A pipeline inner wall welding method, system, intelligent terminal and storage medium

Abstract

The present invention relates to a pipeline inner wall welding method, system, intelligent terminal and storage medium, and relates to the field of welding technology. The method includes: obtaining pipeline external image information, the current welding position point where the welding tool is located and the corresponding current welding control information; based on the preset weld feature, the pipeline external image information is identified to form the pipeline weld information; based on the pipeline weld information, the overall welding path information and weld parameter information are retrieved; based on the current welding position point, the overall welding path information is matched and the welding movement path information is formed; according to the weld parameter information and the current welding control information, the welding adjustment information is analyzed and determined; based on the welding movement path information and the welding adjustment information, the welding comprehensive control information is combined to form and output to the welding equipment for welding adjustment. The present invention has the effect of improving the welding quality inside the pipeline.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a pipeline inner wall welding method, system, intelligent terminal and storage medium. Background Art

[0002] Welding, also known as fusion, is a manufacturing process and technology that connects two or more similar or dissimilar materials into one by heating, high temperature or high pressure. It is widely used in automobile manufacturing, aerospace, electronics industry, shipbuilding, medical equipment, construction and other fields.

[0003] In the related art, when a plate bent into a ring needs to be welded to form a pipeline, the pipeline is currently formed by spot welding the outside of the ring plate and then welding. In order to ensure the safety and stability of the welded pipeline during use, after welding the outside of the pipeline, the inside of the pipeline needs to be welded. At present, when welding the inside of the pipeline, the pipeline with the welded outside is generally clamped and fixed on the welding seat of the welding equipment, and then the welding arm on the welding equipment is used to extend the welding tool into the inside of the pipeline, and the welding tool is moved by the extension of the welding arm, so that the inside of the pipeline is welded by the welding tool.

[0004] With regard to the above-mentioned related technologies, when a telescopic welding arm is used to extend the welding tool into the interior of a pipeline for welding, since both the welding arm and the welding tool are extended into the interior of the pipeline, it is inconvenient to check the gap inside the pipeline that needs to be welded, resulting in inconvenience in real-time adjustment when welding inside the pipeline, which can easily lead to a decrease in the welding quality inside the pipeline. Summary of the invention

[0005] In order to improve the welding quality inside a pipeline, the present invention provides a pipeline inner wall welding method, system, intelligent terminal and storage medium.

[0006] In a first aspect, the present invention provides a pipeline inner wall welding method, which adopts the following technical solution:

[0007] A pipeline inner wall welding method, comprising:

[0008] Obtaining external image information of the pipeline, the current welding position of the welding tool and the corresponding current welding control information;

[0009] Based on the preset weld features, the external image information of the pipeline is identified to form the pipeline weld information;

[0010] Retrieve the overall welding path information and weld parameter information based on the pipeline weld information;

[0011] Match the overall welding path information based on the current welding position point and form the welding movement path information;

[0012] Analyze and determine welding adjustment information based on weld parameter information and current welding control information;

[0013] The welding movement path information is combined with the welding adjustment information to form welding comprehensive control information and output to the welding equipment for welding adjustment.

[0014] Optionally, the matching forming method of the welding movement path information includes:

[0015] Retrieve the overall path position points based on the overall welding path information;

[0016] Determine whether the overall path position point matches the current welding position point;

[0017] If yes, the overall path position point that is consistent with the current welding position point is taken as the matching consistent position point, and the overall path position points other than the matching consistent position point are taken as the matching remaining position points;

[0018] Based on the matching consistent position points, the matching remaining position points corresponding to the preset welding movement direction information are selected and combined to form matching consistent path information, and the matching consistent path information is used as the welding movement path information;

[0019] If not, the distance between the overall path position point and the current welding position point is calculated and used as the current position deviation distance value;

[0020] Sort the current position deviation distance values ​​from small to large, and use the overall path position point corresponding to the first-ranked current position deviation distance value as the adjacent position point, and use the overall path position points other than the adjacent position point as the adjacent remaining position points;

[0021] Based on the adjacent position points, adjacent remaining position points corresponding to the preset welding movement direction information are selected and combined to form adjacent adjustment path information, and the adjacent adjustment path information is used as the welding movement path information;

[0022] Adjacent adjustment information is determined based on the analysis of adjacent position points and the current welding position point and output to the welding equipment for welding adjustment.

[0023] Optionally, a method for determining adjacent adjustment information includes:

[0024] Analyze the direction of the straight line between the adjacent position point and the current welding position point and use it as the adjacent position direction information;

[0025] Get the current welding orientation information of the welding tool;

[0026] Analyze the deviation angle between the adjacent position direction information and the current welding direction information and use it as the adjacent position deviation angle value;

[0027] Determine whether the adjacent position deviation angle value is within a preset deviation angle reference interval;

[0028] If yes, then according to the correspondence between the adjacent position deviation angle value and the preset welding tool angle adjustment information, the welding tool angle adjustment information corresponding to the adjacent position deviation angle value is determined, and the welding tool angle adjustment information is used as the adjacent adjustment information;

[0029] If not, then analyzing the deviation angle between the adjacent position direction information and the preset welding reference direction information and using it as the welding reference deviation angle value;

[0030] According to the correspondence between the welding reference deviation angle value and the preset pipeline angle adjustment information, the pipeline angle adjustment information corresponding to the welding reference deviation angle value is determined, and the pipeline angle adjustment information is used as adjacent adjustment information.

