The invention belongs to the technical field of industrial intelligent quality inspection and detection, and particularly relates to a pipeline welding spot visual detection method, system and equipment with angle estimation. The problems that due to the fact an existing pipeline welding spot visual detection method is difficult to adapt to complex scenes with changeable detection scenes, target sizes, shielding and illumination, the pipeline welding spot detection precision is poor and the rotation angle of a local pipeline where a welding spot is located cannot be detected are solved. The method comprises the following steps: acquiring a connecting pipeline scene image of a to-be-detected welding spot as an input image; detecting whether a connecting pipeline in the input image contains a welding spot or not through a pre-trained pipeline welding spot detection model, and if yes, outputting the type, the position, the size and the rotation angle of the welding spot, wherein the pipeline welding spot detection model is constructed based on a deep neural network. The detection precision of the pipeline welding spot is improved, and the problem that the angle of the local pipeline where the welding spot is located cannot be detected is solved.