High frequency welded pipe welding control method and equipment

Abstract

The present application is applicable to the technical field of welded pipe welding, and in particular, to a high-frequency welded pipe welding control method and equipment. The high-frequency welded pipe welding control method includes: obtaining an image of the pipe to be welded; analyzing the image of the pipe to be welded to obtain information of the pipe to be welded; analyzing the information of the pipe to be welded to obtain initial welding parameters; the control device controls the welding device to weld the pipe based on the initial welding parameters and obtains the information of the pipe; analyzing the information of the pipe to obtain adjustment parameters. The method calculates the appropriate initial welding power and welding pressure by analyzing the size of the weld and the thickness of the pipe wall. During the welding process, the weld morphology after welding is continuously collected, and the welding power and welding pressure are adjusted in real time according to the weld morphology, so as to improve the production quality and production flexibility of welding while ensuring production efficiency.

Description

Technical Field

[0001] The present application belongs to the technical field of welded pipe welding, and in particular, relates to a high-frequency welded pipe welding control method and equipment. Background Art

[0002] High-frequency pipe welding is a technology widely used in the manufacture of steel pipes. It uses the heat generated by high-frequency current to quickly heat and melt the metal joints, and then fuses the curled edges together by applying pressure. This method has the advantages of high efficiency, low cost and high quality, and is suitable for mass production and various application scenarios, such as oil and gas pipelines, building structures, and automobile manufacturing.

[0003] Traditional welding methods usually rely on preset empirical formulas or the operator's experience to set parameters such as welding power and pressure. However, this method is difficult to adapt to the production rhythm in continuous production and easily leads to unstable welding quality. At the same time, the monitoring of the welding process is not enough, and a lot of welding work is often completed when problems are found, increasing rework costs. Summary of the invention

[0004] The embodiments of the present application provide a high-frequency welded pipe welding control method and device, which can solve the problem of poor quality of the drip bucket cover due to improper parameters of the manufacturing process or manufacturing equipment.

[0005] In a first aspect, an embodiment of the present application provides a high-frequency welded pipe welding control method, comprising: Acquire the image of the pipe to be welded; Analyze the image of the pipe to be welded to obtain information of the pipe to be welded; wherein the information of the pipe to be welded includes the size of the weld and the thickness of the pipe wall after the plate is curled into a pipe shape; Analyze the information of the pipe to be welded to obtain initial welding parameters; wherein the initial welding parameters include initial welding power and initial welding pressure when the welding device transmits the welded pipe at a set speed; The control device controls the welding device to weld the welded pipe based on the initial welding parameters, and obtains welded pipe information; wherein the welded pipe information is used to reflect the shape of the welded portion after welding; The adjustment parameters are obtained by analyzing the welded pipe information; wherein the adjustment parameters are used to reflect the adjusted welding power and the adjusted welding pressure of the welding device after adjustment.

[0006] The above technical solutions in the embodiments of the present application have at least the following technical effects: The high-frequency welded pipe welding control method provided by the present application obtains an image of the pipe to be welded that reflects the size and specifications of the welded pipe after the plate is curled into a tubular shape; then analyzes the image of the pipe to be welded to obtain information of the pipe to be welded including the weld size and wall thickness of the welded pipe; then analyzes the information of the pipe to be welded to obtain initial welding parameters including the initial welding power and initial welding pressure when the welding device transmits the welded pipe at a set speed; the control device controls the welding device to weld the welded pipe based on the initial welding parameters, and obtains the welded pipe information reflecting the shape of the weld after welding; finally, analyzes the welded pipe information to obtain adjustment parameters for reflecting the adjusted welding power and welding pressure of the welding device after adjustment. The method calculates the appropriate initial welding power and welding pressure by analyzing the weld size and wall thickness. During the welding process, the weld shape after welding is continuously collected, and the welding power and welding pressure are adjusted in real time according to the weld shape, so as to improve the production quality and production flexibility of welding while ensuring production efficiency.

[0007] In a possible implementation of the first aspect, analyzing the information of the pipe to be welded to obtain initial welding parameters includes: Analyze the pipe wall thickness and the weld size of the pipe to be welded to obtain the initial welding power of the initial welding parameters; The initial welding pressure of the initial welding parameters is obtained by analyzing the pipe wall thickness and the weld size of the pipe to be welded with the initial welding power.

[0008] In a possible implementation of the first aspect, the analyzing the pipe wall thickness and the weld size according to the information of the pipe to be welded to obtain the initial welding power of the initial welding parameters includes: Analyze according to the pipe wall thickness to obtain basic welding power; Analyze according to the size of the weld to obtain a power adjustment value; The basic welding power is adjusted based on the power adjustment value to obtain the initial welding power.

[0009] In a possible implementation manner of the first aspect, analyzing according to the weld size to obtain a power adjustment value includes: Analyze the weld width according to the weld size to obtain a positive adjustment value; Analyze the groove angle according to the size of the weld to obtain a negative adjustment value; The positive adjustment value and the negative adjustment value are summed to obtain a power adjustment value.

[0010] In a possible implementation of the first aspect, analyzing the welded pipe information to obtain adjustment parameters includes: Analyze the heat-affected area of ​​the welded pipe information to obtain the adjusted welding power of the adjustment parameter; wherein the heat-affected area is used to reflect the cross-sectional area of ​​the weld where the temperature after heating and welding at the initial welding power is greater than the preset temperature; The fusion information of the welded pipe information is analyzed to obtain an adjusted welding pressure of an adjustment parameter; wherein the fusion information includes a fusion width and streamline information of the weld, the fusion width is used to reflect the width of the fusion line of the weld, and the streamline information is used to reflect the shape of the metal streamline inside the weld.