[0031] Optionally, the method for determining the welding adjustment information includes:

[0032] Retrieve the external weld width value and external weld material information based on the weld parameter information;

[0033] According to the correspondence between the external weld width value and the preset welding voltage requirement value, the welding voltage requirement value corresponding to the external weld width value is determined;

[0034] Retrieving the current welding current value and the current welding voltage value based on the current welding control information;

[0035] Calculate the difference between the welding voltage requirement value and the current welding voltage value and use it as the welding voltage adjustment value;

[0036] Determine the estimated depth value of the external weld according to the external weld width value and the external weld material information;

[0037] Calculate the difference between the estimated depth of the external weld and the preset pipe reference thickness and use it as the required depth of the internal weld;

[0038] According to the correspondence between the internal weld depth requirement value and the preset welding current requirement value, a welding current requirement value corresponding to the internal weld depth requirement value is determined;

[0039] Calculate the difference between the welding current demand value and the current welding current value and use it as the welding current adjustment value;

[0040] The welding voltage adjustment value and the welding current adjustment value are combined to form welding parameter adjustment information, and the welding parameter adjustment information is used as welding adjustment information.

[0041] Optionally, the method for determining the estimated depth value of the external weld includes:

[0042] Retrieving external weld quality information based on weld parameter information;

[0043] According to the correspondence between the external weld quality information and the preset welding estimation method information, the welding estimation method information corresponding to the external weld quality information is determined;

[0044] According to the correspondence between the welding estimation mode information and the preset welding mode influence value, the welding mode influence value corresponding to the welding estimation mode information is determined;

[0045] Calculate the product value between the external weld width value and the welding mode influence value and use it as the weld width adjustment value;

[0046] Retrieving external material specification information based on external weld material information;

[0047] Selecting estimated specification information from external material specification information based on the weld width adjustment value;

[0048] Retrieve the estimated specification unit volume value based on the estimated specification information;

[0049] The quotient between the estimated specification unit volume value and the weld width adjustment value is calculated and used as the estimated specification weld depth value, and the estimated specification weld depth value is used as the estimated depth value of the external weld.

[0050] Optionally, the method for selecting the estimated specification information includes:

[0051] Based on external material specification information, the specification weld width range corresponding to each specification is retrieved;

[0052] Based on the weld width adjustment value, select the external material specification information corresponding to the weld width range that can be met and use it as the initial specification information;

[0053] Retrieve the selected specification value based on the selected initial specification information;

[0054] Determine whether the selected specification value is only one;

[0055] If yes, the initial specification information is directly selected as the estimated specification information;

[0056] If not, the weld width interval corresponding to the initial specification information is selected as the selected width interval;

[0057] Calculate the difference between the weld width adjustment value and the end value of the selected width interval and use the smaller value as the end value deviation value;

[0058] Calculate the average of the two end values ​​of the selected width interval and use it as the middle value of the selected interval;

[0059] The selection deviation specification information is determined based on the analysis of the end value deviation and the middle value of the selection interval, and the selection deviation specification information is used as the estimated specification information.

[0060] Optionally, the method for determining the selected deviation specification information includes:

[0061] According to the corresponding relationship between the terminal value deviation value and the preset terminal value deviation influence value, the terminal value deviation influence value corresponding to the terminal value deviation value is determined;

[0062] Calculate the difference between the weld width adjustment value and the middle value of the selected interval and use it as the middle deviation value;

[0063] According to the corresponding relationship between the intermediate deviation value and the preset intermediate deviation influence value, the intermediate deviation influence value corresponding to the intermediate deviation value is determined;

[0064] Calculate the sum of the end value deviation impact value and the middle value deviation impact value and use it as the interval comprehensive impact value;

[0065] The intervals are sorted from small to large based on their comprehensive impact values, and the initial specification information corresponding to the first-ranked interval comprehensive impact value is used as the selected interval specification information, and the selected interval specification information is used as the selected deviation specification information.

[0066] In a second aspect, the present invention provides a pipeline inner wall welding system, which adopts the following technical solution:

[0067] A pipeline inner wall welding system, comprising:

[0068] An acquisition module is used to acquire pipeline external image information, current welding position point, current welding control information and current welding direction information;

[0069] A memory for storing a program of the pipeline inner wall welding method as described in the first aspect;

[0070] The processor loads and executes the program in the memory and implements the pipeline inner wall welding method as described in the first aspect.

[0071] In a third aspect, the present invention provides an intelligent terminal, which adopts the following technical solution:

[0072] An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the pipeline inner wall welding method as described in the first aspect.

[0073] In a fourth aspect, the present invention provides a computer storage medium capable of storing a corresponding program, which is convenient for improving the welding quality inside a pipeline, and adopts the following technical solution:

[0074] A computer-readable storage medium stores a computer program that can be loaded by a processor and executes the pipeline inner wall welding method as described in the first aspect.

[0075] In summary, the present invention includes at least one of the following beneficial technical effects:

[0076] 1. By acquiring the external image information of the pipeline, the current welding position point and the current welding control information, the pipeline weld information is identified and the overall welding path information and weld parameter information are retrieved, and the welding movement path information is matched, and the welding adjustment information is determined by analyzing the weld parameter information and the current welding control information, and the welding movement path information is combined with the welding adjustment information to form the welding comprehensive control information and output to the welding equipment for welding adjustment, so as to make real-time adjustments through the weld in the external image and the current welding position, thereby improving the welding quality inside the pipeline;

[0077] 2. The overall path position points are retrieved through the overall welding path information, and it is judged whether there are overall path position points that match the current welding position points. If there are, the matching consistent position points and the matching remaining position points are defined, so as to select and form the matching consistent path information as the welding movement path information. If there are no such matching consistent position points, the current position deviation distance value is calculated and sorted from large to small, so as to define the adjacent position points and the adjacent remaining position points, and select and form the adjacent adjustment path information as the welding movement path information, and the adjacent adjustment information is determined by analyzing the adjacent position points and the current welding position points and outputting it to the welding equipment for welding adjustment, so as to improve the accuracy of the acquired welding movement path information;

