.
2D displacement transducers are based on optical triangulation principle, and a static laser line is projected into measured object surface, pass
Sensor photosensitive matrix receives the diffusing reflection light of the laser rays, calculates the range information for obtaining sensor to measured object.By two
2D displacement transducers are in 180 ° of angles and are fitted around around coaxial powder feeding head 6, two laser rays that they are projected with
Broadband laser cladding molten bath 1 is parallel and is distributed in both sides, and laser rays must improve measurement accuracy and measurement real-time close to molten bath,
Laser line length is set to 2~3 times of broad band laser hot spot bandwidth length, by the almost full encirclement in laser melting coating molten bath 1.Swash in broadband
Light cladding track has particularity, cladding direction must with bandwidth direction formation certain angle, therefore, no matter coaxial powder feeding head 6
Toward any direction motion, the cladding layer 2 formed after the rapid solidification of broadband laser cladding molten bath 1 all can one of 2D displacement sensings
The laser scanning line of device is measured, while being distributed in the 2D displacement transducers of laser molten pool opposite side with regard to that can measure non-cladding area
Altitude information.The crater image collected according to image sensing cell, determines broadband laser cladding in the throwing perpendicular to axle center
The direction of motion and broad band laser bandwidth direction on shadow face, the sampled point that two are measured on line is corresponded to one by one calculates current molten
The height of coating, the change for obtaining defocusing amount is contrasted with initial alignment value.During multi-track overlapping, 2D displacement sensor lines
It is used for the altitude information for measuring overlap beyond the part of laser bandwidth, is compared with the height in non-overlapping area, monitoring overlap joint
Influence of the rate to forming quality.
The range information that the displacement sensing unit is gathered is changed into point of cladding layer shaping floor height according to below equation
Cloth curve：
Wherein, z0For the initial alignment height of the 2D displacement transducers Laser emission plane to processing workpiece surface；D is
Distance between the 2D displacement transducers horizontal survey line；N is the scanning element on described every measurement line of 2D displacement transducers
Number；h10、h20It is distributed for the initial distance of the 2D displacement transducers to measurement point；h1nFor the cladding parallel to broad band laser
The sensor in area measures distance；h2nSensor for the non-cladding area parallel to broad band laser measures distance.
Image sensing cell 4 is fitted around around coaxial powder feeding head 6, the image in collection broadband laser cladding molten bath.It is right
The image collected is pre-processed：Coordinate transform separates Top-Side Pool Image and side image, cuts image and protrudes molten bath area
Data amount of calculation is simultaneously reduced in domain, and image filtering eliminates noise, then generates gray level image；Analyze the setting of crater image intensity profile
Appropriate threshold, segmentation figure is as Preliminary detection Pool；With Sobel operator extraction melt tank edges.Pass through melt tank edge image
Pixel size calculates the area and three-dimensional dimension in molten bath, and determines broadband laser cladding on the perspective plane perpendicular to axle center
The direction of motion and broad band laser bandwidth direction.Comprehensive analysis displacement sensing unit handles obtained number with image sensing cell
According to judging whether to meet desired value.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (9)
1. a kind of multi-sensor cooperation monitoring device for broadband laser cladding, it is characterised in that including centrally disposed position
The coaxial powder feeding head (6) put, the internal alloy powder of coaxial powder feeding head (6) is melted by broad band laser, is formed broad band laser and is melted
Molten bath (1) is covered, broadband cladding layer (2) is combined to form with metallurgical material on base material (3)；Wherein：
4 sensor being centrosymmetric linking arms (8), the end of sensor linking arm (8) are provided with coaxial powder feeding head (6)
It is respectively arranged with image sensing cell (4) or displacement sensing unit (5)；The device also includes information process unit, image sensing
Unit (4) and displacement sensing unit (5) are connected with information process unit；
Displacement sensing unit (5) projects the static measurement line that length is multiple times than laser bandwidth, static measurement line and broad band laser
Cladding molten bath (1) is parallel, and static measurement line is arranged closely in broadband laser cladding molten bath (1) both sides, displacement sensing unit (5)
The diffusing reflection light of static measurement line is received, cladding area and non-cladding area parallel to broadband laser cladding molten bath (1) is measured
Altitude information；
Image sensing cell (4) is used to gather during broadband laser cladding in broadband laser cladding molten bath (1) both direction
Feature image；
Information process unit is used to merge altitude information and feature image, determines broadband laser cladding perpendicular to coaxial powder feeding head
(6) direction of motion and broad band laser bandwidth direction on the perspective plane in axle center, and then it is molten that broad band laser is calculated and be shown in real time
Cover area and three-dimensional dimension, shaping floor height, defocusing amount and the overlapping rate in molten bath (1).
2. the multi-sensor cooperation monitoring device according to claim 1 for broadband laser cladding, it is characterised in that
On the perspective plane in coaxial powder feeding head (6) axle center, on the basis of the subpoint of axle center, two displacement sensing units (5) are in 180
Spend symmetry arrangement, two image sensing cells (4) are in 180 degree symmetry arrangement, and image sensing cell (4) and displacement sensing unit
(5) angle can adjust.
3. the multi-sensor cooperation monitoring device according to claim 1 for broadband laser cladding, it is characterised in that same
Axle feeding head (6) upper end is provided with adpting flange (7), and sensor linking arm (8) passes through adpting flange (7) and coaxial powder feeding head
(6) it is connected, annular groove is provided with coaxial powder feeding head (6), adpting flange (7) is arranged in annular groove, and adpting flange (7) energy
Rotated around annular groove.