[0011] In a possible implementation of the first aspect, analyzing the heat affected area according to the weld pipe information to obtain the adjusted welding power of the adjustment parameter includes: Analyze the heat affected zone of the welded pipe information to obtain a zone ratio; wherein the zone ratio is used to reflect the ratio between the area of ​​the heat affected zone and the cross-sectional area of ​​the welded pipe; Analyzing according to the area ratio to obtain an influence value; wherein the influence value is used to reflect the influence of the area of ​​the heat-affected zone on the welding temperature; An analysis is performed based on the influence value to obtain an adjusted welding power of an adjustment parameter.

[0012] In a possible implementation of the first aspect, analyzing the fusion information of the welded pipe information to obtain the adjusted welding pressure of the adjustment parameter includes: When the fusion width of the welded pipe information is not within a preset width range, analyzing the streamline information to obtain an adjustment value; The initial welding pressure is adjusted based on the adjustment value to obtain an adjusted welding pressure with an adjustment parameter.

[0013] In a possible implementation manner of the first aspect, the analyzing according to the streamline information to obtain the adjustment value includes: Analyze the streamline rise angle of the streamline information to obtain a first adjustment coefficient, wherein the streamline rise angle is used to reflect the angle between the tangent line of the metal streamline and the horizontal line; Analyzing the streamline position of the streamline information to obtain a second adjustment coefficient; wherein the streamline position is used to reflect the position of each of the metal streamlines inside the weld; The first adjustment coefficient is weighted based on a first adjustment weight, and the second adjustment coefficient is weighted based on a second adjustment weight, and the adjustment value is obtained by summing the two values.

[0014] In a possible implementation manner of the first aspect, analyzing the streamline position according to the streamline information to obtain the second adjustment coefficient includes: Analyze the streamline position of the streamline information to obtain a streamline centerline; wherein the streamline centerline is used to reflect the metal streamline located in the middle of each metal streamline; Analyze the streamline centerline and the wall thickness centerline to obtain a center gap; wherein the center gap is used to reflect the distance between the streamline centerline and the wall thickness centerline; An analysis is performed based on the center gap to obtain a second adjustment coefficient.

[0015] In a second aspect, an embodiment of the present application provides a high-frequency welded pipe welding control system, comprising: An acquisition module is used to acquire an image of the pipe to be welded; wherein the image of the pipe to be welded is used to reflect the size specification of the welded pipe after the plate is curled into a tubular shape; A first analysis module is used to analyze the image of the pipe to be welded to obtain information of the pipe to be welded; wherein the information of the pipe to be welded includes the size of the weld and the thickness of the pipe wall after the plate is curled into a pipe shape; The second analysis module is used to analyze the information of the pipe to be welded to obtain initial welding parameters; wherein the initial welding parameters include initial welding power and initial welding pressure when the welding device transmits the welded pipe at a set speed; A control acquisition module, used for controlling the device to control the welding device to weld the welded pipe based on the initial welding parameters, and to acquire welded pipe information; wherein the welded pipe information is used to reflect the shape of the welded portion after welding; The adjustment module is used to analyze the welding pipe information to obtain adjustment parameters; wherein the adjustment parameters are used to reflect the adjusted welding power and the adjusted welding pressure of the welding device after adjustment.

[0016] In a third aspect, an embodiment of the present application provides a high-frequency welded pipe welding device, comprising a welding device and a control device, wherein the control device is electrically connected to the welding device, and the control device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods described in the first aspect when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the above-mentioned first aspects is implemented.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a high-frequency pipe welding device, the high-frequency pipe welding device executes the high-frequency pipe welding control method described in any one of the first aspects above.

[0019] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a flow chart of a high-frequency welded pipe welding control method provided in an embodiment of the present application; Figure 2 It is a schematic diagram of the implementation process of the high-frequency welded pipe welding control method provided in the embodiment of the present application; Figure 3 It is a structural schematic diagram of a high-frequency welded pipe welding control system provided in an embodiment of the present application; Figure 4 It is a structural schematic diagram of a control device of a high-frequency pipe welding device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0023] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0024] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0025] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0026] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] High-frequency pipe welding is a technology widely used in the manufacture of steel pipes. It uses the heat generated by high-frequency current to quickly heat and melt the metal joints, and then fuses the curled edges together by applying pressure. This method has the advantages of high efficiency, low cost and high quality, and is suitable for mass production and various application scenarios, such as oil and gas pipelines, building structures, and automobile manufacturing.

[0029] Traditional welding methods usually rely on preset empirical formulas or the operator's experience to set parameters such as welding power and pressure. However, this method is difficult to adapt to the production rhythm in continuous production and easily leads to unstable welding quality. At the same time, the monitoring of the welding process is not enough, and a lot of welding work is often completed when problems are found, increasing rework costs.

