A method, system and welding equipment for welding the outer wall of a pipeline

Abstract

The present invention relates to a method, a system and a welding device for welding the outer wall of a pipeline, which includes determining a welding opening according to detected image information and pipeline characteristics; determining a bending arc according to the welding opening or calculating the difference between the welding opening and a reference opening according to the exceeding situation between the welding opening and the reference opening; matching a closing force value from a closing database according to the difference value; controlling an extrusion device to extrude and close the pipeline according to the closing force value; determining the completion of closing according to the consistency between the closing flatness and the reference flatness or controlling a clamping device to adjust the closing flatness to complete the closing; determining a springback strength value according to material information, the bending arc and the weight of the pipeline; determining a spot welding position and a spot welding area according to the springback strength value and the welding length; and controlling a welding device to perform spot welding on the pipeline according to the spot welding area. The present application has the effects of reducing the loss of welding materials and the working time of welding, and improving the working efficiency.

Description

Technical Field

[0001] The present invention relates to the field of welding, and in particular, to a method, a system and a welding device for welding the outer wall of a pipeline. Background Art

[0002] Welding the outer wall of a pipeline is a common welding process, mainly referring to the welding operation carried out on the outside of the pipeline.

[0003] In the prior art, when welding the outer wall of a pipeline, it is usually necessary to bend the cut plate into the required pipeline shape, and then spot weld the places to be welded. The spot welding positions are usually selected by the experience of the staff.

[0004] In view of the above related technologies, the spot welding positions selected by the experience of the staff are likely to have too many spot welding positions, which increases the loss of welding materials and the welding working time, thereby reducing the working efficiency and needs to be improved. Summary of the Invention

[0005] In order to reduce the loss of welding materials and the welding working time and improve the working efficiency, the present invention provides a method, a system and a welding device for welding the outer wall of a pipeline.

[0006] In a first aspect, the present invention provides a method for welding the outer wall of a pipeline, adopting the following technical solutions:

[0007] A method for welding the outer wall of a pipeline includes:

[0008] Obtaining the detected image information and material information on the outside of the pipeline;

[0009] Determining the welding opening according to the detected image information and the preset pipeline features;

[0010] According to the exceeding situation between the welding opening and the preset reference opening, determining the bending arc according to the welding opening or calculating the difference between the welding opening and the reference opening, and defining the difference as the closing distance value;

[0011] Matching the closing force value from the preset closing database according to the closing distance value;

[0012] Controlling the preset extrusion device to extrude and close the pipeline according to the closing force value, and defining the mutually closed welding openings as the welding positions;

[0013] Obtaining the closing flatness of the welding position;

[0014] Determining the completion of closing according to the consistency between the closing flatness and the preset reference flatness, or controlling the preset clamping device to adjust the closing flatness by a preset adjustment method to complete the closing;

[0015] After the closing is completed, a springback strength value is matched from a preset elastic database according to the material information, bending radian, and preset pipe weight.

[0016] Based on the springback strength value and the preset welding length, the spot welding position and spot welding area are determined.

[0017] According to the spot welding area, the preset welding device is controlled to move to the spot welding position to perform spot welding on the pipe.

[0018] By adopting the above technical solution, the qualification status of the welding opening is known by understanding the excess situation between the welding opening and the reference opening. When it is unqualified, the closing force value is matched according to the calculated closing distance value, and the welding opening is closed to make the welding opening qualified. Then, by understanding the consistency between the closing flatness and the reference flatness, it is known whether the welding position needs to be adjusted. When adjustment is required, the clamping device is controlled to adjust the closing flatness by the adjustment method. Finally, the spot welding position and spot welding area are known by knowing the springback strength value and the welding length, and then spot welding is performed. The working efficiency of welding is improved.

[0019] Optionally, the verification method after spot welding includes:

[0020] After the spot welding is completed, the real-time pressure value when the extrusion device extrudes and closes the pipe is obtained.

[0021] Calculate the difference between the closing force value and the real-time pressure value, and define the difference as the springback pressure value.

[0022] Based on the magnitude relationship between the springback pressure value and the preset reference pressure value, it is determined whether the spot welding is completed or the pipe image information is obtained; based on the pipe image information and the preset reference spot welding characteristics, the spot welding defect characteristics are determined.

[0023] Based on the pipe image information and the spot welding defect characteristics, the spot welding defect coordinates and the number of spot welding defects are determined.

[0024] Based on the number of spot welding defects, the repair welding method is determined.

[0025] Based on the repair welding method, the welding device is controlled to perform repair welding on the spot welding defect coordinates.

[0026] By adopting the above technical solution, the completion status of the spot welding is known by understanding the magnitude relationship between the springback pressure value and the reference pressure value. When the spot welding is not completed, by understanding the spot welding defect characteristics and the pipe image information, the spot welding defect coordinates and the number of spot welding defects are known, and then the repair welding method is known, and the spot welding defect coordinates are repaired by the repair welding method. To avoid potential safety hazards caused by unstable spot welding during welding and improve the safety during welding.

[0027] Optionally, the post-treatment method after spot welding includes:

[0028] After completing spot welding, obtain spot welding image information;

[0029] Identify and mark the virtual spot welding position from a preset spot welding database according to the spot welding image information;

[0030] Obtain the position of the welding device;

[0031] According to the consistency between the position of the welding device and the virtual spot welding position, control the welding device to weld from the current virtual spot welding position towards another virtual spot welding position or control the welding device to move towards the virtual spot welding position;

[0032] According to the consistency between the position of the welding device and the spot welding position, control the welding device to stop welding and skip the spot welding position to continue welding towards another virtual spot welding position or continue welding;

[0033] According to the consistency between the position of the welding device and another virtual spot welding position, determine whether to continue welding or complete welding.

[0034] By adopting the above technical solution, by obtaining the spot welding image information, the virtual spot welding position is identified and marked. Then, by understanding the consistency between the position of the welding device and the virtual spot welding position, the in-place situation of the welding device is known. When the welding device is in place, control the welding device to weld from the current virtual spot welding position towards another virtual spot welding position, and when the position of the welding device is consistent with the spot welding position, control the welding device to stop welding and skip the spot welding position to continue welding towards another virtual spot welding position until the position of the welding device is consistent with another virtual spot welding position to complete welding. The use of welding materials is reduced.

[0035] Optionally, the repair welding method after spot welding includes:

[0036] Judge whether the number of spot welding defects is greater than a preset reference number of defects;

[0037] If the number of spot welding defects is greater than the reference number of defects, determine whether to continue moving or perform spot welding on the spot welding defect coordinates corresponding to the spot welding defect characteristics according to the consistency between the position of the welding device and the spot welding defect coordinates;

[0038] If the number of spot welding defects is not greater than the reference number of defects, define the spot welding defect coordinates as maintaining the welding position;

[0039] Based on the consistency between the position of the welding device and the spot welding position, control the welding device to stop welding and skip the spot welding position to continue welding towards another virtual spot welding position;

[0040] When the position of the welding device is consistent with the holding welding position, control the welding device to continue welding in the direction of another virtual spot welding position; when the position of the welding device is consistent with another virtual spot welding position, control the welding device to stop welding to complete the welding.