[0078] 3. By analyzing the adjacent position direction information and acquiring the current welding direction information, the adjacent position deviation angle value is analyzed, and it is judged whether the adjacent position deviation angle value is within the preset deviation angle reference interval. When it is, the welding tooling angle adjustment information is determined by querying the adjacent position deviation angle value and used as the adjacent adjustment information. When it is not, the welding reference deviation angle value is analyzed, and the pipeline angle adjustment information is determined by querying the welding reference deviation angle value and used as the adjacent adjustment information, thereby improving the accuracy of the acquired adjacent adjustment information. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1is a flow chart of a method for welding the inner wall of a pipe according to an embodiment of the present application;

[0080] Figure 2 is a method flow chart of a method for matching and forming welding movement path information according to an embodiment of the present application;

[0081] Figure 3 is a method flow chart of a method for determining adjacent adjustment information according to an embodiment of the present application;

[0082] Figure 4 is a method flow chart of a method for determining welding adjustment information according to an embodiment of the present application;

[0083] Figure 5 is a method flow chart of a method for determining an estimated depth value of an external weld according to an embodiment of the present application;

[0084] Figure 6 is a method flow chart of a method for selecting estimated specification information according to an embodiment of the present application;

[0085] Figure 7 is a method flow chart of a method for determining the selected deviation specification information according to an embodiment of the present application;

[0086] Figure 8 It is a system flow chart of the inner wall welding of the pipeline in an embodiment of the present application.

[0087] Explanation of the accompanying drawings: 1. Acquisition module; 2. Memory; 3. Processor. DETAILED DESCRIPTION

[0088] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0089] A pipeline inner wall welding method obtains pipeline external image information, current welding position point, current welding control information and current welding direction information, thereby performing real-time adjustments based on the weld seam outside the pipeline and the current welding position point, thereby improving the welding quality inside the pipeline.

[0090] Reference Figure 1 The embodiment of the present invention discloses a pipeline inner wall welding method, which includes:

[0091] Step S100: Obtaining external image information of the pipeline, the current welding position point of the welding tool and the corresponding current welding control information.

[0092] Among them, the pipeline external image information refers to the detection information of the image detection of the outside of the pipeline, and the pipeline external image information is detected and obtained by the image detection device preset on the welding equipment. The current welding position point refers to the position point of the welding tool in the welding equipment at the current time, and the current welding position point is obtained by querying the welding equipment. The current welding control information refers to the control information corresponding to the welding tool at the current welding position point, and the current welding control information is obtained by querying the welding equipment.

[0093] Step S200: Identify pipeline external image information based on preset weld features to form pipeline weld information.

[0094] Among them, weld features refer to the features used to identify welds. Weld features can be obtained by pre-input by the operator or by querying relevant websites of welds. Pipeline weld information refers to the weld information on the outside of the pipeline. Through weld features, the image information on the outside of the pipeline is identified and the width, material, quality, etc. of the weld are comprehensively analyzed to form pipeline weld information for subsequent use.

[0095] Step S300: Retrieving welding overall path information and weld parameter information based on pipeline weld information.

[0096] Among them, the pipeline weld information includes the overall welding path information and weld parameter information. The overall welding path information refers to the path information corresponding to the overall weld outside the pipeline. The weld parameter information refers to the width, material, quality and other parameter information corresponding to the weld outside the pipeline. The overall welding path information and weld parameter information are retrieved through the pipeline weld information to facilitate subsequent use.

[0097] Step S400: matching the overall welding path information based on the current welding position point and forming the welding movement path information.

[0098] Among them, the welding movement path information refers to the path information that needs to be moved when welding inside the pipeline. By matching the current welding position point with the overall welding path information, the welding movement path information is formed to facilitate subsequent use.

[0099] Step S500: analyzing and determining welding adjustment information based on weld parameter information and current welding control information.

[0100] Among them, welding adjustment information refers to the control information for controlling the welding equipment to adjust the welding parameters and weld inside the pipeline. By analyzing the weld parameter information and the current welding control information, the welding adjustment information is determined to facilitate subsequent use.

[0101] Step S600: Combining the welding movement path information with the welding adjustment information to form welding comprehensive control information and outputting it to the welding equipment for welding adjustment.

[0102] Among them, the welding comprehensive control information refers to the control information for controlling the welding equipment to make comprehensive adjustments and welding inside the pipeline. By combining the welding movement path information with the welding adjustment information, the welding comprehensive control information is formed and output to the welding equipment for welding adjustment. Then, the weld in the external image and the current welding position are adjusted in real time, ultimately achieving the purpose of improving the welding quality inside the pipeline.

[0103] exist Figure 1 In step S400, in order to further ensure the rationality of the welding movement path information, it is necessary to further analyze and calculate the welding movement path information. Figure 2 The steps shown are explained in detail.

[0104] Reference Figure 2 The matching method of welding movement path information includes the following steps:

[0105] Step S410: Retrieve the overall path position points based on the overall welding path information.

[0106] Among them, the overall welding path information includes the overall path position points, and the overall path position points refer to the position points on the path corresponding to the entire weld outside the pipeline. The overall path position points are retrieved through the overall welding path information to facilitate subsequent use.

[0107] Step S420: Determine whether there is a position point on the overall path that matches the current welding position point. If yes, execute step S430; if no, execute step S450.

[0108] Among them, by judging whether the overall path position point matches the current welding position point, it is judged whether the current position of the welding tooling has a deviation from the external weld path position.

