Digging control method for correcting digging point, control terminal and welding seam digging system

Abstract

The invention relates to a digging control method for correcting a digging point, a control terminal and a welding seam digging system. The method comprises the following steps: acquiring to-be-dug information; wherein the to-be-excavated information comprises at least one defect area, an excavation path corresponding to each defect area, a preset groove excavation angle and a groove contact point position of the grinding machine; before each defect area is excavated, the following steps are carried out: acquiring the radius of a grinding wheel in a grinding machine, determining a compensation value according to a preset groove excavation angle and radius, and compensating a groove contact point position according to the compensation value to obtain a corrected contact point position; and controlling a grinding machine to dig the corresponding defect area based on the corrected contact point position and the digging path. In the digging process, the position of the groove contact point can be automatically corrected according to the preset groove digging angle and the radius of the grinding wheel, and unnecessary damage caused by the improper position of the contact point on the slope surface of a parent material is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of surfacing welding in nuclear power plants, and particularly to a gouging control method for gouging point correction, a control terminal, and a weld gouging system. Background Art

[0002] In a nuclear power plant, after equipment or pipelines are welded, due to problems such as improper welding operations, defects will occur on the surface of the weld. Therefore, it is necessary to gouge the weld to repair or re-weld the weld, etc., so as to achieve the purpose of ensuring the reliability of the weld. Currently, nuclear power plants usually use weld gouging devices to automatically gouge the weld. However, in the related art, there are defects in the algorithm for determining the contact point position between the grinding wheel and the weld groove slope, resulting in interference between the grinding wheel and the weld groove slope. This will not only cause errors in the gouging angle of the weld groove, but also there is a risk of damaging the base material of the welded object at other points of the grinding wheel, affecting the reliability of the equipment or pipeline after surfacing welding. Therefore, there is an urgent need for a technical solution in nuclear power plants that can correct the gouging contact point position. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a gouging control method for gouging point correction, a control terminal, and a weld gouging system.

[0004] The technical solution adopted by the present invention to solve its technical problems is to construct a gouging control method for gouging point correction, which is used for a weld gouging device. The weld gouging device includes a grinding machine. The gouging control method for gouging point correction includes:

[0005] Obtain the information to be gouged; wherein, the information to be gouged includes at least one defect area, and the gouging path, the preset gouging angle of the groove, and the groove contact point position of the grinding machine corresponding to each defect area;

[0006] Before gouging each defect area, perform: obtain the radius of the grinding wheel in the grinding machine, determine a compensation value according to the preset gouging angle of the groove and the radius, and compensate the groove contact point position according to the compensation value to obtain the corrected contact point position;

[0007] Control the grinding machine to gouge the corresponding defect area based on the corrected contact point position and the gouging path.

[0008] Preferably, in the step of determining the compensation value according to the preset gouging angle of the groove and the radius, the expression of the compensation value is:

[0009] Δh = R / sinθ - R / tanθ, where Δh represents the compensation value, R represents the radius, and θ represents the preset gouging angle of the groove.

[0010] Preferably, the step of compensating the position of the groove contact point according to the compensation value includes:

[0011] Offsetting the position of the groove contact point by the compensation value in a regular direction to obtain the corrected contact point position; wherein, the regular direction is configured to be away from the groove to be chiseled and parallel to the root angle line in the groove angle.

[0012] Preferably, the step of obtaining the information to be chiseled includes:

[0013] Obtaining three-dimensional information of the weld seam;

[0014] Determining whether there is at least one defect area in the weld seam according to the three-dimensional information;

[0015] When there is at least one defect area in the weld seam, determining the groove contact point position and the chiseling path corresponding to each defect area according to the three-dimensional information.

[0016] Preferably, the step of determining the groove contact point position and the chiseling path corresponding to each defect area according to the three-dimensional information includes:

[0017] For each defect area, extracting the three-dimensional coordinate data corresponding to the defect area from the three-dimensional information, determining the maximum length, maximum width and maximum height of the defect area according to the three-dimensional coordinate data, and determining the chiseling path and the groove contact point position according to the maximum length, the maximum width and the maximum height.