[0041] By adopting the above technical solution, by understanding the magnitude relationship between the number of spot welding defects and the number of reference defects, the method for repairing spot welding defects can be known. When the number of spot welding defects is greater than the number of reference defects, it indicates that the number of spot welding defects is excessive, and it is necessary to re-perform spot welding on the coordinates of the spot welding defects. When the number of spot welding defects is not greater than the number of reference defects, it indicates that the number of spot welding defects is not large, and while continuously welding the pipeline, the coordinates of the spot welding defects can be welded. In this way, corresponding repair welding methods are carried out for different numbers of spot welding defects, further improving work efficiency.

[0042] Optionally, the preparation method before spot welding includes:

[0043] Obtain the pipeline parameters of the pipeline and the welding downward pressure of the welding device;

[0044] Determine the pipeline size, clamping position, and reference bearing force according to the pipeline parameters;

[0045] Determine the fixture size according to the pipeline size, and control the clamping device corresponding to the fixture size to move to the clamping position;

[0046] Obtain the position of the clamping device of the clamping device, and determine whether to continue moving or complete the movement according to the consistency between the position of the clamping device and the clamping position;

[0047] Based on the completion of the movement, determine the clamping pressure value according to the material information and the springback strength value;

[0048] Control the clamping device to clamp the pipeline according to the clamping pressure value;

[0049] Calculate the difference between the welding downward pressure and the reference bearing force as the jacking force value, and judge whether the jacking force value is greater than zero;

[0050] If the jacking force value is not greater than zero, control the welding device to weld the welding position on the outer side of the pipeline;

[0051] If the jacking force value is greater than zero, determine the jacking position according to the welding position;

[0052] Control the preset jacking device to jack the welding position with the jacking force value according to the jacking position, and after jacking, control the welding device to weld the welding position on the outer side of the pipeline.

[0053] By adopting the above technical solution, the corresponding clamping device is matched by understanding the pipe size, clamping position and reference bearing capacity of the pipe. Then, by understanding the consistency between the position of the clamping device and the clamping position, the position of the clamping device can be known. When the clamping device is in place, the clamping device is controlled to clamp the pipe by knowing the clamping pressure value to facilitate subsequent steps. Then, by understanding the calculated lifting force value, it can be known whether the welding device will cause deformation to the pipe during welding. When deformation occurs, the lifting device is controlled to lift the welding position with the lifting force value to avoid deformation problems, thereby reducing errors during welding and improving welding efficiency.

[0054] Optional adjustment methods include:

[0055] When the close-up flatness is inconsistent with the preset reference flatness, controlling the preset scanning device to scan the welding position to obtain a scanning result;

[0056] When the scanning result is consistent with the preset single-end abnormal feature, the single-end abnormal position and the single-end abnormal difference are determined according to the scanning result;

[0057] Matching the single-ended adjustment parameters from a preset correction database according to the single-ended abnormal difference;

[0058] The other end of the single-end abnormal position is clamped and fixed by a preset fixing device according to the single-end abnormal position control;

[0059] After fixing, the single-end abnormal position is clamped and adjusted by controlling the preset mechanical arm according to the single-end adjustment parameters;

[0060] When the scanning result is consistent with the preset double-end abnormal characteristics, the double-end abnormal difference is determined according to the scanning result;

[0061] Matching double-end adjustment parameters from a correction database according to double-end abnormal differences;

[0062] According to the double-end adjustment parameters, the robot arm is controlled to clamp and adjust the abnormal positions of the double ends.

[0063] By adopting the above technical solution and understanding the scanning results, adjustments can be made according to different results. When a single-end abnormality occurs, the other end of the single-end abnormal position is clamped and fixed by a fixing device, and then the single-end abnormal position is clamped and adjusted. When a double-end abnormality occurs, the double-end abnormal position is clamped and adjusted by matching the double-end adjustment parameters. This reduces the time for handling abnormalities and improves work efficiency.

[0064] Optionally, when the scanning result is consistent with the single-end abnormal feature, the adjustment method further includes:

[0065] When the scanning result is consistent with the single - end anomaly feature, obtain the abnormal image information;

[0066] Based on the abnormal image information and the single - end anomaly feature to determine the position of the warping feature;

[0067] Based on the position of the warping feature to determine the flat - ending position;

[0068] Control the welding device to weld the other virtual spot - welding position corresponding to the single - end anomaly feature towards the flat - ending position;

[0069] Based on the consistency between the position of the welding device and the flat - ending position to determine whether to continue welding or stop welding;

[0070] After stopping welding, control the preset heating device to heat the warping feature position at a preset heating temperature;

[0071] After heating, control the preset robotic arm to clamp and adjust the warping feature position, and update the abnormal image information;

[0072] Based on the inclusion relationship between the updated abnormal image information and the single - end anomaly feature to determine whether to complete the adjustment or update the position of the warping feature.

[0073] By adopting the above - mentioned technical solution, when the scanning result is a single - end anomaly, by knowing the flat - ending position, control the welding device to weld from the virtual spot - welding position towards the flat - ending position. After stopping welding, control the heating device to heat the pipeline, and then clamp and adjust the warping feature position. This reduces the energy consumption of the robotic arm during adjustment and facilitates the closing of the welding opening.

[0074] Optionally, it further includes:

[0075] Obtain the weight distribution information in the preset placement device;

[0076] Based on the consistency between the weight distribution information and the preset reference distribution information to determine whether to continue obtaining the weight distribution information or determine the adjustment vector according to the weight distribution information;

[0077] Based on the adjustment vector, control the preset rotating device to rotate and adjust the pipeline;

[0078] After the rotational adjustment, control the welding device to perform spot - welding at the spot - welding position, and after the spot - welding is completed, update the weight distribution information; based on the consistency between the updated weight distribution information and the reference distribution information to determine whether to obtain the spot - welding image information or update the adjustment vector according to the updated weight distribution information, and based on the updated adjustment vector, control the rotating device to rotate and adjust the pipeline;

[0079] Based on obtaining spot welding image information, when the position of the welding device is consistent with the spot welding position, the weight distribution information is updated again.

[0080] By adopting the above technical solution, by understanding the consistency between the weight distribution information and the reference distribution information, the placement situation of the pipeline in the placement device is known. When the placement is abnormal, the adjustment vector is known through the weight distribution information, and the rotation device is controlled to rotate and adjust the pipeline. After spot welding and continuous welding are performed on the welding device, since the weight changes, it is necessary to update the consistency between the weight distribution information and the reference distribution information, and then adjust the pipeline when the placement is abnormal, and the spot welding position and the welding position need to be adjusted synchronously. The error rate of welding is reduced.

[0081] In a second aspect, the present application provides a pipeline outer wall welding system, adopting the following technical solution:

[0082] A pipeline outer wall welding system includes:

[0083] An acquisition module for acquiring detection image information, material information, closing flatness, real-time pressure value, pipeline image information, spot welding image information, welding device position, pipeline parameters, welding downward pressure, clamping device position, abnormal image information, and weight distribution information;

[0084] A memory for storing the program of any of the above pipeline outer wall welding methods;

[0085] A processor, and the program in the memory can be loaded and executed by the processor and implement any of the above pipeline outer wall welding methods.