[0030] To solve the above problems, the embodiment of the present application provides a high-frequency welded pipe welding control method and equipment. In the method, an image of a pipe to be welded is obtained to reflect the size and specifications of the welded pipe after the sheet is curled into a tubular shape; then, the image of the pipe to be welded is analyzed to obtain information of the pipe to be welded including the weld size and the wall thickness of the welded pipe; then, the information of the pipe to be welded is analyzed to obtain initial welding parameters including the initial welding power and the initial welding pressure when the welding device transmits the welded pipe at a set speed; the control device controls the welding device to weld the welded pipe based on the initial welding parameters, and obtains the welded pipe information reflecting the shape of the weld after welding; finally, the welded pipe information is analyzed to obtain adjustment parameters for reflecting the adjusted welding power and the adjusted welding pressure of the welding device after adjustment. The method calculates the appropriate initial welding power and welding pressure by analyzing the weld size and the wall thickness. During the welding process, the weld shape after welding is continuously collected, and the welding power and welding pressure are adjusted in real time according to the weld shape, so as to improve the production quality and production flexibility of welding while ensuring production efficiency.

[0031] The high-frequency pipe welding control method provided in the embodiment of the present application can be applied to high-frequency pipe welding equipment. At this time, the high-frequency pipe welding equipment is the executor of the high-frequency pipe welding control method provided in the embodiment of the present application. The embodiment of the present application does not impose any restrictions on the specific type of high-frequency pipe welding equipment.

[0032] For example, the high-frequency pipe welding equipment may include a welding device and a control device, and the control device is electrically connected to the welding device. The melting device is used to weld the edge of the steel plate curled into a tube. The welding device includes a heating device, a guide transmission device and a pressure device. Among them, the heating device is used to heat the edge of the steel plate curled into a tube to make it reach a molten state. For example, the heating device can be a combination of a high-frequency power supply and an induction coil, which uses the principle of electromagnetic induction to quickly heat the metal edge. The guide transmission device is used to transmit the curled tube and accurately send the tube to be welded into the welding position. For example, the guide transmission device can be a guide roller, a mechanical arm, etc., but not limited to this. The pressure device is used to press the heated tube so that the molten metal can fully contact and fuse to form a weld. For example, the application device can be a combination of an extrusion roller and a transmission mechanism, the transmission mechanism is used to transmit pressure to the extrusion roller, and can control the pressure transmitted to the extrusion roller. The extrusion roller is used to abut against the welded tube and make the edges of the steel plate curled into a tube close to each other; it can also be a mechanical pressure arm, etc., but not limited to this. The control device monitors and controls the entire welding process.

[0033] For example, the control device can be a mobile phone, a tablet computer, a wearable device, an augmented reality (AR) / virtual reality (VR) device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), a desktop computer, a smart large screen, a smart TV and other terminal devices, a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, an Internet of Things terminal, a computer, a laptop computer, a handheld communication device, a handheld computing device, a satellite wireless device, a wireless modem card, etc.

[0034] In order to better understand the high-frequency welded pipe welding control method provided in the embodiment of the present application, the specific implementation process of the high-frequency welded pipe welding control method provided in the embodiment of the present application is exemplarily introduced below.

[0035] Figure 1 and Figure 2 A schematic flow chart of a high-frequency welded pipe welding control method provided in an embodiment of the present application is shown. The high-frequency welded pipe welding control method includes: S100, obtaining an image of the pipe to be welded; wherein the image of the pipe to be welded in the high-frequency welded pipe welding control system is used to reflect the size specifications of the welded pipe after the plate is curled into a tubular shape.

[0036] It is understood that the image of the pipe to be welded can be obtained by a camera or other imaging device. For example, a camera can be installed between the extrusion device and the guide transmission device of the welding device to obtain the image of the pipe to be welded.

[0037] S200, analyzing the image of the pipe to be welded to obtain information of the pipe to be welded; wherein the information of the pipe to be welded includes the size of the weld and the thickness of the pipe wall after the plate is curled into a pipe shape.

[0038] It can be understood that the weld refers to the space between the two edges of the original sheet after the sheet is curled into a tube. The size of the weld refers to the distance between the two edges. The thickness of the tube wall can be expressed by the thickness of the sheet.

[0039] S300, analyzing the information of the pipe to be welded to obtain initial welding parameters; wherein the initial welding parameters include initial welding power and initial welding pressure when the welding device transmits the welded pipe at a set speed.

[0040] It can be understood that the set speed is used to reflect the production speed of the production line. It can be input manually or obtained from the welding database, etc., but not limited to this. The welding database refers to a database containing data such as the set speed corresponding to welded pipes of different specifications. These data can be obtained through laboratory experiments, on-site measurements and monitoring, and previous experience. After obtaining, the collected data is sorted, classified and archived, useful information and rules are extracted, and the relevant data is saved in the database to form a welding database. When the same material is used to prepare welded pipes of different specifications, the welding parameters may also be different. When the material is fixed and the production speed is unchanged, the initial welding power can be obtained by analyzing the wall thickness and the weld size. The initial welding pressure can be analyzed by the wall thickness, the weld size and the initial welding power; the information of the pipe to be welded can also be input into the learning model, and the learning model outputs the corresponding initial welding parameters, etc., but not limited to this. The learning model is trained by multiple sets of training data, and each training data in the multiple sets of training data includes the information of the pipe to be welded and the initial welding parameters.

[0041] In a possible implementation, in step S300, the initial welding parameters are obtained by analyzing the information of the pipe to be welded, including: S310, analyzing the wall thickness and weld size of the pipe to be welded to obtain initial welding power of initial welding parameters.

