CN117001234A - Welding systems, methods, equipment and storage media based on holographic imaging - Google Patents

Abstract

Embodiments of the present invention provide a welding system, method, equipment and storage medium based on holographic imaging, which belong to the field of welding technology. The welding system based on holographic imaging includes: a scanning identification module, used to obtain scanning data of defective components, and to establish a three-dimensional defect image of the defective component based on the scanning data; an instruction generation module, used to generate operation instructions based on the three-dimensional defect image; welding The repair module is used to perform corresponding operations on defective components based on operating instructions. That is, embodiments of the present invention use holographic imaging technology to perform three-dimensional imaging of defective components to obtain specific defect information of the defective components, avoid the problem of being unable to identify internal defects when defects occur inside the components, and improve the accuracy of defect repair. The repair effect is guaranteed.

Description

Welding systems, methods, equipment and storage media based on holographic imaging

Technical field

The present invention relates to the field of welding technology, and specifically to a welding system based on holographic imaging, a welding method based on holographic imaging, an electronic device and a readable storage medium.

Background technique

As the components of high-parameter, large-capacity ultra-supercritical units become more and more integrated, the structural styles of unit components become increasingly complex. In the development situation where the safe operating conditions of the unit are more stringent and the requirements are higher, once defects appear in complex structural components , the difficulty of replacement or repair is greatly increased.

Traditional methods of repairing defects usually use two repair methods. One is to use manual welding repair technology, but manual welding is difficult to use in the small space of complex structural components, and the process accuracy cannot be guaranteed; the other is to use automatic welding robots to repair defects. Defective components are repaired, but because the construction workers cannot fully grasp the defect information, the repair effect cannot be guaranteed.

Contents of the invention

The purpose of the embodiments of the present invention is to provide a welding system, method, equipment and storage medium based on holographic imaging to solve the above technical problems.

In order to achieve the above objectives, embodiments of the present invention provide a welding system based on holographic imaging, which system includes:

A scanning identification module is used to obtain scanning data of defective components and establish a defective three-dimensional image of the defective component based on the scanning data;

The instruction generation module is used to generate operation instructions based on the three-dimensional defect image;

The welding repair module is used to perform corresponding operations on defective components based on the operation instructions.

Optionally, the scanning identification module is specifically used for:

Obtain scan data of the component under test;

Determine the scan data of the defective component from the scan data of the component under test;

Based on the scan data of the defective component, a defective three-dimensional image of the defective component is established.

Optionally, the system also includes:

Monitoring feedback module, used for:

Monitor the operation process of defective components and obtain operation monitoring data;

Based on the operation monitoring data, generate operation result information;

The instruction generation module is also used to:

Based on the operation result information, an operation instruction is generated.

Optionally, the operation instructions include grinding instructions and repair instructions; the operation result information includes grinding result information and repair result information;

The welding repair module is specifically used for:

Perform grinding operations on defective components based on grinding instructions; and perform repair operations on defective components based on repair instructions;

The instruction generation module is specifically used for:

Generate grinding instructions based on the three-dimensional image of the defect; and

Based on the grinding result information, it is determined whether the current defective component needs to be continued grinding. If it is determined that continued grinding is needed, a grinding instruction is generated, and the defective component is grinded again until it is determined that no further grinding is required, and a repair instruction is generated.

Optionally, the instruction generation module is also used to:

Based on the repair result information, determine whether the repair result of the current defective component meets the preset repair standards;

If it is determined that the preset repair standards are not met, a repair instruction is generated and the defective component is repaired again until the repair result of the current defective component meets the preset repair standards.

In a second aspect of the embodiment of the present invention, a holographic imaging-based welding method is provided. The method is implemented based on the holographic imaging-based welding system of the first aspect. The method includes:

Obtain scanning data of the defective component and establish a defective three-dimensional image of the defective component based on the scanning data;

Generate operation instructions based on the three-dimensional image of the defect;

Perform corresponding operations on the defective component based on the operation instructions.

Optionally, obtaining scan data of the defective component and establishing a defective three-dimensional image of the defective component based on the scan data includes:

Obtain scan data of the component under test;

Determine the scan data of the defective component from the scan data of the component under test;

Based on the scan data of the defective component, a defective three-dimensional image of the defective component is established.

Optionally, the method also includes:

Monitor the operation process of defective components and obtain operation monitoring data;

Based on the operation monitoring data, generate operation result information;

Based on the operation result information, an operation instruction is generated.