[0086] In a third aspect, the present application provides a welding device, adopting the following technical solution:

[0087] A welding device includes a memory and a processor, and a computer program capable of being loaded and executed by the processor and implementing any of the above pipeline outer wall welding methods is stored on the memory.

[0088] By adopting the above technical solution, by understanding the exceeding situation between the welding opening and the reference opening, the qualification situation of the welding opening is known. When it is unqualified, the closing distance value is calculated, and the closing force value is matched accordingly to close the welding opening to make it qualified. Then, by understanding the consistency between the closing flatness and the reference flatness, it is known whether the welding position needs to be adjusted. When adjustment is required, the clamping device is controlled to adjust the closing flatness by the adjustment method. Finally, by knowing the springback strength value, the spot welding position and the spot welding area are known, and then spot welding is performed. The working efficiency of welding is improved.

[0089] In summary, the present application includes at least one of the following beneficial technical effects:

[0090] 1. Adjust the welding opening through the clamping device, and then know the spot welding position and spot welding area through the springback strength value, and then perform spot welding. Improve the working efficiency of welding;

[0091] 2. Further improve the working efficiency by adopting corresponding repair welding methods for different numbers of spot welding defects;

[0092] 3. When the placement of the pipeline in the placement device is abnormal, know the adjustment vector through the weight distribution information, and control the rotating device to rotate and adjust the pipeline to reduce the welding error rate. Brief Description of the Drawings

[0093] Figure 1 is a method flow chart of a pipeline outer wall welding method in an embodiment of the present invention;

[0094] Figure 2 is a method flow chart of the verification method after spot welding in an embodiment of the present invention;

[0095] Figure 3 is a method flow chart of the processing method after spot welding in an embodiment of the present invention;

[0096] Figure 4 is a method flow chart of the repair welding method after spot welding in an embodiment of the present invention. Detailed Embodiment

[0097] The following combines the attached Figure 1 - attached Figure 4 and the embodiments to further describe the present invention in detail.

[0098] The embodiment of the present application discloses a pipeline outer wall welding method. When the welding opening exceeds the reference opening, the pipeline is squeezed and closed through the squeezing device, and after closing, the welding device is controlled to perform spot welding on the spot welding position. After spot welding, know whether there are defects in spot welding through the springback pressure value. When there are defects, repair the defects through the repair welding method. When there are no defects, control the welding device to skip the spot welding position and weld the pipeline. And when repair welding is required, different repair welding methods are selected according to different numbers of spot welding defects. Before spot welding, the pipeline is fixed through the clamping device and the jacking device. When the two welding edges of the welding opening are scanned and identified, and then adjusted according to different scanning results. And before adjusting the pipeline with single-end abnormality, first weld the flat place, then heat the whole pipeline, and finally adjust. When the pipeline is placed in the placement device, the pipeline is adjusted through different weight distribution information.

[0099] Refer to Figure 1 , a pipeline outer wall welding method includes the following steps:

[0100] Step 100: Obtain the detection image information and material information outside the pipeline.

[0101] The detection image information refers to the image including the outer surface of the pipeline; the detection image information is obtained by taking pictures with a camera. The material information refers to the material of the pipeline; the material information is obtained by scanning the two-dimensional code on the pipeline with a preset scanner, and the content after scanning the two-dimensional code corresponds to the material information.

[0102] Step 101: Determine the welding opening based on the detection image information and the preset pipeline features.

[0103] The pipeline features refer to the features of the pipeline existing in the detection image information. The pipeline features are set in advance by those skilled in the art and will not be elaborated here. The welding opening refers to the opening formed by the two end faces waiting to be welded on the plate that has not been welded into a pipeline. The pipeline features can be recognized through the detection image information. When there are pipeline features on both sides but none in the middle, the position without pipeline features is the welding opening.

[0104] Step 102: Determine the bending arc based on the welding opening according to the exceeding situation between the welding opening and the preset reference opening, or calculate the difference between the welding opening and the reference opening, and define the difference as the closing distance value.

[0105] The reference opening refers to the maximum opening that the welding opening can open. By judging the exceeding situation between the welding opening and the reference opening, it is known whether the welding opening needs to be adjusted.

[0106] If the welding opening does not exceed the reference opening, it means that the welding opening does not need to be adjusted and the next step can be directly carried out. The bending arc refers to the arc formed when the plate is bent into a pipeline. The bending arc can be matched from the preset bending database through the welding opening. The bending database contains the corresponding relationship between the welding opening and the bending arc, where the larger the welding opening, the smaller the bending arc. The bending database is a manually set database and will not be elaborated here.

[0107] If the welding opening exceeds the reference opening, it means that the welding opening needs to be adjusted to be consistent with the reference opening before welding. The closing distance value refers to the distance that the welding opening needs to be closed. The closing distance value can be obtained by calculating the difference between the welding opening and the reference opening.

[0108] Step 103: Match the closing force value from the preset closing database according to the closing distance value.

[0109] The closing force value refers to the force required to adjust the welding opening to be consistent with the reference opening. Through the closing database, the closing force value corresponding to the closing distance value can be matched. The closing database contains the corresponding relationship between the closing distance value and the closing force value, where the larger the closing distance value, the larger the closing force value. The closing database is a manually set database and will not be elaborated here.

[0110] Step 104: According to the closing force value, control the preset extrusion device to extrude and close the pipeline, and define the mutually closed welding openings as the welding positions.

[0111] The extrusion device refers to the robotic arm used to extrude and adjust the welding opening. The welding position refers to the position where the welding device welds the pipeline. By controlling the extrusion device to extrude and close the pipeline with the closing force value, and define the mutually closed welding openings as the welding positions.

[0112] Step 105: Obtain the closing flatness of the welding position.

[0113] The closing flatness refers to the flatness of the two mutually closed welding edges. The closing flatness is obtained by scanning with a preset infrared scanning device.

[0114] Step 106: Determine whether the closing is completed according to the consistency between the closing flatness and the preset reference flatness, or control the preset clamping device to adjust the closing flatness with the preset adjustment method to complete the closing.

[0115] The reference flatness refers to the flatness that the two mutually closed welding edges need to reach. By judging the consistency between the closing flatness and the reference flatness, it can be known whether the closing of the welding position is completed.

[0116] If the closing flatness is consistent with the reference flatness, it means that the current flatness meets the standard, and thus the closing is completed.

[0117] If the closing flatness is inconsistent with the reference flatness, it means that the current flatness does not meet the standard and welding cannot be performed. It is necessary to control the clamping device to adjust the closing flatness with the adjustment method to complete the closing. The clamping device refers to the robotic arm used to adjust the closing flatness. The adjustment method refers to the method used to adjust the closing flatness. The adjustment method will be described in detail in steps 600 to 607 of the subsequent embodiments and will not be elaborated here.

[0118] Step 107: After the closing is completed, match the springback strength value from the preset elastic database according to the material information, bending radius, and the preset pipeline weight.