[0109] Step S430: taking the overall path position points that are consistent with the current welding position points as matching consistent position points, and taking the overall path position points other than the matching consistent position points as matching remaining position points.

[0110] Among them, when the overall path position point matches the current welding position point, it means that there is no deviation between the current position of the welding tooling and the external weld path position, so the matching consistent position point and the matching remaining position point are defined to facilitate subsequent use.

[0111] Step S440: Based on the matching consistent position points, the matching remaining position points corresponding to the preset welding movement direction information are selected and combined to form matching consistent path information, and the matching consistent path information is used as the welding movement path information.

[0112] The welding movement direction information refers to the movement direction information when welding inside the pipe, and the welding movement direction information is obtained after being pre-input by the operator. The matching consistent path information refers to the path information when there is a matching consistency, and the matching remaining position points corresponding to the welding movement direction information are selected and combined through the matching consistent position points to form the matching consistent path information, and the matching consistent path information is used as the welding movement path information, thereby improving the accuracy of the obtained welding movement path information.

[0113] Step S450: Calculate the distance between the overall path position point and the current welding position point and use it as the current position deviation distance value.

[0114] Among them, the current position deviation distance value refers to the deviation distance value corresponding to the position of the welding tooling at the current time when there is a deviation. When the overall path position point does not match the current welding position point, it means that there is a deviation between the current position of the welding tooling and the external weld path position. Therefore, the distance between the overall path position point and the current welding position point is calculated and used as the current position deviation distance value, thereby improving the accuracy of the current position deviation distance value obtained.

[0115] Step S460: Sort the current position deviation distance values ​​from small to large, and use the overall path position point corresponding to the first-ranked current position deviation distance value as the adjacent position point, and use the overall path position points other than the adjacent position point as the adjacent remaining position points.

[0116] Among them, the adjacent position point refers to the position point closest to the current welding position point. By sorting the current position deviation distance values ​​from small to large, the adjacent position points and the adjacent remaining position points are defined respectively according to the sorting results, which is convenient for subsequent use.

[0117] Step S470: selecting adjacent remaining position points corresponding to the preset welding movement direction information based on the adjacent position points and combining them to form adjacent adjustment path information, and using the adjacent adjustment path information as the welding movement path information.

[0118] Among them, the adjacent adjustment path information refers to the path information after the path is adjusted according to the adjacent position points. The adjacent remaining position points corresponding to the welding movement direction information are selected and combined through the adjacent position points to form the adjacent adjustment path information, and the adjacent adjustment path information is used as the welding movement path information, thereby improving the accuracy of the acquired welding movement path information.

[0119] Step S480: Determine adjacent adjustment information based on the adjacent position points and the current welding position point and output it to the welding equipment for welding adjustment.

[0120] Among them, the adjacent adjustment information refers to the adjustment information for controlling the welding equipment to adjust the path after adjusting the path according to the adjacent position points. By analyzing the adjacent position points and the current welding position points, the adjacent adjustment information is determined and output to the welding equipment for welding adjustment, thereby improving the welding quality inside the pipeline.

[0121] exist Figure 2 In step S480, in order to further ensure the rationality of the adjacent adjustment information, it is necessary to further analyze and calculate the adjacent adjustment information separately. Figure 3 The steps shown are explained in detail.

[0122] Reference Figure 3 , the method for determining adjacent adjustment information includes the following steps:

[0123] Step S481: Analyze the direction of the straight line between the adjacent position point and the current welding position point and use it as the adjacent position direction information.

[0124] Among them, the adjacent position direction information refers to the direction information corresponding to when the welding tool is facing the adjacent position point. By analyzing the direction of the straight line between the adjacent position point and the current welding position point and using it as the adjacent position direction information, it is convenient for subsequent use.

[0125] Step S482: Obtain the current welding orientation information of the welding tool.

[0126] The current welding orientation information refers to the orientation information corresponding to the welding tool at the current time, and the current welding orientation information is obtained by querying the welding equipment.

[0127] Step S483: Analyze the deviation angle between the adjacent position direction information and the current welding direction information and use it as the adjacent position deviation angle value.

[0128] Among them, the adjacent position deviation angle value refers to the adjustment angle value corresponding to the adjustment of the orientation of the welding tooling. The deviation angle between the adjacent position direction information and the current welding orientation information is calculated and used as the adjacent position deviation angle value for convenience in subsequent use.

[0129] Step S484: Determine whether the adjacent position deviation angle value is within a preset deviation angle reference interval. If yes, execute step S485; if no, execute step S486.

[0130] The deviation angle reference interval refers to the reference angle interval that can adjust the orientation of the welding tooling, and the deviation angle reference interval is obtained after being pre-input by the operator. By judging whether the deviation angle values ​​of adjacent positions are within the preset deviation angle reference interval, it is judged whether the orientation of the welding tooling can be directly adjusted.

[0131] Step S485: Determine welding tool angle adjustment information corresponding to the adjacent position deviation angle value according to the correspondence between the adjacent position deviation angle value and the preset welding tool angle adjustment information, and use the welding tool angle adjustment information as the adjacent adjustment information.

[0132] Among them, the welding tool angle adjustment information refers to the control information used to control the angle adjustment of the welding tool orientation, and the welding tool angle adjustment information is obtained by querying from a database storing adjacent position deviation angle values ​​and welding tool angle adjustment information. When the adjacent position deviation angle value is within the preset deviation angle reference interval, it means that the orientation of the welding tool can be directly adjusted at this time, so the welding tool angle adjustment information is determined by querying the adjacent position deviation angle value and used as the adjacent adjustment information, so as to adjust the orientation of the welding tool, thereby improving the accuracy of the acquired adjacent adjustment information.