Optionally, the operation instructions include grinding instructions and repair instructions; the operation result information includes grinding result information and repair result information;

The operation instructions generated based on the three-dimensional image of the defect include:

Based on the three-dimensional image of the defect, generate grinding instructions;

Generating operation instructions based on the operation result information includes:

Based on the grinding result information, it is determined whether the current defective component needs to be continued grinding. If it is determined that continued grinding is needed, a grinding instruction is generated, and the defective component is grinded again until it is determined that no further grinding is required, and a repair instruction is generated.

Optionally, generating an operation instruction based on the operation result information further includes:

Based on the repair result information, determine whether the repair result of the current defective component meets the preset repair standards;

If it is determined that the preset repair standards are not met, a repair instruction is generated and the defective component is repaired again until the repair result of the current defective component meets the preset repair standards.

A third aspect of the present application provides an electronic device configured to perform the above-mentioned holographic imaging-based welding method.

A fourth aspect of the present application provides a machine-readable storage medium that stores instructions on the machine-readable storage medium. When executed by a processor, the instructions are configured by the processor to perform the above-mentioned holographic imaging-based welding. method.

The embodiment of the present invention obtains the scanning data of the defective component by setting up a scanning identification module, and establishes a defective three-dimensional image of the defective component based on the scanning data. The setting instruction generation module generates an operation instruction based on the defective three-dimensional image, and a welding repair module is also provided based on the operation instruction. Perform corresponding operations on defective components. That is, embodiments of the present invention use holographic imaging technology to perform three-dimensional imaging of defective components to obtain specific defect information of the defective components, avoid the problem of being unable to identify internal defects when defects occur inside the components, and improve the accuracy of defect repair. The repair effect is guaranteed.

Other features and advantages of embodiments of the present invention will be described in detail in the detailed description that follows.

Description of the drawings

The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the description. Together with the following specific implementation modes, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the attached picture:

Figure 1 is a schematic structural diagram of a holographic imaging-based welding system provided in this embodiment;

Figure 2 is a schematic structural diagram of a six-axis industrial robot;

Figure 3 is a schematic flow chart of a welding method based on holographic imaging provided in this embodiment;

Figure 4 is an overall functional diagram of a welding method based on holographic imaging provided in this embodiment.

Explanation of reference signs

10 scanning identification module; 20 instruction generation module; 30 welding repair module;

40 monitoring feedback module; 50 operation display module; 31 manipulator;

32 defect treatment angle grinding device; 33 cold metal transition welding machine; 11 laser projection capture camera; 12 holographic three-dimensional scanning device; 41 high temperature infrared imager.

Detailed ways

Specific implementation modes of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementations described here are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the technical field belonging to this application; the terms used herein are for the purpose of describing specific embodiments only and are not intended to be used in LIMITATIONS ON THIS APPLICATION.

In the description of the embodiments of this application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. A specific order or priority relationship. In the description of the embodiments of this application, "plurality" means two or more, unless otherwise explicitly and specifically limited.

Embodiment 1

Please refer to FIG. 1 , which is a schematic structural diagram of a holographic imaging-based welding system provided in this embodiment.

A welding system based on holographic imaging includes: a scanning identification module 10, an instruction generation module 20, a welding repair module 30 and a monitoring feedback module 40.

The scanning identification module 10 can be a structurally optimized holographic three-dimensional scanning device 12 that uses three parallel linear laser beams to scan the component under test. The scanning accuracy can be no less than 0.03mm, the resolution can be no less than 0.05mm, and the volume accuracy can be no less than 0.02mm+0.025. mm/m, the scanning speed can be no less than 20,000 times/s, and the laser projected onto the component is acquired through 2 or 3 sets of laser projection capture cameras 11, the defective component in the component under test is determined, and a three-dimensional image of the defect is generated.

The instruction generation module 20 can be a serial communication program developed in an event-driven manner provided in MSComm (Microsoft Communication Control serial communication control), and is used to generate operation instructions based on defective three-dimensional images. The instruction generation module 20 can be developed using VC++. Computer software controls the welding repair module 30. It can be understood that before welding and repairing a defective component, the defective part needs to be polished to ensure the repair effect. Therefore, the operation instructions include a grinding instruction and a repair instruction. The grinding instruction is used to control the welding repair module 30 to perform the welding repair on the defective component. Grinding is performed, and the repair instruction is used to control the welding repair module 30 to repair and weld the defective component.