[0119] After the closing is completed, the elastic database is used to match the material information, bending arc, and the corresponding resilience strength value of the pipe weight. The resilience strength value refers to the strength value when the pipe rebounds. The pipe weight is pre-weighted and recorded. The elastic database contains the corresponding relationships among the material information, bending arc, pipe weight, and resilience strength value. When the material information is determined, the greater the bending arc and the pipe weight, the greater the resilience strength value.

[0120] Step 108: Determine the spot welding position and spot welding area according to the resilience strength value and the preset welding length.

[0121] The welding length refers to the length that the pipe needs to be welded. The welding length is preset by those skilled in the art and will not be elaborated here. The spot welding position refers to the position when spot welding the pipe. The spot welding area refers to the degree when spot welding the pipe. Through the preset spot welding database, the spot welding position and spot welding area corresponding to the resilience strength value and the welding length can be matched. The spot welding database contains the corresponding relationships among the resilience strength value, welding length, spot welding position, and spot welding area. The greater the resilience strength value and the longer the welding length, the more the spot welding positions and the larger the spot welding area. The spot welding database is a manually set database and will not be elaborated here.

[0122] Step 109: Control the preset welding device to move to the spot welding position according to the spot welding area and perform spot welding on the pipe.

[0123] The welding device refers to the welding machine used for spot welding and continuous welding of the pipe. The welding device is controlled to move to the spot welding position and perform spot welding on the pipe according to the spot welding area.

[0124] Refer to Figure 2 , and the verification method after spot welding includes the following steps:

[0125] Step 200: After the spot welding is completed, obtain the real-time pressure value when the extrusion device squeezes and closes the pipe.

[0126] After the spot welding is completed, obtain the real-time pressure value. The real-time pressure value refers to the force exerted by the pipe on the extrusion device. The real-time pressure value is obtained through the pressure sensor set in the extrusion device.

[0127] Step 201: Calculate the difference between the closing force value and the real-time pressure value, and define the difference as the resilience pressure value.

[0128] The resilience pressure value refers to the force that the pipe rebounds to the extrusion device when the extrusion device squeezes the pipe. The resilience pressure value can be obtained by calculating the difference between the real-time pressure value minus the closing force value.

[0129] Step 202: Determine whether the spot welding is completed or obtain the pipe image information according to the magnitude relationship between the resilience pressure value and the preset reference pressure value.

[0130] The reference pressure value refers to the force that the pipeline rebounds to the extrusion device as a reference after spot welding is completed. By judging the magnitude relationship between the rebound pressure value and the reference pressure value, it is possible to know whether there are defects in the spot welding.

[0131] If the rebound pressure value is not greater than the reference pressure value, it indicates that there are no defects in the spot welding, so the spot welding is completed.

[0132] If the rebound pressure value is greater than the reference pressure value, it indicates that there are defects in the spot welding, and it is necessary to obtain the pipeline image information. The pipeline image information refers to the image of the spot welding position on the pipeline when there are defects in the spot welding after the pipeline is spot welded. The pipeline image information is obtained by taking pictures with a camera.

[0133] Step 203: Determine the spot welding defect characteristics based on the pipeline image information and the preset reference spot welding characteristics.

[0134] The reference spot welding characteristics refer to the characteristics of spot welding without defects. The reference spot welding characteristics are set in advance by those skilled in the art and will not be elaborated here. The spot welding defect characteristics refer to the characteristics of spot welding with defects. Through the pipeline image information, characteristics different from the reference spot welding characteristics can be identified, that is, the spot welding defect characteristics.

[0135] Step 204: Determine the spot welding defect coordinates and the number of spot welding defects based on the pipeline image information and the spot welding defect characteristics.

[0136] The spot welding defect coordinates refer to the spot welding positions with defects. The number of spot welding defects refers to the number of spot welding defect characteristics. A pipeline coordinate system is established based on the preset coordinate origin on the pipeline. And when the shape of the pipeline changes, the coordinate origin remains unchanged. The coordinate origin is set in advance by those skilled in the art and will not be elaborated here. Through the pipeline image information, the spot welding defect coordinates and the number of spot welding defects corresponding to the spot welding defect characteristics in the pipeline coordinate system can be identified.

[0137] Step 205: Determine the repair welding method according to the number of spot welding defects.

[0138] The repair welding method refers to the method used to repair the spot welding defect characteristics. The repair welding method will be described in detail in steps 400 to 405 in the subsequent embodiments and will not be elaborated here. The repair welding method corresponding to the number of spot welding defects can be matched from the preset repair welding database. The repair welding database contains the corresponding relationship between the number of spot welding defects and the repair welding method. The repair welding database is a database set by humans and will not be elaborated here.

[0139] Step 206: Control the welding device to repair the spot welding defect coordinates according to the repair welding method.

[0140] Control the welding device to repair the spot welding defect coordinates according to the obtained repair welding method.

[0141] Refer to Figure 3 , the post-treatment method after spot welding includes:

[0142] Step 300: After completing spot welding, obtain spot welding image information.

[0143] After completing spot welding, it is necessary to obtain spot welding image information. Spot welding image information refers to the image of the welding opening after spot welding is completed. The spot welding image information is obtained by taking pictures with a camera.

[0144] Step 301: Identify and mark the virtual spot welding position from the preset spot welding database according to the spot welding image information.

[0145] The virtual spot welding position refers to the position set to assist the welding device in welding. The virtual spot welding position is located on the outermost two sides of the welding position and exceeds the preset exceeding distance, so as to ensure that the welding position can be completely welded. The exceeding distance is set in advance by those skilled in the art and will not be elaborated here. The virtual spot welding position can be identified and marked in the spot welding image information through the spot welding database. The spot welding database is obtained through deep learning based on a neural network model and contains the virtual spot welding position. The spot welding database is a manually set database and will not be elaborated here.

[0146] Step 302: Obtain the position of the welding device of the welding device.

[0147] The position of the welding device refers to the position of the welding device. The position of the welding device is obtained through a GPS positioning chip set in the welding device.

[0148] Step 303: Control the welding device to weld in the direction of another virtual spot welding position based on the current virtual spot welding position or control the welding device to move towards the virtual spot welding position according to the consistency between the position of the welding device and the virtual spot welding position.

[0149] By judging the consistency between the position of the welding device and the virtual spot welding position, it is known whether the welding device has reached the virtual spot welding position.

[0150] If the position of the welding device is inconsistent with the virtual spot welding position, it means that the welding device has not reached the virtual spot welding position, and it is necessary to control the welding device to move towards the virtual spot welding position.

[0151] If the position of the welding device is consistent with the virtual spot welding position, it means that the welding device has reached the virtual spot welding position, and the welding device can be controlled to weld in the direction of another virtual spot welding position based on the current virtual spot welding position.

[0152] Step 304: Control the welding device to stop welding and skip the spot welding position according to the consistency between the position of the welding device and the spot welding position, and then continue welding in the direction of another virtual spot welding position or continue welding.

[0153] By judging the consistency between the position of the welding device and the spot welding position, it is known whether the welding device needs to pause welding.