[0133] Step S486: Analyze the deviation angle between the adjacent position direction information and the preset welding reference direction information and use it as the welding reference deviation angle value.

[0134] Among them, welding reference direction information refers to the direction information that the welding tool needs to be in when performing reference welding, and the welding reference direction information is obtained after pre-input by the operator. The welding reference deviation angle value refers to the angle value corresponding to when the direction of the welding tool is adjusted to the reference direction. When the adjacent position deviation angle value is not within the preset deviation angle reference interval, it means that the direction of the welding tool cannot be directly adjusted at this time. Therefore, the deviation angle between the adjacent position direction information and the preset welding reference direction information is analyzed and used as the welding reference deviation angle value, so as to facilitate subsequent use.

[0135] Step S487: According to the correspondence between the welding reference deviation angle value and the preset pipeline angle adjustment information, the pipeline angle adjustment information corresponding to the welding reference deviation angle value is determined, and the pipeline angle adjustment information is used as the adjacent adjustment information.

[0136] The pipeline angle adjustment information refers to the adjustment information used to control the angle adjustment of the pipeline, and the pipeline angle adjustment information is obtained by querying the welding reference deviation angle value and the database storing the pipeline angle adjustment information. The pipeline angle adjustment information is determined by querying the welding reference deviation angle value and used as the adjacent adjustment information, so as to perform rotation adjustment on the pipeline and improve the accuracy of the acquired adjacent adjustment information.

[0137] exist Figure 1 In step S500, in order to further ensure the rationality of the welding adjustment information, it is necessary to further analyze and calculate the welding adjustment information separately. Figure 4 The steps shown are explained in detail.

[0138] Reference Figure 4 , the method for determining welding adjustment information includes the following steps:

[0139] Step S510: Retrieve the external weld width value and the external weld material information based on the weld parameter information.

[0140] Among them, the weld parameter information includes the external weld width value and the external weld material information. The external weld width value refers to the width value corresponding to the weld outside the pipeline, and the external weld material information refers to the material information corresponding to the weld outside the pipeline. The external weld width value and the external weld material information are retrieved through the weld parameter information to facilitate subsequent use.

[0141] Step S520: Determine the welding voltage requirement value corresponding to the external weld width value according to the corresponding relationship between the external weld width value and the preset welding voltage requirement value.

[0142] The welding voltage requirement value refers to the output voltage value required when welding the width of the external weld of the pipeline. The welding voltage requirement value is obtained by querying from a database storing external weld width values ​​and welding voltage requirement values. The database is obtained and stored through experiments. The welding voltage requirement value is determined by querying the external weld width value, which is convenient for subsequent use.

[0143] Step S530: Retrieve the current welding current value and the current welding voltage value based on the current welding control information.

[0144] Among them, the current welding control information includes the current welding current value and the current welding voltage value. The current welding current value refers to the current value output when welding inside the pipeline at the current time. The current welding voltage value refers to the voltage value output when welding inside the pipeline at the current time. The current welding current value and the current welding voltage value are retrieved through the current welding control information to facilitate subsequent use.

[0145] Step S540: Calculate the difference between the welding voltage requirement value and the current welding voltage value and use it as the welding voltage adjustment value.

[0146] Among them, the welding voltage adjustment value refers to the adjustment value for adjusting the voltage required to be output at the current time. The difference between the welding voltage requirement value and the current welding voltage value is calculated and used as the welding voltage adjustment value for convenience in subsequent use.

[0147] Step S550: determining the estimated depth value of the external weld according to the external weld width value and the external weld material information.

[0148] Among them, the estimated depth value of the external weld refers to the estimated value of the depth corresponding to the external weld of the pipeline. By analyzing the external weld width value and the external weld material information, the estimated depth value of the external weld is determined to facilitate subsequent use.

[0149] Step S560: Calculate the difference between the estimated depth value of the external weld and the preset reference thickness value of the pipeline and use it as the required depth value of the internal weld.

[0150] The pipe base thickness value refers to the base thickness value of the pipe to be welded, and the pipe base thickness value is obtained after being pre-input by the operator. The internal weld depth requirement value refers to the depth value required for welding inside the pipe. The difference between the external weld estimated depth value and the preset pipe base thickness value is calculated and used as the internal weld depth requirement value for subsequent use.

[0151] Step S570: Determine the welding current requirement value corresponding to the internal weld depth requirement value according to the correspondence between the internal weld depth requirement value and the preset welding current requirement value.

[0152] The welding current requirement value refers to the current value that needs to be output when welding inside the pipeline. The welding current requirement value is obtained by querying from a database storing internal weld depth requirement values ​​and welding current requirement values. The database is obtained and stored through experiments. The welding current requirement value is determined by querying the internal weld depth requirement value, which is convenient for subsequent use.

[0153] Step S580: Calculate the difference between the welding current requirement value and the current welding current value and use it as the welding current adjustment value.

[0154] Among them, the welding current adjustment value refers to the adjustment value for adjusting the current required to be output at the current time. The difference between the welding current demand value and the current welding current value is calculated and used as the welding current adjustment value for convenience in subsequent use.

[0155] Step S590: forming welding parameter adjustment information based on the welding voltage adjustment value and the welding current adjustment value, and using the welding parameter adjustment information as the welding adjustment information.

[0156] Among them, welding parameter adjustment information refers to the adjustment information for adjusting the parameters that need to be output when welding inside the pipeline at the current time. The welding parameter adjustment information is formed by combining the welding voltage adjustment value with the welding current adjustment value and used as the welding adjustment information, thereby improving the accuracy of the obtained welding adjustment information.

[0157] exist Figure 4 In step S550, in order to further ensure the rationality of the estimated depth value of the external weld, it is necessary to further analyze and calculate the estimated depth value of the external weld. Figure 5 The steps shown are explained in detail.