[0018] Preferably, the step of planning the chiseling path according to the maximum length, the maximum width and the maximum height includes:

[0019] Layering the defect area in the height direction based on the maximum height and a set height value to obtain the 1st to Nth chiseling layers arranged from high to low in height and with the length and width decreasing layer by layer based on a set reduction value, where N is a natural number greater than 1;

[0020] The chiseling path is configured to: along each slope surface of the frustum structure formed by the chiseling layers, from high to low and with the chiseling width or chiseling length decreasing as the height decreases; wherein the chiseling height of each layer is the set height.

[0021] Preferably, the range of the set reduction value is 1 mm to 3 mm.

[0022] The present invention also constructs a control terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-described gouging control method for gouging point correction are implemented.

[0023] The present invention also constructs a weld gouging system, including:

[0024] A weld gouging device, which includes a grinding wheel; and

[0025] The above-described control terminal.

[0026] Preferably, the weld gouging system further includes:

[0027] A laser scanner for collecting three-dimensional information of the weld;

[0028] The control terminal is further configured to determine whether there is at least one defect area in the weld according to the three-dimensional information, and when there is at least one defect area in the weld, determine the position of the groove contact point corresponding to each defect area and the gouging path according to the three-dimensional information.

[0029] Implementing the present invention has the following beneficial effects: providing a gouging control method for gouging point correction, which can automatically correct the position of the groove contact point according to the preset gouging angle of the groove and the radius of the grinding wheel during the gouging process, and gouge the defect area according to the corrected contact point position, avoiding unnecessary damage to the slope of the base material due to improper position of the contact point, making the groove formed after gouging meet the relevant requirements, and also realizing automatic gouging, effectively improving the gouging accuracy and quality, thereby improving the reliability of the welded object. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0031] Figure 1 is a program flowchart of the gouging control method for gouging point correction in an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of obtaining information to be gouged in an embodiment of the present invention;

[0033] Figure 3 is a cross-sectional view after stratifying the defect area in an embodiment of the present invention;

[0034] Figure 4 is Figure 3 a top view after stratifying the defect area in the embodiment of

[0035] Figure 5It is the excavation route map of the slope in an embodiment of the present invention;

[0036] Figure 6 It is the structural schematic diagram of the grinding wheel and the slope in an embodiment of the present invention;

[0037] Figure 7 It is the circuit structure block diagram of the control terminal in an embodiment of the present invention;

[0038] Figure 8 It is the structural schematic diagram of the weld excavation system in an embodiment of the present invention. Detailed implementation manners

[0039] In order to have a clearer understanding of the technical features, objectives and effects of the present invention, the detailed implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0040] It should be noted that the flowcharts shown in the drawings are only illustrative and do not necessarily include all the contents and operations / steps, nor do they necessarily have to be executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0041] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0042] Figure 1 It is the program flowchart of the excavation control method for excavation point correction in an embodiment of the present invention. This method is applied to the control terminal in the weld excavation device and can help the weld excavation device correct the contact point position between the grinding wheel and the weld groove slope, thereby solving the problems of groove angle error and damage to the base material caused by improper contact point position. In addition, the weld excavation device includes a grinding wheel capable of excavating the weld and a moving mechanism capable of driving the grinding wheel to move. It should be noted that both the grinding wheel and the moving mechanism are existing devices. The grinding wheel includes a grinding wheel, and the moving mechanism can be a robotic arm or the like, as long as it can drive the grinding wheel to move left, right, up and down in three-dimensional space.

[0043] Please refer to Figure 1 ,, the excavation control method for excavation point correction may include step S10, step S20 and step S30.

[0044] Step S10 includes: obtaining the information to be chiseled. The information to be chiseled includes at least one defect area, as well as the chiseling path, the preset bevel chiseling angle, and the position of the bevel contact point of the grinding wheel corresponding to each defect area. It can be understood that the sizes and positions of different defect areas are different, so the chiseling path, the preset bevel chiseling angle, and the position of the bevel contact point are all different.

[0045] Setting the preset bevel chiseling angle according to the size of the defect area can more effectively obtain an ideal chiseling groove, which helps to improve the repair quality. Since the bevel chiseling angle is usually an empirical value, in one embodiment, the staff can set the preset bevel chiseling angle by operating a man-machine interaction device (such as a mouse, a keyboard, and a touch screen, etc.).