[0154] If the position of the welding device is inconsistent with the spot welding position, it means that the welding device has not reached the spot welding position, and the welding device can be controlled to continue welding.

[0155] If the position of the welding device is consistent with the spot welding position, it means that the welding device has reached the spot welding position. It is necessary to control the welding device to stop welding and skip the current spot welding position. After skipping, continue welding in the direction of another virtual spot welding position.

[0156] Step 305: Determine whether to continue welding or complete welding according to the consistency between the position of the welding device and another virtual spot welding position.

[0157] By judging the consistency between the position of the welding device and another virtual spot welding position, it is known whether the welding is completed.

[0158] If the position of the welding device is inconsistent with another virtual spot welding position, it means that the welding is not completed, and the welding device can be controlled to continue welding.

[0159] If the position of the welding device is consistent with another virtual spot welding position, it means that the welding has been completed.

[0160] Refer to Figure 4 , the method for repairing welding after spot welding completion includes the following steps:

[0161] Step 400: Judge whether the number of spot welding defects is greater than a preset reference defect number.

[0162] The reference defect number refers to a value used to assist in judging whether the number of spot welding defects is too large or too small. The reference defect number is set in advance by those skilled in the art and will not be elaborated here. By judging whether the number of spot welding defects is greater than the reference defect number, the method for repairing spot welding defects is known.

[0163] Step 401: If the number of spot welding defects is greater than the reference defect number, then determine whether to continue moving or perform spot welding on the spot welding defect coordinates corresponding to the spot welding defect characteristics according to the consistency between the position of the welding device and the spot welding defect coordinates.

[0164] If the number of spot welding defects is greater than the reference number of defects, it indicates that the spot welding defects will have a greater impact on the size of the welding opening of the pipeline, and it is necessary to re-spot weld the coordinates of the spot welding defects. By judging the consistency between the position of the welding device and the coordinates of the spot welding defects, it is possible to know whether the welding device has reached the coordinates of the spot welding defects.

[0165] When the position of the welding device is inconsistent with the coordinates of the spot welding defects, it means that the welding device has not reached the coordinates of the spot welding defects, and it is necessary to continue moving in the direction of the coordinates of the welding defects.

[0166] When the position of the welding device is consistent with the coordinates of the spot welding defects, it means that the welding device has reached the coordinates of the spot welding defects, and control the welding device to re-spot weld the coordinates of the spot welding defects corresponding to the characteristics of the spot welding defects.

[0167] Step 402: If the number of spot welding defects is not greater than the reference number of defects, then define the coordinates of the spot welding defects as the position to maintain welding.

[0168] If the number of spot welding defects is not greater than the reference number of defects, it indicates that the spot welding defects have little impact on the size of the welding opening of the pipeline, and there is no need to specifically re-spot weld the coordinates of the spot welding defects. When continuously welding the pipeline, it is possible not to skip the current coordinates of the spot welding defects. Maintaining the welding position means that when continuously welding the pipeline, the coordinates of the spot welding defects that are not skipped. The coordinates of the spot welding defects are the position to maintain welding.

[0169] Step 4021: Based on when the position of the welding device is consistent with the spot welding position, control the welding device to stop welding and skip the spot welding position and continue welding in the direction of another virtual spot welding position.

[0170] When continuously welding the pipeline, when the position of the welding device is consistent with the spot welding position, control the welding device to stop welding and skip the spot welding position without defects and continue welding in the direction of another virtual spot welding position. And when skipping, the two ends of the spot welding position without defects will be welded.

[0171] Step 4022: Based on when the position of the welding device is consistent with the position to maintain welding, control the welding device to continue welding in the direction of another virtual spot welding position.

[0172] When the position of the welding device is consistent with the position to maintain welding, then there is no need to skip the spot welding position corresponding to the position to maintain welding, and control the welding device to continue welding in the direction of another virtual spot welding position, thereby performing repair welding on the coordinates of the spot welding defects of the spot welding defects.

[0173] Step 4023: Based on when the position of the welding device is consistent with another virtual spot welding position, control the welding device to stop welding to complete the welding.

[0174] When the position of the welding device coincides with another virtual spot welding position, it indicates that the welding of the pipeline is completed, and the welding device is controlled to stop welding to complete the welding.

[0175] The preparation method before spot welding includes the following steps:

[0176] Step 500: Obtain the pipeline parameters of the pipeline and the downward welding pressure of the welding device.

[0177] The pipeline parameters include the size, shape, and thickness of the pipeline. The pipeline parameters are obtained by scanning the QR code on the pipeline with a preset QR code scanner, and the content obtained by scanning the QR code corresponds to the pipeline parameters. The downward welding pressure refers to the downward pressure applied to the pipeline when the device welds the pipeline. The downward welding pressure is obtained by the pressure sensor set on the welding device.

[0178] Step 501: Determine the pipeline size, clamping position, and reference bearing capacity according to the pipeline parameters.

[0179] The pipeline size refers to the size of the pipeline. The clamping position refers to the position where the pipeline is clamped and fixed by the clamping device. The reference bearing capacity refers to the maximum pressure that the pipeline can bear without deformation. The pipeline size and shape can be known through the pipeline parameters, and the clamping position can be known through the shape. The reference bearing capacity corresponding to the pipeline parameters can be matched through a preset force database. Among them, the thicker the thickness in the pipeline parameters, the greater the reference bearing capacity. The force database is a manually set database and will not be elaborated here.

[0180] Step 502: Determine the fixture size according to the pipeline size, and control the clamping device corresponding to the fixture size to move to the clamping position.

[0181] The fixture size refers to the size of the fixture used to clamp and fix the pipeline. The clamping device refers to the robotic arm used to clamp and fix the pipeline. The fixture size corresponding to the pipeline size can be matched through a preset fixture database. Among them, the larger the pipeline size, the larger the fixture size. The fixture database is a manually set database and will not be elaborated here. Control the clamping device corresponding to the matched fixture size to move to the clamping position.

[0182] Step 503: Obtain the position of the clamping device, and determine whether to continue moving or complete the movement according to the consistency between the position of the clamping device and the clamping position.

[0183] The position of the clamping device refers to the position of the clamping device. The position of the clamping device is obtained by the GPS positioning chip set in the clamping device. By judging the consistency between the position of the clamping device and the clamping position, it is known whether the clamping device has reached the clamping position.

[0184] If the position of the clamping device is not consistent with the clamping position, it indicates that the clamping device has not reached the clamping position yet, and it is necessary to continue moving in the direction of the clamping position.

[0185] If the position of the clamping device is consistent with the clamping position, it indicates that the clamping device has reached the clamping position and subsequent steps can be carried out.

[0186] Step 504: After the movement is completed, determine the clamping pressure value based on the material information and the resilience strength value.

[0187] After the movement is completed, match the clamping pressure value from the preset clamping database through the material information and the resilience strength value. The clamping pressure value refers to the force exerted by the clamping device when clamping and fixing the pipeline. The clamping database contains the corresponding relationship between the material information, the resilience strength value, and the clamping pressure value. Under the condition that the material information is determined, the greater the resilience strength value, the greater the clamping pressure value. The clamping database is a manually set database and will not be elaborated here.