[0042] It can be understood that welded pipes with the same outer diameter and the same material are used in different fields, and the requirements for the wall thickness are different. For example, a steel pipe with an outer diameter of 219 mm is used in oil and gas pipelines, and the wall thickness is 8 mm or thicker; it is used in automobile exhaust pipes, and the wall thickness is about 3 mm, and so on. When the wall thickness is different, the corresponding weld size may also be different. When the material is fixed and the production speed is unchanged, the wall thickness and the weld size directly determine the setting of the initial welding power. Exemplarily, the welding power can be preliminarily set by the wall thickness, and then the initial welding power can be obtained by appropriately adjusting the preliminarily set welding power by the weld size; the welded pipe material, production speed, wall thickness and weld size can also be used as training data, wherein the welded pipe material and production speed in each group of training data are consistent, and different wall thickness and weld size are used as different training data to form a learning model for training, and the wall thickness and weld size of the pipe information to be welded are input into the learning model, and the learning model outputs the corresponding initial welding power, and so on, but not limited to this.

[0043] In a possible implementation, in step S310, the initial welding power of the initial welding parameters is obtained by analyzing the pipe wall thickness and weld size of the pipe to be welded, including: S311, analyze according to the pipe wall thickness to obtain the basic welding power.

[0044] It can be understood that different pipe wall thicknesses correspond to a basic welding power. The greater the pipe wall thickness, the greater the corresponding basic welding power may be. Exemplarily, the pipe wall thickness can be matched with the welding power in the welding database to match the corresponding basic welding power; the pipe wall thickness can also be input into the learning model, and the learning model outputs the corresponding basic welding power. The welding database also contains the basic welding powers corresponding to welded pipes of the same outer diameter under different pipe wall thicknesses.

[0045] S312, analyzing according to the size of the weld to obtain a power adjustment value.

[0046] It can be understood that during the transmission process of welding of the welded pipe, the weld gradually decreases and abuts at the extrusion device. For example, the power adjustment value can be obtained by comprehensively analyzing the width of the welded pipe edges when they are parallel as reflected by the size of the weld and the angle formed by the two edges at the abutment as reflected by the size of the weld; the corresponding power adjustment value can also be obtained by inputting the size of the weld into the learning model, etc., but not limited thereto.

[0047] In a possible implementation, in step S312, analyzing the size of the weld to obtain a power adjustment value includes: S3121, analyze the weld width based on the weld size and obtain the positive adjustment value.

[0048] It can be understood that within a certain range of weld width, the wider the weld width, the greater the impact on the welding temperature, and the greater the welding power needs to be adjusted; the narrower the weld width, the lower the impact on the welding temperature, and the smaller the welding power needs to be adjusted. This is because when the weld gap is too large, the proximity effect is reduced and the eddy current heat is low, so it is necessary to increase the welding power to increase the welding temperature appropriately and reduce the influence of the proximity effect; when the weld gap is too small, the proximity effect increases, the eddy current heat is high, and it is easy to cause defects such as damage to the weld, so it is necessary to appropriately reduce the welding power to make the welding temperature appropriate. The positive adjustment value is used to reflect the degree to which the welding power needs to be appropriately increased, using an integer equal to or greater than 0. For example, the difference between the weld width and the standard weld width can be calculated, and the corresponding positive adjustment value can be matched by the difference; the weld width can also be input into the learning model, and the learning model outputs the corresponding positive adjustment value, etc., but it is not limited to this. The standard weld width refers to the most suitable weld gap size for each specification of welded pipe when welding. Different specifications of welded pipes have different corresponding standard weld widths. Generally speaking, the standard weld width of welded pipes can be controlled at about 1-3 mm. The specific standard weld width can be input manually or obtained from a welding database, etc., but not limited to this.

[0049] S3122, analyze the groove angle based on the weld size and obtain a negative adjustment value.

[0050] It can be understood that the negative adjustment value is used to reflect the size of the welding power that needs to be appropriately reduced, and is represented by an integer equal to or less than 0. The groove angle refers to the angle between the two edges of the welded pipe before welding. The angle is formed by the two edges being squeezed by the extrusion device near the extrusion device, so that the two edges at the extrusion device are abutted. The weld width is positively correlated with the groove angle, that is, the larger the weld width, the larger the groove angle, and the smaller the weld width, the smaller the groove angle. However, a smaller groove angle often requires a relatively small welding power. This is because a smaller groove angle makes the high-frequency current proximity effect stronger, the welding thermal efficiency is higher, and therefore the required welding power is correspondingly lower. Exemplarily, the difference between the groove angle and the optimal angle can be calculated, and the corresponding negative adjustment value can be matched by the difference; the groove angle can also be input into the learning model, and the learning model outputs the corresponding negative adjustment value, etc., but is not limited thereto. The optimal angle refers to the optimal groove angle size that is most suitable for each specification of welded pipe during welding. Different specifications of welded pipes have corresponding optimal angles. Generally speaking, the optimal angle of the welded pipe can be controlled at about 3 to 4 degrees. The specific optimal angle can be input manually or obtained from a welding database, etc., but not limited to this.

[0051] S3123: sum the positive adjustment value and the negative adjustment value to obtain a power adjustment value.

[0052] It can be understood that the power adjustment value = positive adjustment value + negative adjustment value.

[0053] With this setting, the degree to which the power needs to be adjusted can be obtained through a comprehensive analysis of the weld width and groove angle of the weld size, which can achieve dynamic optimization of welding parameters and enable the welded pipe to achieve ideal fusion line and metal flow line effects during the welding process. At the same time, it effectively reduces welding defects caused by changes in weld width or groove angle and improves welding quality.