The welding repair module 30 is used to perform corresponding grinding operations or repair operations on defective components based on operating instructions. The welding repair module 30 may be a six-axis industrial robot.

The monitoring feedback module 40 is used to monitor the operation process, obtain operation monitoring data, and then generate operation result information based on the operation monitoring data, and the monitoring feedback module 40 also feeds back the operation result information to the instruction generation module 20 . The monitoring feedback module 40 uses a high-temperature infrared imager 41 to monitor the entire operation process of the welding repair module 30 in real time. The infrared image resolution can be no less than 160×120 pixels, and the image frame rate can be no less than 30 Hz to achieve online detection of defective welding.

As shown in Figure 2, this embodiment provides a six-axis industrial robot that combines scanning, repair and monitoring functions. The six-axis industrial robot is equipped with a multi-angle freely rotating manipulator 31, a defect processing angle grinding device 32 and The cold metal transfer welding machine 33 and the defect processing angle grinding device 32 can control the depth and width of the repair process. The welding current of the cold metal transfer welding machine 33 can be 10A-100A. It should be noted that the six-axis industrial robot has A high-temperature infrared imager 41 , a laser projection capture camera 11 and a holographic three-dimensional scanning device 12 are also provided to realize scanning of defective components, three-dimensional projection and operation monitoring of the manipulator 31 .

It can be understood that a single grinding or a single repair may not achieve the expected effect, so this embodiment improves the defect repair effect through cyclic grinding and cyclic repair.

Specifically, for the cyclic grinding process, the instruction generation module 20 generates a grinding instruction based on the three-dimensional image of the defect. The welding repair module 30 performs a grinding operation on the defective component based on the grinding instruction. The monitoring feedback module 40 monitors the grinding process in real time, and obtains The grinding result information is then fed back to the instruction generation module 20. The instruction generation module 20 then determines whether the current defective component needs to be grinded based on the grinding result information. If not, it indicates that the defective component has been grinded. Defect repair can be carried out, that is, based on the operation results, a repair instruction is generated; if so, it indicates that the defective component still needs to be repaired. Based on the grinding result information, a grinding instruction is generated again, so that the welding repair module 30 can repair the defective component again. Grinding is performed, and the entire cyclic grinding process ends until the instruction generation module 20 determines that the current defective component does not need to be grinded.

For the cyclic repair process, the instruction generation module 20 generates a repair instruction based on the grinding result information, so that the welding repair module 30 performs a repair operation on the defective component based on the repair instruction. The monitoring feedback module 40 monitors the repair process in real time, obtains the repair result information, and then The repair result information is fed back to the instruction generation module 20. The instruction generation module 20 then determines whether the repair result of the current defective component meets the preset repair standard based on the repair result information. If so, it is determined that the repair of the current defective component is completed; if not, it indicates that the current defective component is repaired. The defective component still needs to be repaired, that is, based on the repair result information, the repair instruction is generated again, so that the welding repair module 30 repairs the defective component again. The entire cycle repair process ends until the instruction generation module 20 determines that the repair result of the current defective component meets the preset Up to the repair standard, the preset repair standard can be set according to actual needs, and is not limited in this embodiment.

It should be understood that the welding system based on holographic imaging proposed in this embodiment can not only provide automatic defect welding function, but also includes an operation display module 50, an operation display module 50 and a welding repair module in order to improve the flexibility of defect welding. 30 is connected to the display interface for displaying the welding process, and the operator can use the display interface to perform online operations on defective welding. For example, the operation display module 50 can display the function buttons of the welding operation on the display interface, and the operator can click on each welding operation. The operation function buttons realize online operation of defective welding and control the welding operation more flexibly.

It should be understood that this system corresponds to the following holographic imaging-based welding method embodiments and can perform various steps involved in the above method embodiments. For the specific functions of the device, please refer to the above description. To avoid repetition, here Detailed descriptions are omitted as appropriate. The device includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in an operating system (OS) of the device.

Embodiment 2

Please refer to Figure 3. Figure 3 is a schematic flow chart of a holographic imaging-based welding method provided in an embodiment of the present application. This embodiment is implemented based on a holographic imaging-based welding system provided in Embodiment 1.

Step S100: Obtain scanning data of the defective component, and establish a defective three-dimensional image of the defective component based on the scanning data.