[0188] Step 505: Control the clamping device to clamp the pipeline according to the clamping pressure value.

[0189] Control the clamping device to clamp and fix the pipeline with the matched clamping pressure value.

[0190] Step 506: Calculate the difference between the welding downward pressure and the reference bearing force as the jacking force value, and judge whether the jacking force value is greater than zero.

[0191] The jacking force value refers to the reaction force that needs to be applied to the welding position when the pipeline is being welded. The jacking force value can be obtained by calculating the difference between the welding downward pressure and the reference bearing force. By judging whether the jacking force value is greater than zero, it can be known whether it is necessary to jack the pipeline.

[0192] Step 5061: If the jacking force value is not greater than zero, control the welding device to weld the welding position on the outer side of the pipeline.

[0193] If the jacking force value is not greater than zero, it indicates that the welding downward pressure will not cause deformation of the welding position, and thus there is no need to jack the welding position. Just control the welding device to weld the welding position on the outer side of the pipeline.

[0194] Step 5062: If the jacking force value is greater than zero, determine the jacking position according to the welding position.

[0195] If the jacking force value is greater than zero, it indicates that the welding downward pressure will cause deformation of the welding position, and thus it is necessary to jack the welding position. The jacking position refers to the position for jacking the welding position, and the inner side corresponding to the welding position on the outer side of the pipeline is the jacking position.

[0196] Step 5063: Control the preset lifting device to lift the welding position with the lifting force value according to the lifting position, and after lifting, control the welding device to weld the welding position on the outside of the pipeline.

[0197] The lifting device refers to a mechanical arm used to lift the welding position of the pipeline. The lifting device is controlled to lift the lifting position corresponding to the welding position with the lifting force value, and after lifting, the welding device is controlled to weld the welding position outside the pipeline.

[0198] The adjustment method includes the following steps:

[0199] Step 600: When the close-up flatness is inconsistent with a preset reference flatness, control a preset scanning device to scan the welding position to obtain a scanning result.

[0200] When the close-together flatness is inconsistent with the reference flatness, it means that the two welding edges of the welding position need to be adjusted. The scanning result refers to the abnormal type and abnormal value when the close-together flatness is inconsistent with the reference flatness. The abnormal type includes single-end abnormality and double-end abnormality. The scanning result is obtained by scanning the welding position with a scanning device. The scanning device refers to a laser scanner used to scan the flatness of the pipeline surface.

[0201] Step 601: When the scanning result is consistent with the preset single-end abnormality feature, the single-end abnormality position and the single-end abnormality difference are determined according to the scanning result.

[0202] The single-end abnormal feature refers to the feature that one end of the welding position is lifted. When the scanning result is consistent with the single-end abnormal feature, it means that one end of the welding position is lifted and the lifted position needs to be adjusted. The single-end abnormal position refers to which end of the welding position the single-end abnormal feature is on. The single-end abnormal difference refers to the height of the single-end abnormal feature. The single-end abnormal position and the single-end abnormal difference can be obtained through the scanning results. The scanning result contains the single-end abnormal position and the single-end abnormal difference.

[0203] Step 602: Match the single-ended adjustment parameter from a preset correction database according to the single-ended abnormal difference.

[0204] The single-end adjustment parameter refers to the force and distance of adjusting the single-end abnormal feature to be flat. The single-end adjustment parameter corresponding to the single-end abnormal difference can be matched through the correction database. The correction database contains the corresponding relationship between the single-end abnormal difference and the single-end adjustment parameter. The correction database is a manually set database and will not be described in detail here.

[0205] Step 603: according to the abnormal position of the single end, a preset fixing device is controlled to clamp and fix the other end of the abnormal position of the single end.

[0206] The fixing device refers to a mechanical arm used to clamp and fix the other end of the abnormal position of the single end. The other end of the abnormal position of the single end is clamped and fixed by the fixing device so that the abnormal position of the single end can be adjusted later.

[0207] Step 604: After fixing, control the preset mechanical arm to clamp and adjust the abnormal position of the single end according to the single end adjustment parameter.

[0208] After the other end of the single-end abnormal position is fixed, the robot arm is controlled to clamp and adjust the single-end abnormal position with the matched single-end adjustment parameters, so that the adjusted closing flatness is consistent with the reference flatness.

[0209] Step 605: When the scanning result is consistent with the preset double-end abnormal feature, determine the double-end abnormal difference according to the scanning result.

[0210] The double-end abnormal feature refers to the feature that the welding edge of the welding position is tilted. When the scanning result is consistent with the double-end abnormal feature, it means that the welding edge of the welding position is tilted and the tilted welding edge needs to be adjusted. The double-end abnormal difference refers to the tilt angle of the double-end abnormal feature. The double-end abnormal difference can be obtained through the scanning result. The double-end abnormal difference is included in the scanning result.

[0211] Step 606: Match the double-end adjustment parameters from the correction database according to the double-end abnormal difference.

[0212] The double-end adjustment parameter refers to the strength and angle of adjusting the double-end abnormal features to be flat. The double-end adjustment parameter corresponding to the double-end abnormal difference can be matched through the correction database. The correction database contains the corresponding relationship between the double-end abnormal difference and the double-end adjustment parameter.

[0213] Step 607: Control the robot arm to clamp and adjust the abnormal positions of the two ends according to the double-end adjustment parameters.

[0214] Based on the matched double-end adjustment parameters, the robot arm is controlled to clamp and adjust the abnormal positions of the double ends so that the adjusted closing flatness is consistent with the reference flatness.

[0215] The adjustment method when the scanning result is consistent with the single-end abnormal feature also includes the following steps:

[0216] Step 700: Acquire abnormal image information based on the scanning result being consistent with the single-end abnormal feature.

[0217] When the scanning result is consistent with the single-end abnormal feature, it means that one end of the welding position is lifted, and abnormal image information needs to be obtained. Abnormal image information refers to the image of one end of the welding position being lifted. Abnormal image information is obtained by taking a photo with a camera.

[0218] Step 701: Determine the position of the warping feature based on the abnormal image information and the single-end abnormal feature.

[0219] The position of the warping feature refers to the position occupied by the single-end abnormal feature on the welding position. The position of the warping feature can be identified from the abnormal image information through the single-end abnormal feature.

[0220] Step 702: Determine the flat end position based on the position of the warping feature.

[0221] The flat end position refers to the position where the welding edge of the welding position changes from flat to warped in the case of one-end warping. The position where warping occurs can be known through the position of the warping feature, and then the flat end position can be determined.

[0222] Step 703: Control the welding device to weld the virtual spot welding position at the other end corresponding to the single-end abnormal feature in the direction of the flat end position.

[0223] When the single-end abnormal feature needs to be adjusted, it will affect the other end of the single-end abnormal feature. Therefore, it is necessary to fix the other end. By controlling the welding device to weld the virtual spot welding position at the other end corresponding to the single-end abnormal feature in the direction of the flat end position, the other end of the single-end abnormal feature is fixed.