[0054] S313, adjusting the basic welding power based on the power adjustment value to obtain an initial welding power.

[0055] It can be understood that initial welding power = power adjustment value + basic welding power.

[0056] With such a setting, the basic welding power and the power adjustment value are respectively analyzed by the wall thickness and weld size of the pipe to be welded, and the basic welding power is adjusted based on the power adjustment value to determine the initial welding power. This can optimize the welding parameters and effectively reduce welding defects caused by changes in pipe wall thickness or weld size, thereby ensuring welding quality.

[0057] S320, analyzing the wall thickness and weld size of the pipe to be welded and the initial welding power to obtain an initial welding pressure of the initial welding parameters.

[0058] For example, the corresponding initial welding pressure can be obtained by matching the pipe wall thickness, weld size and initial welding power in the welding database; the pipe wall thickness, weld size and initial welding power can also be input into the learning model, and the learning model outputs the corresponding initial welding pressure, etc., but not limited thereto. The welding database also includes the initial welding pressure corresponding to different combinations of pipe wall thickness, weld size and initial welding power.

[0059] With this setting, the initial welding power is first determined by comprehensively analyzing the wall thickness and weld size of the pipe to be welded, and then the initial welding pressure is obtained by further analysis based on the initial welding power. This can optimize the setting of welding parameters and effectively reduce welding defects caused by improper parameter settings.

[0060] S400, the control device controls the welding device to weld the welded pipe based on the initial welding parameters, and obtains welded pipe information; wherein the welded pipe information is used to reflect the shape of the welded portion after welding.

[0061] It can be understood that the welded pipe information includes the heat affected zone, fusion width and streamline information. For example, the heat affected zone can be obtained by a temperature sensing device, for example, an infrared thermal imaging device is installed at the output end of the extrusion device to obtain the heat affected zone. The fusion width can be obtained by shooting with an industrial camera installed at the output end of the extrusion device and analyzing it with image processing technology. The streamline information can be obtained by the ultrasonic diffraction time difference method, that is, two probes are used to transmit and receive ultrasonic waves respectively, and the time difference of the diffraction wave is used to evaluate the streamline condition inside the weld, etc., but not limited to this.

[0062] S500, analyzing the welded pipe information to obtain adjustment parameters; wherein the adjustment parameters are used to reflect the adjusted welding power and the adjusted welding pressure of the adjusted welding device.

[0063] It can be understood that the adjustment parameters are welding parameters set for the welded pipe to be welded later. After the first piece or the front end welded pipe is welded by the set initial welding parameters, the welding power and welding pressure of the welding device are dynamically adjusted according to the welding quality of the welded pipe reflected by the welded pipe information. If the welding quality meets expectations, the adjustment parameters are the initial welding power and initial welding pressure, that is, no adjustment is made. If the welding quality does not meet expectations, the initial welding power and initial welding pressure are adaptively adjusted respectively. Exemplarily, it is possible to judge whether the welding power needs to be adjusted by the area or range of the heat-affected zone, that is, the amount of the heat-affected zone area can be analyzed to obtain the degree to which the welding power needs to be adjusted, and it is possible to judge whether the welding pressure needs to be adjusted by the presentation form or trend of the metal streamline, that is, the position of the metal streamline and the rise angle of the metal streamline can be analyzed to obtain the degree to which the welding pressure needs to be adjusted; it is also possible to input the welded pipe information into the learning model, and the learning model outputs the corresponding adjustment parameters, etc., but is not limited thereto.

[0064] In a possible implementation, in step S500, analysis is performed based on the welded pipe information to obtain adjustment parameters, including: S510, analyzing the heat affected zone of the weld pipe information to obtain an adjusted welding power of the adjustment parameter; wherein the heat affected zone is used to reflect the cross-sectional area of ​​the weld where the temperature after heating and welding at the initial welding power is greater than the preset temperature.

[0065] It can be understood that the heat affected zone refers to the area on both sides of the weld in the cross section of the welded pipe during the welding process where the organization and performance change but not completely melt due to high temperature heating. The temperature of this area is usually higher than the phase change temperature of the material but lower than the melting point. If the heat affected zone is too large, it means that the welding power is too high, which may cause the material performance to deteriorate; if the heat affected zone is too small, it may mean that the welding power is insufficient, the material is not fully heated, and the fusion quality is affected. Exemplarily, the area of ​​the heat affected zone can be compared with the cross-sectional area of ​​the welded pipe to analyze the degree of negative impact of the heat affected zone, and then the corresponding adjustment of the welding power can be obtained according to the degree of impact; the area of ​​the heat affected zone can also be compared with the preset area to obtain the corresponding adjustment of the welding power when the area of ​​the heat affected zone reaches the preset area, and so on, but not limited to this.

[0066] In a possible implementation, in step S510, the heat affected zone of the welded pipe information is analyzed to obtain an adjustment parameter of the welding power, including: S511, analyzing the heat affected zone of the welded pipe information to obtain a zone ratio; wherein the zone ratio is used to reflect the ratio between the area of ​​the heat affected zone and the cross-sectional area of ​​the welded pipe.

[0067] It can be understood that the area ratio = the area of ​​the heat affected zone ÷ the cross-sectional area of ​​the welded pipe.

[0068] S512, analyzing according to the area ratio to obtain an influence value; wherein the influence value is used to reflect the influence of the area of ​​the heat affected zone on the welding temperature.