In this step, the scanning identification module 10 is used to obtain the scanning data of the component being tested, and then based on the scanning data, the defective component in the component being tested is determined, and then based on the scanning data of the defective component, a defective three-dimensional image of the defective component is established.

Step S200: Generate operation instructions based on the three-dimensional image of the defect.

In this step, the three-dimensional image of the defect is analyzed to determine the corresponding operation instructions to control the welding repair module 30 to perform the corresponding operations. It can be understood that before welding and repairing a defective component, the defective part needs to be polished to ensure the repair effect. Therefore, the operation instructions include a grinding instruction and a repair instruction. The grinding instruction is used to control the welding repair module 30 to perform the welding repair on the defective component. Grinding is performed, and the repair instruction is used to control the welding repair module 30 to repair and weld the defective component.

Step S300: Perform corresponding operations on the defective component based on the operation instructions.

This step performs corresponding grinding or repair operations on the defective component based on the operating instructions.

In order to ensure the defect repair effect, this embodiment also performs real-time monitoring of the grinding and repair processes of defective components, operates the monitoring data, and then generates operation result information based on the operation monitoring data, and then feeds back the operation result information to make the instructions The generation module 20 generates grinding instructions and repair instructions based on the operation result information.

It should be understood that a single grinding or repair may not achieve the desired effect. Therefore, this embodiment improves the defect repair effect through cyclic grinding and cyclic repair. Specifically, for the cyclic grinding process, a grinding instruction is generated based on the three-dimensional image of the defect, and the defective component is further grinded based on the grinding instruction. The grinding process is monitored in real time to obtain the grinding result information, and then based on the grinding result information , determine whether the current defective component needs to be repaired. If not, it means that the defective component has been repaired and the defect can be repaired, that is, based on the operation results, a repair instruction is generated; if so, it means that the defective component still needs to be repaired. , based on the grinding result information, the grinding instruction is generated again, and the defective component is grinded again. The entire cyclic grinding process ends until it is determined that the current defective component does not need to be grinded.

For the cyclic repair process, this embodiment generates repair instructions based on the grinding result information, further performs repair operations on the defective components based on the repair instructions, monitors the repair process in real time, obtains the repair result information, and then determines the current defective component based on the repair result information. Whether the repair result meets the preset repair standard. If not, it means that the current defective component still needs to be repaired. That is, based on the repair result information, a repair instruction is generated again to repair the defective component again. The entire cycle repair process ends until the current defective component is determined. until the repair result meets the preset repair standard. The preset repair standard can be set according to actual needs and is not limited in this embodiment.

The overall functional schematic diagram of a welding method based on holographic imaging provided by this embodiment is shown in Figure 4. This embodiment generates a three-dimensional defect image by scanning the scanning data of the defective component, and then generates operation instructions based on the three-dimensional defect image. The instructions include grinding instructions and repair instructions. Under the grinding instructions, defective components are grinded, the grinding process is monitored in real time, and grinding result information is obtained. Based on the feedback operation result information, grinding instructions or repair instructions are generated. , in order to realize the cyclic grinding of defective components and improve the repair effect of subsequent defective components; under the repair instructions, the defective components are repaired, the repair process is monitored in real time, the repair result information is obtained, and then based on the feedback operation result information, Generate repair instructions to complete the cyclic repair of defective components and realize online repair of defective components.

In this embodiment, the scanning identification module 10 is configured to obtain the scanning data of the defective component, and a defective three-dimensional image of the defective component is established based on the scan data. The setting instruction generation module 20 generates an operation instruction based on the defective three-dimensional image, and the welding repair module 30 is also configured to generate an operation instruction based on the defective three-dimensional image. The operation instructions perform corresponding operations on the defective component. That is, embodiments of the present invention use holographic imaging technology to perform three-dimensional imaging of defective components to obtain specific defect information of the defective components, avoid the problem of being unable to identify internal defects when defects occur inside the components, and improve the accuracy of defect repair. The repair effect is guaranteed.

Embodiment 3

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-volatile memory in computer-readable media, random access memory (RAM), and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information. Information may be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory. (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cassettes, tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device. As defined in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

Embodiment 4

Embodiments of the present invention also provide a computer-readable storage medium. The computer-readable storage medium stores instructions. The instructions are used to execute a program having steps of a welding method based on holographic imaging when executed by a processor. .

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

In addition, it should be noted that the specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner as long as there is no contradiction. In order to avoid unnecessary repetition, various possible combinations will not be further described in the embodiments of the present invention.