[0224] Step 704: Determine whether to continue welding or stop welding based on the consistency between the position of the welding device and the flat end position.

[0225] By judging the consistency between the position of the welding device and the flat end position, it is known whether the welding device has completed welding and fixing.

[0226] If the position of the welding device is inconsistent with the flat end position, it means that the welding device has not completed welding and fixing, and welding needs to be continued.

[0227] If the position of the welding device is consistent with the flat end position, it means that the welding device has completed welding and fixing, and it is only necessary to control the welding device to stop welding.

[0228] Step 705: After stopping welding, control the preset heating device to heat the position of the warping feature at the preset heating temperature.

[0229] The heating device refers to a hot air gun used to heat the pipeline. The heating temperature refers to the temperature when heating the pipeline. The heating temperature is set in advance by those skilled in the art and will not be elaborated here. After welding and fixing, control the heating device to heat the position of the warping feature at the heating temperature. This is convenient for subsequent clamping and adjustment.

[0230] Step 706: After heating, control the preset robotic arm to clamp and adjust the warping feature position, and update the abnormal image information.

[0231] After heating is completed, control the robotic arm to clamp and adjust the warping feature position, and re-take the abnormal image information.

[0232] Step 707: Determine whether to complete the adjustment or update the warping feature position based on the inclusion relationship between the updated abnormal image information and the single-end abnormal feature.

[0233] By judging the inclusion relationship between the updated abnormal image information and the single-end abnormal feature, it is known whether further adjustment is required.

[0234] If the updated abnormal image information does not contain the single-end abnormal feature, it means that no further adjustment is required.

[0235] If the updated abnormal image information contains the single-end abnormal feature, it means that there is still a single-end warping situation and further adjustment is required. Update the warping feature position through the updated abnormal image information, and then repeat steps 702 to 707 until the adjustment is completed.

[0236] The method for adjusting the pipeline attitude includes the following steps:

[0237] Step 800: Obtain the weight distribution information in the preset placement device.

[0238] The placement device refers to the device used to place the pipeline. The weight distribution information refers to the weight distribution when the pipeline is placed in the placement device. The weight distribution information is obtained by weight sensors arranged at positions on both sides of the placement device that are in contact with the pipeline.

[0239] Step 801: Determine whether to continue obtaining the weight distribution information or determine the adjustment vector based on the weight distribution information according to the consistency between the weight distribution information and the preset reference distribution information.

[0240] The reference distribution information refers to the information when the weights sensed by the weight sensors on both sides of the placement device are equal. By judging the consistency between the weight distribution information and the reference distribution information, it is known whether the pipeline has rolled and shifted on the placement device.

[0241] If the weight distribution information is consistent with the reference distribution information, it means that the pipeline has not rolled and shifted on the placement device, and continue to obtain the weight distribution information.

[0242] If the weight distribution information is inconsistent with the reference distribution information, it indicates that the pipe may roll and shift on the placement device, and the pipe needs to be rotationally adjusted. Moreover, due to the different materials of the pipe and the clamping force on the pipe, the possibility of rolling and shifting on the pipe placement device is different. The adjustment vector refers to the rotation direction and rotation angle when the pipe is rotationally adjusted. The weight situation on both sides can be known through the weight distribution information, and thus the adjustment vector can be obtained.

[0243] Step 802: Rotationally adjust the pipe by controlling a preset rotating device according to the adjustment vector.

[0244] The rotating device refers to the roller used to rotationally adjust the pipe. The rotating device is controlled by the adjustment vector to rotationally adjust the pipe.

[0245] Step 803: After the rotational adjustment, control the welding device to perform spot welding at the spot welding position, and after the spot welding is completed, update the weight distribution information.

[0246] After the rotational adjustment, control the welding device to perform spot welding at the spot welding position. Since the center of gravity of the pipe changes due to the influence of spot welding after spot welding, the weight distribution information needs to be updated.

[0247] Step 804: Determine whether to obtain spot welding image information according to the consistency between the updated weight distribution information and the reference distribution information, or update the adjustment vector according to the updated weight distribution information, and rotationally adjust the pipe by controlling the rotating device based on the updated adjustment vector.

[0248] By judging the consistency between the updated weight distribution information and the reference distribution information, it is known whether the pipe needs to be rotationally adjusted again.

[0249] If the updated weight distribution information is consistent with the reference distribution information, it indicates that no rotational adjustment is required, and the spot welding image information can be directly obtained for the next step.

[0250] If the updated weight distribution information is inconsistent with the reference distribution information, it indicates that the pipe after spot welding rolls and shifts on the placement device, and the pipe needs to be rotationally adjusted. Thus, the adjustment vector is updated according to the updated weight distribution information, and the rotating device is controlled based on the updated adjustment vector to rotationally adjust the pipe.

[0251] Step 805: Based on obtaining the spot welding image information, when the position of the welding device is consistent with the spot welding position, update the weight distribution information again.

[0252] After the pipeline does not need to be rotationally adjusted, the spot welding image information is obtained, and then the pipeline is continuously welded. When the position of the welding device is consistent with the spot welding position, the welding device is controlled to stop welding. Since the pipeline has been welded, the center of gravity of the pipeline changes again, and the weight distribution information needs to be updated again. Then, it is repeatedly determined whether the pipeline needs to be rotationally adjusted.

[0253] A device coordinate system is established with any contact point on the surface where the placement device abuts against the pipeline as the coordinate origin. The selection of the contact point is independently set by the staff according to the actual situation, which will not be elaborated here. Each position on the pipeline will change in the device coordinate system as the pipeline moves itself.

[0254] Based on the same inventive concept, an embodiment of the present invention provides an outer wall welding system for a pipeline, including:

[0255] An acquisition module, configured to acquire detection image information, material information, closing flatness, real-time pressure value, pipeline image information, spot welding image information, welding device position, pipeline parameters, welding downward pressure, clamping device position, abnormal image information, and weight distribution information;

[0256] A memory, configured to store a program for a method of welding the outer wall of a pipeline;

[0257] A processor, and the program in the memory can be loaded and executed by the processor and implement a method of welding the outer wall of a pipeline.

[0258] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated 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 above-described functions. The specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated here.

[0259] Based on the same inventive concept, an embodiment of the present invention provides a welding device, including a memory and a processor, and a computer program capable of being loaded and executed by the processor to implement a method of welding the outer wall of a pipeline is stored on the memory.

[0260] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated 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 above-described functions. The specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated here.