[0046] Such as Figure 2 As shown, in one embodiment, the information to be chiseled can be obtained by executing Step S101 to Step S103.

[0047] Step S101 includes: obtaining the three-dimensional information of the weld.

[0048] In one embodiment, the target weld can be scanned by an existing laser scanner (such as a three-dimensional laser scanner) to obtain the above-mentioned three-dimensional information. Of course, the laser scanner can also be replaced by other devices capable of surveying the three-dimensional information of an object, such as a visual three-dimensional scanner, a structured light scanner, etc. It can be understood that there are several defect areas and / or several defect-free areas in the weld, so the three-dimensional information includes the three-dimensional coordinates of each position point of each defect area and / or each defect-free area in the weld.

[0049] Step S102 includes: determining whether there is at least one defect area in the weld according to the three-dimensional information.

[0050] It should be noted that most of the defective structures in the weld seam are caused by improper surfacing operation, including weld beads, pores, undercuts, cracks, slag inclusions, etc. No matter what kind of defect, it has obvious characteristics in the height direction of the weld seam surface, such as protruding from the weld seam surface or concave in the weld seam surface. Therefore, in one embodiment, the defective area in the weld seam can be extracted by performing the following steps: Analyze the three-dimensional coordinates of each position point. If there are multiple position points that are simultaneously higher or lower than the weld seam surface and clustered within a set range, the corresponding range is determined as a sub-defective area to obtain several sub-defective areas; Perform area fusion processing on each sub-defective area, including: determining whether there is another sub-defective area whose distance from this sub-defective area is less than the set distance. If there is another sub-defective area whose distance from this sub-defective area is less than the set distance, then fuse this sub-defective area with the other defective area to obtain a new sub-defective area. If there is no other sub-defective area whose distance from this sub-defective area is less than the set distance, then define this sub-defective area as a defective area; Loop through the area fusion processing until all sub-defective areas are defined as defective areas, thereby obtaining at least one defective area. It can be understood that this embodiment can fuse several sub-defective areas with relatively close distances into a single defective area, which is convenient for subsequent steps to achieve unified excavation, reduces the frequency of determining the position of the groove contact point and the excavation path, and plays a positive role in improving the excavation efficiency. Among them, the range of the set distance can be from 2 mm to 10 mm.

[0051] In another embodiment, an existing weld defect recognition method can also be used to identify the defective structures in the weld seam, and each extracted defective structure is defined as a defective area one by one, thereby obtaining several defective areas.

[0052] Step S103 includes: When there is at least one defective area in the weld seam, determine the position of the groove contact point and the excavation path corresponding to each defective area according to the three-dimensional information. Further, when there is no defective area in the weld seam, it means that there is no defective structure in the target weld seam, so there is no need to perform excavation, and thus the excavation operation will be ended.

[0053] In one embodiment, the position of the groove contact point and the gouging path corresponding to each defect area can be determined by performing the following steps: For each defect area, extract the three-dimensional coordinate data corresponding to the defect area from the three-dimensional information, determine the maximum length, maximum width, and maximum height of the defect area according to the three-dimensional coordinate data, and determine the gouging path and the position of the groove contact point according to the maximum length, maximum width, and maximum height. It should be noted that the maximum length of the defect area refers to the maximum width of the defect area in its length direction, the maximum width of the defect area refers to the maximum width of the defect area in its width direction, and the maximum height of the defect area refers to the maximum height of the defect area in its height direction. Taking the object to be welded as a pipeline as an example, if the target weld is distributed along the circumferential direction of the pipeline, then the length direction of the defect area is consistent with the circumferential direction of the pipeline, the width direction of the defect area is consistent with the axial direction of the pipeline, and the height direction of the defect area is consistent with the radial direction of the pipeline.

[0054] Further, in one embodiment, the gouging path can be planned by performing step S1011 and step S1012.