[0158] Reference Figure 5 , the method for determining the estimated depth value of the external weld includes the following steps:

[0159] Step S551: Retrieve external weld quality information based on weld parameter information.

[0160] Among them, the weld parameter information includes external weld quality information. The external weld quality information refers to the quality information corresponding to the weld outside the pipeline. The weld parameter information retrieves the external weld quality information to facilitate subsequent use.

[0161] Step S552: Determine the welding prediction method information corresponding to the external weld quality information according to the correspondence between the external weld quality information and the preset welding prediction method information.

[0162] The welding estimation method information refers to the estimation information of the welding method used for welding the weld outside the pipeline, and the welding estimation method information is obtained by querying from a database storing external weld quality information and welding estimation method information, and the database is obtained and stored through experiments. The welding estimation method information is determined by querying the external weld quality information, which is convenient for subsequent use.

[0163] Step S553: ​​determining the welding mode influence value corresponding to the welding mode information according to the correspondence between the welding mode information and the preset welding mode influence value.

[0164] The welding method influence value refers to the influence of the welding method used to weld the weld on the outside of the pipeline on the width. The welding method influence value is obtained by querying from a database storing welding estimated method information and welding method influence values. The database is obtained and stored through experiments. The welding method influence value is determined by querying the welding estimated method information to facilitate subsequent use.

[0165] Step S554: Calculate the product value between the external weld width value and the welding mode influence value and use it as the weld width adjustment value.

[0166] The weld width adjustment value refers to the width value after adjusting the weld width of the external pipeline affected by the welding method. The product value between the external weld width value and the welding method influence value is calculated and used as the weld width adjustment value for convenience in subsequent use.

[0167] Step S555: Retrieve external material specification information based on external weld material information.

[0168] Among them, the external material specification information refers to the specification information of the material used for the external weld of the pipeline. The corresponding specifications are queried and retrieved through the external weld material information and used as the external material specification information to facilitate subsequent use.

[0169] Step S556: selecting estimated specification information from external material specification information based on the weld width adjustment value.

[0170] Among them, the estimated specification information refers to the estimated information on the specifications corresponding to the materials used for the external welds of the pipeline. The estimated specification information is selected from the external material specification information through the weld width adjustment value to facilitate subsequent use.

[0171] Step S557: Retrieve the estimated specification unit volume value based on the estimated specification information.

[0172] Among them, the estimated specification information includes the estimated specification unit volume value, which refers to the volume value of the material specification used for the external weld of the pipeline under unit length. The estimated specification unit volume value is retrieved through the estimated specification information to facilitate subsequent use.

[0173] Step S558: Calculate the quotient between the estimated specification unit volume value and the weld width adjustment value and use it as the estimated specification weld depth value, and use the estimated specification weld depth value as the external weld estimated depth value.

[0174] Among them, the estimated specification weld depth value refers to the depth value corresponding to the weld generated when welding is performed using the estimated specifications. The quotient between the estimated specification unit volume value and the weld width adjustment value is calculated and used as the estimated specification weld depth value, and then the estimated specification weld depth value is used as the external weld estimated depth value, thereby improving the accuracy of the obtained external weld estimated depth value.

[0175] exist Figure 5 In step S556, in order to further ensure the rationality of the estimated specification information, it is necessary to further analyze and calculate the estimated specification information. Figure 6 The steps shown are explained in detail.

[0176] Reference Figure 6 , the method for selecting estimated specification information includes the following steps:

[0177] Step S5561: Retrieve the weld width ranges corresponding to each specification based on external material specification information.

[0178] Among them, the specification weld width range refers to the reference range of weld widths that can be produced by different specifications. The width reference range under each specification is queried through external material specification information and retrieved as the specification weld width range to facilitate subsequent use.

[0179] Step S5562: Based on the weld width adjustment value, select the external material specification information corresponding to the weld width range that can be met and use it as the initial specification information.

[0180] Among them, the selection of initial specification information refers to the initial specification information selected when selecting the material specification. By comparing the weld width adjustment value with each specification weld width interval, and using the external material specification information corresponding to the specification weld width interval including the weld width adjustment value as the selected initial specification information, it is convenient for subsequent use.

[0181] Step S5563: Retrieve the selected specification values ​​based on the selected initial specification information.

[0182] The selected specification number value refers to the number value corresponding to the selected initial specification. The selected initial specification information is calculated and the counting result is retrieved and used as the selected specification number value, so as to facilitate subsequent use.

[0183] Step S5564: Determine whether the selected specification value is only one. If yes, execute step S5565; if no, execute step S5566.

[0184] Among them, by judging whether the number of selected specification values ​​is only one, it is judged whether it is necessary to continue to select the selected initial specification.

[0185] Step S5565: directly select the initial specification information as the estimated specification information.

[0186] Among them, when the number of selected specifications is only one, it means that there is no need to continue selecting the selected initial specifications at this time, so the selected initial specification information is directly used as the estimated specification information.

[0187] Step S5566: Select the specification weld width interval corresponding to the initial specification information as the selected width interval.

[0188] Among them, the selected width interval refers to the reference interval of the weld width corresponding to the initially selected specification. When the number of selected specifications is not only one, it means that the selected initial specification needs to be continued to be selected. Therefore, the specification weld width interval corresponding to the selected initial specification information is used as the selected width interval for subsequent use.

[0189] Step S5567: Calculate the difference between the weld width adjustment value and the end value of the selected width interval and use the smaller value as the end value deviation value.

[0190] Among them, the end value deviation value refers to the deviation value when there is a deviation between the weld width and the end value of the reference interval. The difference between the weld width adjustment value and the two end values ​​of the selected width interval is calculated and the smaller value of the two differences is used as the end value deviation value, which is convenient for subsequent use.