Claims

1. A pipeline outer wall welding method, characterized in that: include: Obtain inspection image information and material information of the outside of the pipeline; Determine the welding opening according to the detected image information and the preset pipeline features; Determine the bending arc according to the welding opening according to the excess between the welding opening and the preset reference opening, or calculate the difference between the welding opening and the reference opening, and define the difference as the closing distance value; Matching a closing force value from a preset closing database according to the closing distance value; According to the closing force value, a preset extrusion device is controlled to extrude and close the pipes, and the welding openings that are close to each other are defined as welding positions; Obtain the close flatness of the welding position; According to the consistency between the closing flatness and the preset reference flatness, the closing is determined to be completed or the preset clamping device is controlled to adjust the closing flatness by a preset adjustment method to complete the closing; After the closure is completed, the rebound strength value is matched from the preset elastic database according to the material information, bending curvature and preset pipe weight; Determine the spot welding position and spot welding area according to the rebound strength value and the preset welding length; According to the spot welding area, the preset welding device is controlled to move to the spot welding position to spot weld the pipeline; Verification methods after spot welding include: After the spot welding is completed, the real-time pressure value when the extrusion device squeezes and closes the pipe is obtained; Calculate the difference between the closing force value and the real-time pressure value, and define the difference as the rebound pressure value; According to the magnitude relationship between the rebound pressure value and the preset reference pressure value, the spot welding is completed or the pipeline image information is obtained; Determine the spot welding defect characteristics according to the pipeline image information and the preset reference spot welding characteristics; Determine the spot welding defect coordinates and the number of spot welding defects according to the pipeline image information and the spot welding defect characteristics; Determine the repair welding method based on the number of spot welding defects; Controlling the welding device to perform repair welding on the coordinates of the spot welding defects according to the repair welding method; The treatment methods after spot welding are completed include: After spot welding is completed, spot welding image information is obtained; According to the spot welding image information, the virtual spot welding position is identified and marked from the preset spot welding database; obtaining a welding device position of the welding device; According to the consistency between the position of the welding device and the virtual spot welding position, the welding device is controlled to weld in the direction of another virtual spot welding position based on the current virtual spot welding position or the welding device is controlled to move to the virtual spot welding position; According to the consistency between the welding device position and the spot welding position, the welding device is controlled to stop welding and skip the spot welding position to continue welding in the direction of another virtual spot welding position or continue welding; Determine whether to continue welding or complete welding according to the consistency between the welding device position and another virtual spot welding position; Also includes: Obtaining weight distribution information in a preset placement device; Determine to continue to obtain the weight distribution information or determine the adjustment vector according to the weight distribution information according to the consistency between the weight distribution information and the preset reference distribution information; The pipeline is rotated and adjusted by controlling a preset rotating device according to an adjustment vector; Based on the rotation adjustment, the welding device is controlled to perform spot welding on the spot welding position, and after the spot welding is completed, the weight distribution information is updated; Determine to obtain spot welding image information according to the consistency between the updated weight distribution information and the reference distribution information or update the adjustment vector according to the updated weight distribution information, and control the rotating device to perform rotation adjustment on the pipeline based on the updated adjustment vector; Based on the acquired spot welding image information, when the welding device position is consistent with the spot welding position, the weight distribution information is updated again.

2. A pipeline outer wall welding method according to claim 1, characterized in that: Repair welding methods after spot welding include: Determine whether the number of spot welding defects is greater than the preset reference defect number; If the number of spot welding defects is greater than the number of reference defects, the continued movement or spot welding of the spot welding defect coordinates corresponding to the spot welding defect characteristics is determined according to the consistency between the welding device position and the spot welding defect coordinates; If the number of spot welding defects is not greater than the number of reference defects, the spot welding defect coordinates are defined as maintaining the welding position; When the position of the welding device is consistent with the spot welding position, the welding device is controlled to stop welding and skip the spot welding position and continue welding in the direction of another virtual spot welding position; When the position of the welding device is consistent with the maintained welding position, the welding device is controlled to continue welding in the direction of another virtual spot welding position; When the welding device position is consistent with another virtual spot welding position, the welding device is controlled to stop welding to complete the welding.

3. A pipeline outer wall welding method according to claim 1, characterized in that: Preparation methods before spot welding include: Obtain pipeline parameters of the pipeline and welding down force of the welding device; Determine the pipe size, clamping position and reference bearing capacity based on pipe parameters; Determine the size of the clamp according to the size of the pipeline, and control the clamping device corresponding to the size of the clamp to move to the clamping position; Acquiring a clamping device position of the clamping device, and determining to continue moving or to complete moving according to the consistency between the clamping device position and the clamping position; After the movement is completed, the clamping pressure value is determined according to the material information and the rebound strength value; Controlling the clamping device to clamp the pipe according to the clamping pressure value; Calculate the difference between the welding pressure and the reference bearing capacity and use it as the lifting force value, and determine whether the lifting force value is greater than zero; If the lifting force value is not greater than zero, the welding device is controlled to weld the welding position on the outside of the pipeline; If the lifting force value is greater than zero, the lifting position is determined according to the welding position; According to the jacking position, the preset jacking device is controlled to jack up the welding position with the jacking force value, and after jacking, the welding device is controlled to weld the welding position on the outside of the pipeline.

4. A pipeline outer wall welding method according to claim 1, characterized in that: Adjustment methods include: When the close-up flatness is inconsistent with the preset reference flatness, controlling the preset scanning device to scan the welding position to obtain a scanning result; When the scanning result is consistent with the preset single-end abnormal feature, the single-end abnormal position and the single-end abnormal difference are determined according to the scanning result; Matching the single-ended adjustment parameter from a preset correction database according to the single-ended abnormal difference; The other end of the single-end abnormal position is clamped and fixed according to the preset fixing device of the single-end abnormal position control; After fixing, the single-end abnormal position is clamped and adjusted by controlling the preset mechanical arm according to the single-end adjustment parameters; When the scanning result is consistent with the preset double-end abnormal characteristics, the double-end abnormal difference is determined according to the scanning result; Matching the double-end adjustment parameters from the correction database according to the double-end abnormal difference; According to the double-end adjustment parameters, the robot arm is controlled to clamp and adjust the abnormal positions of the double ends.

5. A pipeline outer wall welding method according to claim 4, characterized in that: The adjustment method when the scanning result is consistent with the single-end abnormal characteristics also includes: When the scanning result is consistent with the single-end abnormal feature, abnormal image information is obtained; Determine the position of the warping feature according to the abnormal image information and the single-end abnormal features; Determine the end position of leveling based on the position of the warping feature; Controlling the welding device to weld the other end virtual spot welding position of the virtual spot welding position corresponding to the single-end abnormal feature toward the flattening end position; Determine whether to continue welding or stop welding according to the consistency between the welding device position and the flattening end position; After the welding is stopped, a preset heating device is controlled to heat the warping characteristic position at a preset heating temperature; After heating, the preset robotic arm is controlled to clamp and adjust the warping feature position, and the abnormal image information is updated; The adjustment or update of the warping feature position is determined based on the inclusion relationship between the updated abnormal image information and the single-end abnormal feature.

6. A pipeline outer wall welding system, characterized in that: include: An acquisition module is used to acquire detection image information, material information, close flatness, real-time pressure value, pipeline image information, spot welding image information, welding device position, pipeline parameters, welding pressure, clamping device position, abnormal image information and weight distribution information; A memory for storing a program of a pipeline outer wall welding method according to any one of claims 1 to 5; The program in the memory can be loaded and executed by the processor to implement a pipeline outer wall welding method as described in any one of claims 1 to 5.

7. A welding device, 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 a pipeline outer wall welding method as claimed in any one of claims 1 to 5.

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