[0069] For example, the area ratio can be matched with a preset area interval group, the preset area interval group includes multiple preset area intervals, and the multiple preset area intervals include a standard preset area interval. The preset area ratio in the standard preset area interval indicates that it meets expectations. If it is in other preset area intervals outside the standard preset area interval, it means that the heat affected area is too small or too large, which does not meet expectations, and each preset area interval corresponds to an impact value. The area ratio can also be input into a learning model, and the learning model outputs a corresponding impact value, etc., but it is not limited thereto.

[0070] S513, analyzing according to the influence value to obtain the adjusted welding power of the adjustment parameter.

[0071] It is understandable that different influence values ​​correspond to an adjusted welding power. The influence value may be matched in a welding database to obtain the corresponding adjusted welding power, or the influence value may be input into a learning model, and the learning model outputs the corresponding adjusted welding power, etc., but is not limited thereto.

[0072] With such a setting, the corresponding adjustment welding power is obtained through quantitative analysis of the heat affected zone, which realizes the effective control of the heat affected zone during the welding process and provides a scientific basis for the adjustment of the welding power.

[0073] S520, analyzing the fusion information of the welded pipe information to obtain an adjusted welding pressure of the adjustment parameter; wherein the fusion information includes a fusion width and streamline information of the weld, the fusion width is used to reflect the width of the fusion line of the weld, and the streamline information is used to reflect the shape of the metal streamline inside the weld.

[0074] It can be understood that the fusion line refers to the boundary line formed after the molten metal at the weld is cooled, reflecting the actual fusion area at the weld. A larger fusion width indicates that the extrusion pressure is relatively small, and a smaller fusion width indicates that the extrusion pressure is relatively large. Metal streamlines refer to a special shape of crystalline structure formed by the molten metal under the action of the extrusion pressure during the welding process. For example, it can be determined by analyzing the fusion width whether the extrusion pressure is set appropriately. If it is appropriate, the welding pressure is not adjusted. If it is not appropriate, the degree to which the welding pressure needs to be adjusted can be obtained through the trend and position reflected by the streamline information, and the adjusted welding pressure can be obtained in combination with the initial welding pressure; the fusion information can also be input into the learning model, and the learning model outputs the corresponding adjusted welding pressure, and so on, but is not limited to this.

[0075] In a possible implementation, in step S520, analyzing the fusion information of the welded pipe information to obtain an adjustment parameter of the welding pressure includes: S521, when the fusion width of the welded pipe information is not within the preset width range, an analysis is performed based on the streamline information to obtain an adjustment value.

[0076] It can be understood that the preset width range refers to the width range of the fusion line under appropriate pressure, which is a preset range value. The preset width range can be manually input by humans or obtained from a welding database, etc., but is not limited to this. When the fusion width of the welded pipe information is not within the preset width range, it means that the welding pressure is too large or too small. At this time, the degree to which the welding pressure needs to be adjusted can be obtained through the trend and position reflected by the streamline information, and the adjusted welding pressure can be obtained in combination with the initial welding pressure; the streamline information can also be input into the learning model, and the learning model outputs the corresponding adjusted welding pressure, etc., but is not limited to this.

[0077] In a possible implementation, in step S521, analyzing the streamline information to obtain an adjustment value includes: S5211, analyzing the streamline rise angle of the streamline information to obtain a first adjustment coefficient, wherein the streamline rise angle is used to reflect the angle between the tangent line of the metal streamline and the horizontal line.

[0078] It can be understood that the streamline rise angle refers to the streamline rise angle which can be obtained by calculating the angle between the tangent and the horizontal line obtained by taking the tangent point at about one-half the distance between the lower point of the streamline vertical section and the streamline horizontal section as the tangent point. If the streamline rise angle is too large, it means that the extrusion pressure is too large, and if the streamline rise angle is too small, it means that the extrusion pressure is too small. Different streamline rise angles correspond to a first adjustment coefficient. Exemplarily, the corresponding first adjustment coefficient can be obtained by matching the streamline rise angle with the rise angle interval in the welding database, and each rise angle interval corresponds to a first adjustment coefficient; the streamline rise angle can also be input into the learning model, and the learning model outputs the corresponding first adjustment coefficient, and so on, but is not limited to this.

[0079] S5212, analyzing the streamline position of the streamline information to obtain a second adjustment coefficient; wherein the streamline position is used to reflect the position of each metal streamline inside the weld.

[0080] It can be understood that there are multiple metal streamlines inside the weld, and each metal streamline is arranged in sequence from the inner diameter to the outer diameter of the welded pipe. For example, the position of the middle streamline of each metal streamline can be analyzed to obtain the deviation distance, and the second adjustment coefficient can be obtained according to the distance analysis; the position of each metal streamline can also be input into the learning model, and the learning model outputs the corresponding second adjustment coefficient, etc., but it is not limited thereto.

[0081] In a possible implementation, in step S5212, analyzing the streamline position of the streamline information to obtain the second adjustment coefficient includes: S52121, analyzing the streamline positions of the streamline information to obtain a streamline centerline; wherein the streamline centerline is used to reflect the metal streamline located in the middle of each metal streamline.

[0082] It can be understood that the metal streamline located in the middle of the metal streamlines can be directly marked, that is, the streamline centerline.

[0083] S52122, analyze the streamline centerline and the wall thickness centerline to obtain the center gap; wherein the center gap is used to reflect the distance between the streamline centerline and the wall thickness centerline.