[0191] Step S5568: Calculate the average of the two end values ​​of the selected width interval and use it as the middle value of the selected interval.

[0192] Among them, the middle value of the selection interval refers to the middle value of the benchmark interval of each initially selected specification. The average value of the two end values ​​of the selection width interval is calculated and used as the middle value of the selection interval for convenience in subsequent use.

[0193] Step S5569: Determine the selection deviation specification information based on the end value deviation value and the middle value of the selection interval, and use the selection deviation specification information as the estimated specification information.

[0194] Among them, the selection deviation specification information refers to the specification information for reselecting the specifications based on the end value deviation and the middle value of the interval. By analyzing the end value deviation value and the middle value of the selected interval, the selection deviation specification information is determined and used as the estimated specification information for subsequent use.

[0195] exist Figure 6In step S5569, in order to further ensure the rationality of the selected deviation specification information, it is necessary to further analyze and calculate the selected deviation specification information. Figure 7 The steps shown are explained in detail.

[0196] Reference Figure 7 , the method for determining the selected deviation specification information includes the following steps:

[0197] Step S55691: Determine the terminal value deviation influence value corresponding to the terminal value deviation value according to the correspondence between the terminal value deviation value and the preset terminal value deviation influence value.

[0198] The end value deviation impact value refers to the impact value generated when the end value has a deviation. The end value deviation impact value is obtained by querying from a database storing end value deviation values ​​and end value deviation impact values. The database is obtained and stored through experiments. The end value deviation impact value is determined by querying the end value deviation value to facilitate subsequent use.

[0199] Step S55692: Calculate the difference between the weld width adjustment value and the middle value of the selected interval and use it as the middle deviation value.

[0200] Among them, the intermediate deviation value refers to the deviation value between the adjusted weld width and the middle value of the reference interval of the selected specification. The difference between the weld width adjustment value and the middle value of the selected interval is calculated and used as the intermediate deviation value for convenience in subsequent use.

[0201] Step S55693: Determine the intermediate deviation impact value corresponding to the intermediate deviation value according to the correspondence between the intermediate deviation value and the preset intermediate deviation impact value.

[0202] The intermediate deviation impact value refers to the impact value generated when there is a deviation from the intermediate value of the reference interval. The intermediate deviation impact value is obtained by querying from a database storing intermediate deviation values ​​and intermediate deviation impact values. The database is obtained and stored through experiments. The intermediate deviation impact value is determined by querying the intermediate deviation value to facilitate subsequent use.

[0203] Step S55694: Calculate the sum of the end value deviation impact value and the intermediate deviation impact value and use it as the interval comprehensive impact value.

[0204] Among them, the interval comprehensive influence value refers to the comprehensive influence value generated when there is a deviation between the base interval of the selected specification and the weld width. The sum of the end value deviation influence value and the middle deviation influence value is calculated and used as the interval comprehensive influence value for subsequent use.

[0205] Step S55695: Sort from small to large based on the interval comprehensive influence value, and use the initial specification information corresponding to the interval comprehensive influence value ranked first as the selected interval specification information, and use the selected interval specification information as the selected deviation specification information.

[0206] Among them, the selected interval specification information refers to the specification information obtained after selecting the specifications based on the deviation influence of the benchmark interval. The interval comprehensive influence values ​​are sorted from small to large, and the selected initial specification information corresponding to the first-ranked interval comprehensive influence value is used as the selected interval specification information, and the selected interval specification information is used as the selected deviation specification information, thereby improving the accuracy of the obtained selected deviation specification information.

[0207] Reference Figure 8 Based on the same inventive concept, an embodiment of the present invention provides a pipeline inner wall welding system, comprising:

[0208] Acquisition module 1, used to acquire pipeline external image information, current welding position point, current welding control information and current welding direction information;

[0209] Memory 2, used to store Figures 1 to 7 The procedure of any one of the pipeline inner wall welding methods;

[0210] Processor 3 loads the program in the execution memory and implements the following Figures 1 to 7 Any one of the pipeline inner wall welding methods described.

[0211] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a program that can be loaded and executed by the processor. Figures 1 to 7 A computer program for any one of the pipeline inner wall welding methods described.

[0212] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0213] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor. Figures 1 to 7 A computer program for any one of the pipeline inner wall welding methods described.