[0055] Step S1011 includes: stratifying the defect area in the height direction based on the maximum height and the set height value to obtain the 1st to Nth gouging layers arranged from high to low in height, and the length and width of which decrease layer by layer based on the set reduction value, where N is a natural number greater than 1. It can be understood that in this step, the higher the gouging layer, the larger the length and width. Therefore, the length and width of the 1st gouging layer can be determined according to the maximum height and maximum width of the defect area. Among them, the length and width of the 1st gouging layer are respectively greater than the maximum height and maximum width of the defect area, that is to say, the 1st gouging layer can envelope the top view plane of the defect area in its height direction. Since some defect structures are narrow at the top and wide at the bottom in the height direction, the maximum area section of the defect structure in the height and width planes is located in the middle or even lower part of its height direction. If the set reduction value is set too large, it may cause the combination of each gouging layer to not envelope the defect area. Therefore, in order to ensure that the combination of each gouging layer can completely envelope the defect area, the staff can set the set reduction value by operating the man-machine interaction device according to the actual shape of the defect structure. Among them, the range of the set reduction value can be 1 mm to 3 mm, preferably 2 mm.

[0056] Figure 3 It is a cross-sectional view after stratifying the defect area in an embodiment of the present invention. Figure 4 is Figure 3Top view after stratifying the defect area in an embodiment, where 10 is the object to be welded, 20 is the weld seam, 30 is the defect structure (i.e., the defect area) on the weld seam, C1 is the first layer to be chiseled, C2 is the second layer to be chiseled, C3 is the third layer to be chiseled, C4 is the fourth layer to be chiseled, C5 is the fifth layer to be chiseled, H is the height direction of the defect area, W is the width direction of the defect area, and L is the length direction of the defect area. As Figure 3 and Figure 4 shown, in this embodiment, the length and width of the layer to be chiseled will increase with the layer number sequence number, and will simultaneously shorten a set reduction value towards the center, so that the groove after chiseling is approximately a frustum structure, which helps to improve the quality and reliability of the secondary surfacing.

[0057] Step S1012 includes: configuring the chiseling path to be: along each slope surface of the frustum structure composed of each layer to be chiseled, respectively from high to low and the chiseling width or chiseling length decreases as the height decreases; where the chiseling height of each layer is a set height. As Figure 5 shown, the frustum structure may include multiple slope surfaces, and the corresponding groove angle can be set for each slope surface according to requirements. Taking slope surface 91 as an example, the chiseling route corresponding to slope surface 91 can refer to line D. As for the chiseling paths of other slope surfaces (including slope surface 92, slope surface 93, and slope surface 94), they are similar to line D and will not be elaborated here. In addition, the chiseling routes of each slope surface form the chiseling path described above. It should be noted that in this embodiment, "from high to low" means changing from high to low along the length direction of the defect area, the chiseling width refers to the chiseling distance in the width direction of the defect area, and the chiseling length refers to the chiseling distance in the length direction of the defect area.

[0058] Further, in an embodiment, the position of the groove contact point can be determined by performing step SS1011 to step SS1014.

[0059] Step SS1011 includes: determining the maximum height coordinate in the three-dimensional coordinate data of the defect area as the height coordinate.

[0060] Step SS1012 includes: determining the minimum width coordinate in the three-dimensional coordinate data of the defect area as the first width coordinate, and determining the maximum width coordinate in the three-dimensional coordinate data of the defect area as the second width coordinate.

[0061] Step SS1013 includes: determining the minimum length coordinate in the three-dimensional coordinate data of the defect area as the first length coordinate, and determining the maximum length coordinate in the three-dimensional coordinate data of the defect area as the second length coordinate.

[0062] Step SS1014 includes: determining the positions of the initial contact points corresponding to each of the slopes according to the height coordinate, the first width coordinate, the second width coordinate, the first length coordinate, and the second length coordinate. The positions of the initial contact points form the position of the groove contact point. Since the height coordinates of the positions of the initial contact points are the same, performing step SS1014 can obtain 4 positions of the initial contact points. Taking Figure 5 the embodiment of Figure 5 as an example, the 4 positions of the initial contact points are E1, E2, E3, and E4 respectively. Among them, E1 corresponds to the position of the initial contact point of slope 91, E2 corresponds to the position of the initial contact point of slope 92, E3 corresponds to the position of the initial contact point of slope 93, and E4 corresponds to the position of the initial contact point of slope 94.

[0063] It should be noted that the weld groove chiseling device has been widely used in nuclear power plants, and the method for determining the position of the groove contact point is relatively mature. Therefore, in some other embodiments, the position of the groove contact point can also be determined by an existing algorithm, that is, by communicating with the existing module for determining the position of the groove contact point, the position of the groove contact point can also be directly obtained.