[0084] It can be understood that the wall thickness center line refers to the geometric center line in the wall thickness direction of the welded pipe, which is located at the midpoint between the innermost surface and the outermost surface of the welded pipe wall.

[0085] S52123, analyze based on the center gap and obtain the second adjustment coefficient.

[0086] It can be understood that different center gaps correspond to a second adjustment coefficient. For example, the corresponding second adjustment coefficient can be obtained by matching the center gap with the distance interval in the welding database, and each distance interval corresponds to a second adjustment coefficient; the center gap can also be input into the learning model, and the learning model outputs the corresponding second adjustment coefficient, etc., but is not limited thereto.

[0087] This setting makes the evaluation of welding pressure more scientific and quantitative by analyzing the position of the streamline centerline, providing an immediate basis for adjustment.

[0088] S5213: Weight the first adjustment coefficient based on the first adjustment weight, and weight the second adjustment coefficient based on the second adjustment weight, and obtain an adjustment value by summing the sum.

[0089] It can be understood that the first adjustment weight and the second adjustment weight are both preset values, which can be manually input or obtained from a welding database, etc., but are not limited thereto. Adjustment value = first adjustment weight × first adjustment coefficient + second adjustment weight × second adjustment coefficient.

[0090] In this way, by analyzing the streamline rise angle and streamline position in the streamline information, the first adjustment coefficient and the second adjustment coefficient are obtained respectively, and the two are weighted and summed based on the preset weights to finally obtain the adjustment value. In this way, the welding pressure can be adjusted effectively and scientifically through the behavior characteristics of the metal streamline, thereby improving the uniformity and symmetry of the flow inside the molten pool, and optimizing the analysis process of the welding parameter setting.

[0091] S522, adjusting the initial welding pressure based on the adjustment value to obtain an adjusted welding pressure of the adjustment parameter.

[0092] It can be understood that the adjusted welding pressure = adjustment value + initial welding pressure.

[0093] With this setting, through the dual analysis of fusion width and flow line information, the welding parameters can be dynamically adjusted according to the specific situation, which reduces the immediate deviation, improves the stability and consistency of the welding process, and enhances the flexibility of the production system.

[0094] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0095] Corresponding to the high-frequency pipe welding control method described in the above embodiment, the embodiment of the present application also provides a high-frequency pipe welding control system, and each module of the system can implement each step of the high-frequency pipe welding control method. Figure 3 A structural block diagram provided by an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0096] Reference Figure 3 , the high frequency welded pipe welding control system includes: The acquisition module is used to acquire the image of the pipe to be welded; wherein the image of the pipe to be welded is used to reflect the size specification of the welded pipe after the plate is curled into a tubular shape.

[0097] The first analysis module is used to analyze the image of the pipe to be welded to obtain information about the pipe to be welded; wherein the information about the pipe to be welded includes the size of the weld and the thickness of the pipe wall after the plate is curled into a pipe shape.

[0098] The second analysis module is used to analyze the information of the pipe to be welded to obtain initial welding parameters; wherein the initial welding parameters include initial welding power and initial welding pressure when the welding device transmits the welded pipe at a set speed.

[0099] The control acquisition module is used to control the welding device to weld the welded pipe based on the initial welding parameters and obtain the welded pipe information; wherein the welded pipe information is used to reflect the shape of the welded part after welding.

[0100] The adjustment module is used to analyze the welded pipe information to obtain adjustment parameters; wherein the adjustment parameters are used to reflect the adjusted welding power and the adjusted welding pressure of the adjusted welding device.

[0101] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0102] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above modules is used as an example for illustration. In practical applications, the above functions can be assigned to different modules as needed, that is, the internal structure of the system can be divided into different modules to complete all or part of the functions described above. The modules in the embodiment can be integrated into a processing unit, or each module can exist physically alone, or two or more modules can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the modules are only for the convenience of distinguishing from each other, and are not used to limit the scope of protection of this application. The specific working process of the modules in the above system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0103] The embodiment of the present application also provides a high-frequency pipe welding device, including a welding device and a control device, wherein the control device is electrically connected to the welding device. Figure 4 This is a schematic diagram of the structure of a control device 6 provided in an embodiment of the present application. Figure 4 As shown, the control device 6 of this embodiment includes: at least one processor 60 ( Figure 4 Only one is shown), at least one memory 61 ( Figure 4 Only one is shown in the figure) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the control device 6 implements the steps in any of the above-mentioned high-frequency welded pipe welding control method embodiments, or the control device 6 implements the functions of the modules in the above-mentioned system embodiments.

[0104] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 62 in the control device 6.