[0214] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0215] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A pipeline inner wall welding method, characterized in that: include: Obtaining external image information of the pipeline, the current welding position of the welding tool and the corresponding current welding control information; Based on the preset weld features, the external image information of the pipeline is identified to form the pipeline weld information; Retrieve the overall welding path information and weld parameter information based on the pipeline weld information; Match the overall welding path information based on the current welding position point and form the welding movement path information; Analyze and determine welding adjustment information based on weld parameter information and current welding control information; Based on the welding movement path information, the welding adjustment information is combined to form the welding comprehensive control information and output to the welding equipment for welding adjustment; The matching forming method of welding movement path information includes: Retrieve the overall path position points based on the overall welding path information; Determine whether the overall path position point matches the current welding position point; If yes, the overall path position point that is consistent with the current welding position point is taken as the matching consistent position point, and the overall path position points other than the matching consistent position point are taken as the matching remaining position points; Based on the matching consistent position points, the matching remaining position points corresponding to the preset welding movement direction information are selected and combined to form matching consistent path information, and the matching consistent path information is used as the welding movement path information; If not, the distance between the overall path position point and the current welding position point is calculated and used as the current position deviation distance value; Sort the current position deviation distance values ​​from small to large, and use the overall path position point corresponding to the first-ranked current position deviation distance value as the adjacent position point, and use the overall path position points other than the adjacent position point as the adjacent remaining position points; Based on the adjacent position points, the adjacent remaining position points corresponding to the preset welding movement direction information are selected and combined to form adjacent adjustment path information, and the adjacent adjustment path information is used as the welding movement path information, and the adjacent adjustment path information refers to the path information after the path is adjusted according to the adjacent position points; Determine adjacent adjustment information based on the adjacent position points and the current welding position points and output it to the welding equipment for welding adjustment. The adjacent adjustment information refers to the adjustment information for controlling the welding equipment to adjust the path after adjusting the path based on the adjacent position points. The method for determining the adjacent adjustment information includes: Analyze the direction of the straight line between the adjacent position point and the current welding position point and use it as the adjacent position direction information; Obtain the current welding orientation information of the welding tool; Analyze the deviation angle between the adjacent position direction information and the current welding direction information and use it as the adjacent position deviation angle value; Determine whether the adjacent position deviation angle value is within a preset deviation angle reference interval; If yes, then according to the correspondence between the adjacent position deviation angle value and the preset welding tool angle adjustment information, the welding tool angle adjustment information corresponding to the adjacent position deviation angle value is determined, and the welding tool angle adjustment information is used as the adjacent adjustment information; If not, then analyzing the deviation angle between the adjacent position direction information and the preset welding reference direction information and using it as the welding reference deviation angle value; According to the correspondence between the welding reference deviation angle value and the preset pipeline angle adjustment information, the pipeline angle adjustment information corresponding to the welding reference deviation angle value is determined, and the pipeline angle adjustment information is used as the adjacent adjustment information; Methods for determining welding adjustment information include: Retrieve the external weld width value and external weld material information based on the weld parameter information; According to the correspondence between the external weld width value and the preset welding voltage requirement value, the welding voltage requirement value corresponding to the external weld width value is determined; Retrieving the current welding current value and the current welding voltage value based on the current welding control information; Calculate the difference between the welding voltage requirement value and the current welding voltage value and use it as the welding voltage adjustment value; Determine the estimated depth value of the external weld according to the external weld width value and the external weld material information; Calculate the difference between the estimated depth of the external weld and the preset pipe reference thickness and use it as the required depth of the internal weld; According to the correspondence between the internal weld depth requirement value and the preset welding current requirement value, a welding current requirement value corresponding to the internal weld depth requirement value is determined; Calculate the difference between the welding current demand value and the current welding current value and use it as the welding current adjustment value; Combining the welding voltage adjustment value with the welding current adjustment value to form welding parameter adjustment information, and using the welding parameter adjustment information as welding adjustment information; The methods for determining the estimated depth value of the external weld include: Retrieving external weld quality information based on weld parameter information; According to the correspondence between the external weld quality information and the preset welding estimation method information, the welding estimation method information corresponding to the external weld quality information is determined; According to the correspondence between the welding estimation mode information and the preset welding mode influence value, the welding mode influence value corresponding to the welding estimation mode information is determined; Calculate the product value between the external weld width value and the welding mode influence value and use it as the weld width adjustment value; Retrieving external material specification information based on external weld material information; Selecting estimated specification information from external material specification information based on the weld width adjustment value; Retrieve the estimated specification unit volume value based on the estimated specification information; The quotient between the estimated specification unit volume value and the weld width adjustment value is calculated and used as the estimated specification weld depth value, and the estimated specification weld depth value is used as the estimated depth value of the external weld.

2. The pipeline inner wall welding method according to claim 1, characterized in that: Methods for selecting estimated specification information include: Based on external material specification information, the specification weld width range corresponding to each specification is retrieved; Based on the weld width adjustment value, select the external material specification information corresponding to the weld width range that can be met and use it as the initial specification information; Retrieve the selected specification value based on the selected initial specification information; Determine whether the selected specification value is only one; If yes, the initial specification information is directly selected as the estimated specification information; If not, the weld width interval corresponding to the initial specification information is selected as the selected width interval; Calculate the difference between the weld width adjustment value and the end value of the selected width interval and use the smaller value as the end value deviation value; Calculate the average of the two end values ​​of the selected width interval and use it as the middle value of the selected interval; Determine the selection deviation specification information based on the end value deviation value and the middle value of the selection interval, and use the selection deviation specification information as the estimated specification information; Methods for determining the selected deviation specification information include: According to the corresponding relationship between the terminal value deviation value and the preset terminal value deviation influence value, the terminal value deviation influence value corresponding to the terminal value deviation value is determined; Calculate the difference between the weld width adjustment value and the middle value of the selected interval and use it as the middle deviation value; According to the corresponding relationship between the intermediate deviation value and the preset intermediate deviation influence value, the intermediate deviation influence value corresponding to the intermediate deviation value is determined; Calculate the sum of the end value deviation impact value and the middle value deviation impact value and use it as the interval comprehensive impact value; The intervals are sorted from small to large based on their comprehensive impact values, and the initial specification information corresponding to the first-ranked interval comprehensive impact value is used as the selected interval specification information, and the selected interval specification information is used as the selected deviation specification information.

3. A pipeline inner wall welding system, characterized in that: include: An acquisition module (1) is used to acquire pipeline external image information, current welding position point, current welding control information and current welding direction information; A memory (2) for storing a program of the pipeline inner wall welding method according to any one of claims 1 to 2; A processor (3) is configured to load and execute a program in a memory and implement a pipeline inner wall welding method as claimed in any one of claims 1 to 2.

4. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the pipeline inner wall welding method as claimed in any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that: The computer program that can be loaded by a processor and execute the pipe inner wall welding method according to any one of claims 1 to 2 is stored.

Images