[0064] Step S20 includes: before chiseling each defect area, performing: obtaining the radius of the grinding wheel in the grinding machine, determining the compensation value according to the preset groove chiseling angle and the radius, and compensating the position of the groove contact point according to the compensation value to obtain the corrected contact point position.

[0065] In one embodiment, the expression of the compensation value can be: Δh = R / sinθ - R / tanθ, where Δh represents the compensation value, R represents the radius of the grinding wheel, and θ represents the preset groove chiseling angle. It can be understood that by analyzing Figure 6 , combined with the similarity theorem of triangles, the expression of the compensation value can be deduced, and the specific deduction process will not be elaborated here.

[0066] Further, the step of compensating the position of the groove contact point according to the compensation value may include: offsetting the position of the groove contact point along a regular direction by the compensation value to obtain the corrected contact point position; where the regular direction is configured to be away from the groove to be chiseled and parallel to the root included angle line in the included angle of the groove. It should be noted that the preset groove chiseling angle refers to the included angle formed by the groove surface and the groove root, and the root included angle line refers to the included angle line that is consistent with the groove root direction in the formed included angle, and reference can be made to Figure 6 the included angle line 60 in Figure 6 . In addition, in this embodiment, the lowest point of the grinding wheel in the grinding machine is defined as the contact point between the grinding wheel and the groove, and the position of the groove contact point is used to control the position of the contact point between the grinding wheel and the groove.

[0067] Such as Figure 6As shown, the defect area includes slope 91 and slope 93. 71 is the initial contact point position of slope 91, and 72 is the initial contact point position of slope 93. Taking the initial contact point position 71 as an example, its regular direction is to the right (taking Figure 6 as a reference), then after the offset compensation value, the first sub-corrected contact point position 81 is correspondingly obtained; for the initial contact point position 72, its regular direction is to the left, then after the offset compensation value, the second sub-corrected contact point position (not shown) is correspondingly obtained. It can be understood that since the chiseling path is configured to: along each slope of the frustum structure composed of each layer to be chiseled, from high to low and the chiseling width or chiseling length decreases as the height decreases, therefore when chiseling a certain slope, it is only necessary to perform compensation on its corresponding initial contact point position, without the need to perform compensation when chiseling each layer to be chiseled. Of course, when chiseling a new slope, it is necessary to compensate its initial contact point position according to the preset groove chiseling angle of the new slope and the real-time radius of the grinding wheel to ensure that the groove angle error is avoided and the parent material is not damaged.

[0068] Step S30 includes: controlling the grinding machine to chisel the corresponding defect area based on the corrected contact point position and the chiseling path.

[0069] In one embodiment, taking a certain defect area as an example, when it is necessary to chisel a certain slope of the defect area, the control terminal will control the moving mechanism to work, move the contact point of the grinding wheel to the sub-corrected contact point position corresponding to the slope, then control the grinding machine to start, and then control the moving mechanism to work, so that the grinding machine chisels along the chiseling route corresponding to the slope until the slope chiseling is completed, and then chisel other slopes.

[0070] Implementing the technical solution of the present invention can automatically correct the groove contact point position according to the preset groove chiseling angle and the radius of the grinding wheel during the chiseling process, and chisel the defect area (i.e., the weld) according to the corrected contact point position, avoiding unnecessary damage to the slope of the parent material due to improper contact point position, making the groove formed after chiseling meet the relevant requirements, and also realizing automatic chiseling, effectively improving the chiseling accuracy and quality, thereby improving the reliability of the welded object.

[0071] As Figure 7 shown, the present invention also provides a control terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the chiseling control method for chiseling point correction provided by the embodiments of the present invention.

[0072] As Figure 8As shown in the figure, the present invention also provides a weld gouging system, including a weld gouging device and the control terminal provided in the embodiment of the present invention. Among them, the weld gouging device includes a grinding wheel and a moving mechanism.

[0073] In one embodiment, the weld gouging system may further include a laser scanner and a human-machine interaction device.