[0105] The control device 6 can be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The high-frequency pipe welding equipment may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art can understand that Figure 4 It is only an example of the control device 6 and does not constitute a limitation on the control device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0106] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0107] In some embodiments, the memory 61 may be an internal storage unit of the control device 6, such as a hard disk or memory of the control device 6. In other embodiments, the memory 61 may also be an external storage device of the control device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the control device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0108] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0109] An embodiment of the present application provides a computer program product. When the computer program product is run on a high-frequency pipe welding device, the high-frequency pipe welding device is enabled to implement the steps in any of the above-mentioned method embodiments.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the high-frequency welded pipe welding equipment, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0111] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0113] In the embodiments provided in the present application, it should be understood that the disclosed high-frequency pipe welding equipment and high-frequency pipe welding control system can be implemented in other ways. For example, the high-frequency pipe welding control system embodiment described above is only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0114] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A high frequency welded pipe welding control method, characterized in that: include: Acquire an image of the pipe to be welded; wherein the image of the pipe to be welded is used to reflect the size specification of the welded pipe after the plate is curled into a tubular shape; Analyze the image of the pipe to be welded to obtain information of the pipe to be welded; wherein the information of the pipe to be welded includes the size of the weld and the thickness of the pipe wall after the plate is curled into a pipe shape; Analyze the information of the pipe to be welded to obtain initial welding parameters; wherein the initial welding parameters include initial welding power and initial welding pressure when the welding device transmits the welded pipe at a set speed; The control device controls the welding device to weld the welded pipe based on the initial welding parameters, and obtains welded pipe information; wherein the welded pipe information is used to reflect the shape of the welded portion after welding; The adjustment parameters are obtained by analyzing the welded pipe information; wherein the adjustment parameters are used to reflect the adjusted welding power and the adjusted welding pressure of the welding device after adjustment.

2. The high-frequency welded pipe welding control method according to claim 1, characterized in that: The step of analyzing the information of the pipe to be welded to obtain initial welding parameters includes: Analyze the pipe wall thickness and the weld size of the pipe to be welded to obtain the initial welding power of the initial welding parameters; The initial welding pressure of the initial welding parameters is obtained by analyzing the pipe wall thickness and the weld size of the pipe to be welded with the initial welding power.

3. The high-frequency welded pipe welding control method according to claim 2, characterized in that: The analyzing the pipe wall thickness and the weld size according to the information of the pipe to be welded to obtain the initial welding power of the initial welding parameters includes: Analyze according to the pipe wall thickness to obtain basic welding power; Analyze according to the size of the weld to obtain a power adjustment value; The basic welding power is adjusted based on the power adjustment value to obtain the initial welding power.

4. The high-frequency welded pipe welding control method according to claim 3, characterized in that: The analyzing according to the size of the weld to obtain the power adjustment value includes: Analyze the weld width according to the weld size to obtain a positive adjustment value; Analyze the groove angle according to the size of the weld to obtain a negative adjustment value; The positive adjustment value and the negative adjustment value are summed to obtain a power adjustment value.

5. The high frequency welded pipe welding control method according to claim 1, characterized in that: The step of analyzing the welded pipe information to obtain adjustment parameters includes: Analyze the heat-affected area of ​​the welded pipe information to obtain the adjusted welding power of the adjustment parameter; wherein the heat-affected area is used to reflect the cross-sectional area of ​​the weld where the temperature after heating and welding at the initial welding power is greater than the preset temperature; The fusion information of the welded pipe information is analyzed to obtain an adjusted welding pressure of an adjustment parameter; wherein the fusion information includes a fusion width and streamline information of the weld, the fusion width is used to reflect the width of the fusion line of the weld, and the streamline information is used to reflect the shape of the metal streamline inside the weld.

6. The high-frequency welded pipe welding control method according to claim 5, characterized in that: The step of analyzing the heat affected area according to the welded pipe information to obtain the adjusted welding power by adjusting the parameters includes: Analyze the heat affected zone of the welded pipe information to obtain a zone ratio; wherein the zone ratio is used to reflect the ratio between the area of ​​the heat affected zone and the cross-sectional area of ​​the welded pipe; Analyzing according to the area ratio to obtain an influence value; wherein the influence value is used to reflect the influence of the area of ​​the heat-affected zone on the welding temperature; An analysis is performed based on the influence value to obtain an adjusted welding power of an adjustment parameter.

7. The high-frequency welded pipe welding control method according to claim 6, characterized in that: The step of analyzing the fusion information of the welded pipe information to obtain the adjusted welding pressure of the adjustment parameters includes: When the fusion width of the welded pipe information is not within a preset width range, analyzing the streamline information to obtain an adjustment value; The initial welding pressure is adjusted based on the adjustment value to obtain an adjusted welding pressure with an adjustment parameter.

8. The high frequency welded pipe welding control method according to claim 7, characterized in that: The step of analyzing the streamline information to obtain an adjustment value includes: Analyze the streamline rise angle of the streamline information to obtain a first adjustment coefficient, wherein the streamline rise angle is used to reflect the angle between the tangent line of the metal streamline and the horizontal line; Analyzing the streamline position of the streamline information to obtain a second adjustment coefficient; wherein the streamline position is used to reflect the position of each of the metal streamlines inside the weld; The first adjustment coefficient is weighted based on a first adjustment weight, and the second adjustment coefficient is weighted based on a second adjustment weight, and the adjustment value is obtained by summing the two values.

9. The high frequency welded pipe welding control method according to claim 8, characterized in that: The analyzing the streamline position according to the streamline information to obtain the second adjustment coefficient includes: Analyze the streamline position of the streamline information to obtain a streamline centerline; wherein the streamline centerline is used to reflect the metal streamline located in the middle of each metal streamline; Analyze the streamline centerline and the wall thickness centerline to obtain a center gap; wherein the center gap is used to reflect the distance between the streamline centerline and the wall thickness centerline; An analysis is performed based on the center gap to obtain a second adjustment coefficient.

10. A high frequency welded pipe welding device, characterized in that: The invention comprises a welding device and a control device, wherein the control device is electrically connected to the welding device, the control device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of claims 1 to 9 when executing the computer program.

Images