4. the multi-sensor cooperation monitoring device according to claim 1 for broadband laser cladding, it is characterised in that figure
As being provided with image sensing cell connecting plate (9), displacement sensing unit (5) between sensing unit (4) and sensor linking arm (8)
Displacement sensing unit connecting plate (10), image sensing cell connecting plate (9) and displacement are provided between sensor linking arm (8)
Threaded mounting hole is provided with sensing unit connecting plate (10), image sensing cell (4) and displacement sensing unit (5) can be around spiral shells
Line mounting hole rotation regulation setting angle.
5. the multi-sensor cooperation monitoring device according to claim 1 for broadband laser cladding, it is characterised in that position
It is 2D displacement transducers to move sensing unit (5).
6. the multi-sensor cooperation monitoring device according to claim 1 for broadband laser cladding, it is characterised in that figure
As sensing unit (4) includes industrial camera, camera lens and filter system.
7. a kind of multi-sensor cooperation monitoring method for broadband laser cladding, it is characterised in that comprise the following steps：
S1, adjustment displacement sensing unit and image sensing cell operating position, two displacement sensing units of measurement to base material table
Face apart from h10、h20, by setting displacement sensing unit to project the static measurement line parallel to broadband laser cladding molten bath,
Static measurement line is that ESEM number is on 2-3 times of broad band laser bandwidth, every static measurement line in the length of substrate surface
40-50/mm；
After S2, broadband laser cladding start, displacement sensing unit gathers the high number of degrees parallel to broadband laser cladding molten bath in real time
According to h1n、h2n, the broadband laser cladding that image sensing cell gathers during broadband laser cladding on two different directions in real time melts
The feature image in pond, and the information collected is converted into digital quantity is transferred to information process unit；
S3, information process unit fusion altitude information and feature image, it is real-time according to the feature image in broadband laser cladding molten bath
The three-dimensional appearance in molten bath is reconstructed, the area and three-dimensional dimension in broadband laser cladding molten bath is calculated, and determines that broadband laser cladding exists
Laser melting coating direction and broad band laser bandwidth direction on the perspective plane in coaxial powder feeding head axle center, be respectively labeled as to
Amount2 groups of altitude informations are sequentially stored into 2 one-dimension array h by information process unit by scanning dot sequency1n[Ni]、h2n
[Ni], it is with the angular relationship in laser melting coating direction that the altitude information in array is corresponding one by one by calculating broad band laser bandwidth,
And then obtain representing the distribution curve of the shaping floor height of cladding layer, will non-cladding layer altitude information h1n[Ni] and initial alignment height
h10Contrast, obtains the variable quantity of defocusing amount；
S4, the data obtained according to information process unit, judge whether to meet desired value, and the continuation that how not adjust then is monitored,
Then feedback regulation laser cladding technological parameter and machining locus are not met.
8. the multi-sensor cooperation monitoring method according to claim 7 for broadband laser cladding, it is characterised in that step
The method for obtaining representing the distribution curve of the shaping floor height of cladding layer in rapid S3 is：
Curve is set up according to the difference of altitude information corresponding in two arrays, its formula is：
<mrow>
<mi>&Delta;</mi>
<mi>z</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>z</mi>
<mn>0</mn>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>h</mi>
<mn>20</mn>
</msub>
<msub>
<mi>h</mi>
<mrow>
<mn>1</mn>
<mi>n</mi>
</mrow>
</msub>
<mo>&lsqb;</mo>
<msub>
<mi>N</mi>
<mi>i</mi>
</msub>
<mo>+</mo>
<mi>D</mi>
<mi>N</mi>
<mo>/</mo>
<mi>tan</mi>
<mo><</mo>
<mover>
<mi>m</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>,</mo>
<mover>
<mi>n</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>></mo>
<mo>&rsqb;</mo>
<mo>-</mo>
<msub>
<mi>h</mi>
<mn>10</mn>
</msub>
<msub>
<mi>h</mi>
<mrow>
<mn>2</mn>
<mi>n</mi>
</mrow>
</msub>
<mo>&lsqb;</mo>
<msub>
<mi>N</mi>
<mi>i</mi>
</msub>
<mo>&rsqb;</mo>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>h</mi>
<mn>10</mn>
</msub>
<msub>
<mi>h</mi>
<mn>20</mn>
</msub>
</mrow>
</mfrac>
</mrow>
Wherein, z0For the initial alignment height of displacement sensing unit Laser emission plane to processing workpiece surface；D is displacement sensing
Distance between unit horizontal survey line；N is the scanning element number on every measurement line of displacement sensing unit；h10、h20Passed for displacement
Feel unit to be distributed to the initial distance of measurement point；h1nSensor for the cladding area parallel to broad band laser measures distance；h2n
Sensor for the non-cladding area parallel to broad band laser measures distance.
9. the multi-sensor cooperation monitoring method according to claim 7 for broadband laser cladding, it is characterised in that should
Method also includes the method for gathering the height distribution curve of multi-track overlapping laser melting coating in real time according to displacement sensing unit：Overlap
For the overlapping region between adjacent cladding area, the width of overlap and non-overlapping area is determined, calculating overlap joint sector width accounts for single track and melted
The ratio of coating width obtains overlapping rate, in real time the overlapping rate of monitoring broadband laser cladding.
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