[0074] Among them, the laser scanner is used to collect three-dimensional information of the weld. Correspondingly, the control terminal is further used to determine whether there is at least one defect area in the weld according to the three-dimensional information, and when there is at least one defect area in the weld, determine the position of the groove contact point and the gouging path corresponding to each defect area according to the three-dimensional information. It should be noted that for the specific method of determining the position of the groove contact point and the gouging path, please refer to the above text and will not be elaborated here.

[0075] The human-machine interaction device is used to input relevant operation instructions to the control terminal according to the operations of the staff, so as to set relevant parameters. Among them, the relevant parameters include but are not limited to the preset groove gouging angle and the set reduction value.

[0076] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description of the method part.

[0077] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0078] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0079] It can be understood that the above embodiments only represent the preferred embodiments of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent for the present invention; it should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can also be made, and these all belong to the protection scope of the present invention; therefore, all equivalent transformations and modifications made to the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A chiseling control method for chiseling point correction, used for a weld chiseling device, wherein the weld chiseling device comprises a grinding wheel machine, characterized in that: The digging control method for digging point correction includes: Acquire information to be excavated; wherein the information to be excavated includes at least one defective area, and an excavation path corresponding to each defective area, a preset groove excavation angle, and a groove contact point position of a grinder; Before excavating each defective area, the following steps are performed: obtaining the radius of the grinding wheel in the grinding machine, determining a compensation value according to the preset groove excavation angle and the radius, compensating the groove contact point position according to the compensation value, and obtaining the contact point position after correction; The grinding machine is controlled to excavate the corresponding defective area based on the corrected contact point position and the excavation path.

2. The gouging control method for gouging point correction according to claim 1, characterized in that: In the step of determining the compensation value according to the preset groove excavation angle and the radius, the expression of the compensation value is: Δh=R / sinθ―R / tanθ, wherein Δh represents the compensation value, R represents the radius, and θ represents the preset groove excavation angle.

3. The gouging control method for gouging point correction according to claim 1, characterized in that: The step of compensating the groove contact point position according to the compensation value comprises: The groove contact point position is offset by the compensation value along a regular direction to obtain the corrected contact point position; wherein the regular direction is configured to be a direction away from the groove to be excavated and parallel to the root angle line of the groove angle.

4. The gouging control method for gouging point correction according to any one of claims 1 to 3, characterized in that: The step of obtaining the information to be mined includes: Get three-dimensional information of welds; determining whether there is at least one defective area in the weld according to the three-dimensional information; When there is at least one defective area in the weld, the groove contact point position and the excavation path corresponding to each defective area are determined according to the three-dimensional information.

5. The gouging control method for gouging point correction according to claim 4, characterized in that: The step of determining the groove contact point position and the excavation path corresponding to each defective area according to the three-dimensional information comprises: For each defect area, the following steps are performed: extracting three-dimensional coordinate data corresponding to the defect area from the three-dimensional information; determining the maximum length, maximum width and maximum height of the defect area based on the three-dimensional coordinate data; and determining the excavation path and the position of the slope contact point based on the maximum length, the maximum width and the maximum height.

6. The gouging control method for gouging point correction according to claim 5, characterized in that: The step of planning the excavation path according to the maximum length, the maximum width and the maximum height comprises: The defective area is layered in the height direction of the defective area based on the maximum height and the set height value to obtain the first to Nth layers to be excavated, which are arranged in descending order in height and whose lengths and widths are gradually reduced based on the set reduction value, where N is a natural number greater than 1; The excavation path is configured as follows: along each slope surface of the pyramid structure composed of each layer to be excavated, the excavation width or the excavation length decreases from high to low with the height decreasing; wherein the excavation height of each layer is the set height.

7. The gouging control method for gouging point correction according to claim 6, characterized in that: The set reduction value ranges from 1 mm to 3 mm.

8. A control terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the excavation control method for excavation point correction according to any one of claims 1 to 7 are implemented.

9. A weld digging system, characterized in that: include: a weld chiseling device comprising a grinder; and A control terminal as claimed in claim 8.

10. The weld digging system according to claim 9, characterized in that: The weld digging system also includes: Laser scanner, used to collect three-dimensional information of welds; The control terminal is also used to determine whether there is at least one defective area in the weld based on the three-dimensional information, and when there is at least one defective area in the weld, determine the groove contact point position and excavation path corresponding to each defective area based on the three-dimensional information.

Images