In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, each module can exist alone, or two or more modules can be integrated to form an independent part.

It should also be noted that the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element qualified by the statement "comprises a..." does not exclude the presence of additional identical elements in the process, method, good, or device that includes the element.

The above are only examples of the present application and are not used to limit the present application. To those skilled in the art, various modifications and variations may be made to this application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application shall be included in the scope of the claims of this application.

Claims (12)

1. A welding system based on holographic imaging, characterized in that the system includes: A scanning identification module is used to obtain scanning data of defective components and establish a defective three-dimensional image of the defective component based on the scanning data; The instruction generation module is used to generate operation instructions based on the three-dimensional defect image; The welding repair module is used to perform corresponding operations on defective components based on the operation instructions. 2. The welding system based on holographic imaging according to claim 1, characterized in that the scanning identification module is specifically used for: Obtain scan data of the component under test; Determine the scan data of the defective component from the scan data of the component under test; Based on the scan data of the defective component, a defective three-dimensional image of the defective component is established. 3. The welding system based on holographic imaging according to claim 1, characterized in that the system further includes: Monitoring feedback module, used for: Monitor the operation process of defective components and obtain operation monitoring data; Based on the operation monitoring data, generate operation result information; The instruction generation module is also used to: Based on the operation result information, an operation instruction is generated. 4. The welding system based on holographic imaging according to claim 3, characterized in that the operation instructions include grinding instructions and repair instructions; the operation result information includes grinding result information and repair result information; The welding repair module is specifically used for: Perform grinding operations on defective components based on grinding instructions; and perform repair operations on defective components based on repair instructions; The instruction generation module is specifically used for: Generate grinding instructions based on the three-dimensional image of the defect; and Based on the grinding result information, it is determined whether the current defective component needs to be continued grinding. If it is determined that continued grinding is needed, a grinding instruction is generated, and the defective component is grinded again until it is determined that no further grinding is required, and a repair instruction is generated. 5. The welding system based on holographic imaging according to claim 4, characterized in that the instruction generation module is also used to: Based on the repair result information, determine whether the repair result of the current defective component meets the preset repair standards; If it is determined that the preset repair standards are not met, a repair instruction is generated and the defective component is repaired again until the repair result of the current defective component meets the preset repair standards. 6. A holographic imaging-based welding method, characterized in that the method is implemented based on the holographic imaging-based welding system according to any one of claims 1-5, and the method includes: Obtain scanning data of the defective component and establish a defective three-dimensional image of the defective component based on the scanning data; Generate operation instructions based on the three-dimensional image of the defect; Perform corresponding operations on the defective component based on the operation instructions. 7. The welding method based on holographic imaging according to claim 6, characterized in that said obtaining the scanning data of the defective component and establishing a defective three-dimensional image of the defective component based on the scanning data includes: Obtain scan data of the component under test; Determine the scan data of the defective component from the scan data of the component under test; Based on the scan data of the defective component, a defective three-dimensional image of the defective component is established. 8. The welding method based on holographic imaging according to claim 6, characterized in that the method further includes: Monitor the operation process of defective components and obtain operation monitoring data; Based on the operation monitoring data, generate operation result information; Based on the operation result information, an operation instruction is generated. 9. The welding method based on holographic imaging according to claim 8, characterized in that the operation instructions include grinding instructions and repair instructions; the operation result information includes grinding result information and repair result information; The operation instructions generated based on the three-dimensional image of the defect include: Based on the three-dimensional image of the defect, generate grinding instructions; Generating operation instructions based on the operation result information includes: Based on the grinding result information, it is judged whether the current defective component needs to be continued grinding. If it is determined that continued grinding is needed, a grinding instruction is generated, and the defective component is grinded again until it is determined that no further grinding is required, and a repair instruction is generated. 10. The welding method based on holographic imaging according to claim 9, characterized in that generating an operation instruction based on the operation result information further includes: Based on the repair result information, determine whether the repair result of the current defective component meets the preset repair standards; If it is determined that the preset repair standards are not met, a repair instruction is generated and the defective component is repaired again until the repair result of the current defective component meets the preset repair standards. 11. An electronic device, characterized in that it includes: a processor and a memory, the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the rights are executed. The welding method based on holographic imaging according to any one of claims 6-10. 12. A computer-readable storage medium, characterized in that instructions are stored on the computer-readable storage medium, and the instructions are used to cause the machine to execute the holographic imaging-based welding method according to any one of claims 6-10. .