Excavation control methods, control terminals, and weld excavation systems for excavation point correction.

Abstract

This invention relates to a method, control terminal, and weld excavation system for excavation point correction. The method includes: acquiring information to be excavated; wherein the information includes at least one defect area, and for each defect area, a corresponding excavation path, a preset bevel excavation angle, and the bevel contact point position of the grinding wheel; before excavating each defect area, the following steps are performed: acquiring the radius of the grinding wheel in the grinding wheel; determining a compensation value based on the preset bevel excavation angle and radius; compensating the bevel contact point position based on the compensation value to obtain the corrected contact point position; and controlling the grinding wheel to excavate the corresponding defect area based on the corrected contact point position and the excavation path. This invention can automatically correct the bevel contact point position during the excavation process based on the preset bevel excavation angle and the radius of the grinding wheel, avoiding unnecessary damage to the slope of the base material due to improper contact point positions.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant welding technology, and in particular to a method for controlling the excavation of excavation points, a control terminal, and a weld excavation system. Background Technology

[0002] In nuclear power plants, after equipment or pipelines are welded, defects can occur on the weld surface due to improper welding operations. Therefore, it is necessary to chisel the weld to repair or re-weld it, ensuring weld reliability. Currently, nuclear power plants typically use weld chiseling devices for automated weld chiseling. However, the algorithm for determining the contact point between the grinding wheel and the weld bevel surface has flaws, leading to interference. This not only causes errors in the weld bevel chiseling angle but also risks damaging the base material of the weld at other points on the grinding wheel, affecting the reliability of the equipment or pipeline after welding. Therefore, nuclear power plants urgently need a technical solution to correct the chiseling contact point position. Summary of the Invention

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

[0004] The technical solution adopted by this invention to solve its technical problem is: to construct a digging control method for digging point correction, used in a weld digging device, wherein the weld digging device includes a grinding wheel, and the digging control method for digging point correction includes:

[0005] Obtain the information to be excavated; wherein, the information to be excavated includes at least one defect area, and the excavation path, preset bevel excavation angle and bevel contact point position of the grinding wheel corresponding to each defect area;

[0006] Before excavating each of the defect areas, the following steps are performed: obtaining the radius of the grinding wheel in the grinding machine, determining a compensation value based on the preset bevel excavation angle and the radius, compensating the bevel contact point position based on the compensation value, and obtaining the corrected contact point position.

[0007] Based on the corrected contact point location and the excavation path, the grinding wheel is controlled to excavate the corresponding defect area.

[0008] Preferably, in the step of determining the compensation value based on the preset bevel excavation angle and the radius, the expression for 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 bevel excavation angle.

[0010] Preferably, the step of compensating for the position of the bevel contact point based on the compensation value includes:

[0011] The position of the bevel contact point 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 away from the bevel to be excavated and parallel to the root angle line of the bevel angle.

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

[0013] Obtain the three-dimensional information of the weld;

[0014] Based on the three-dimensional information, determine whether there is at least one defective region in the weld;

[0015] When at least one defective region exists in the weld, the location of the bevel contact point and the excavation path corresponding to each defective region are determined based on the three-dimensional information.

[0016] Preferably, the step of determining the location of the bevel contact point and the excavation path corresponding to each defect area based on the three-dimensional information includes:

[0017] For each defect area, the following steps are performed: 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 based on the three-dimensional coordinate data; and determine the excavation path and bevel contact point position based on the maximum length, maximum width, and maximum height.

[0018] Preferably, the step of planning the excavation path based on the maximum length, the maximum width, and the maximum height includes:

[0019] The defective region is divided into layers based on the maximum height and a set height value in the height direction of the defective region, so as to obtain the first to Nth layers to be excavated, with the height arranged from high to low and 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 excavation path is configured such that, along each slope of the truncated pyramid structure formed by each of the layers to be excavated, the excavation width or length decreases from high to low as the height decreases; wherein, the excavation height of each layer is the set height.

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

[0022] The present invention also constructs 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 excavation control method for excavation point correction described above.

[0023] The present invention also provides a weld seam excavation system, comprising:

[0024] A weld seam excavation device, comprising a grinding wheel; and

[0025] The control terminal described above.

[0026] Preferably, the weld seam excavation system further includes:

[0027] A laser scanner is used to acquire three-dimensional information about the weld.

[0028] The control terminal is also used to determine whether there is at least one defect area in the weld based on the three-dimensional information, and when there is at least one defect area in the weld, to determine the position of the bevel contact point and the excavation path corresponding to each defect area based on the three-dimensional information.

[0029] The present invention has the following beneficial effects: it provides a chiseling control method for chiseling point correction, which can automatically correct the position of the bevel contact point according to the preset bevel chiseling angle and the radius of the grinding wheel during the chiseling process, and chisel the defect area according to the corrected contact point position, so as to avoid unnecessary damage to the slope of the parent material due to improper contact point position, so that the bevel formed after chiseling meets the relevant requirements, and also realizes automated chiseling, which effectively improves the chiseling accuracy and quality, thereby improving the reliability of the welded object. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0031] Figure 1 This is a flowchart of a digging control method for digging point correction in one embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure for obtaining information to be excavated in one embodiment of the present invention;

[0033] Figure 3 This is a cross-sectional view of the defective region after layering in one embodiment of the present invention;

[0034] Figure 4 yes Figure 3 The example shows a top view of the defective area after it has been layered.

[0035] Figure 5This is a diagram of the excavation route of the slope in one embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of the grinding wheel and the slope in one embodiment of the present invention;

[0037] Figure 7 This is a circuit structure block diagram of the control terminal in one embodiment of the present invention;

[0038] Figure 8 This is a schematic diagram of the weld seam excavation system in one embodiment of the present invention. Detailed Implementation

[0039] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments 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 accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

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

[0042] Figure 1 This is a flowchart illustrating a chiseling control method for chiseling point correction in one embodiment of the present invention. This method is applied to the control terminal of a weld chiseling device and helps the device correct the contact point position between the grinding wheel and the weld bevel surface, thereby solving the problems of bevel angle error and damage to the base material caused by improper contact point position. Furthermore, the weld chiseling device includes a grinding wheel machine capable of chiseling the weld and a moving mechanism capable of moving the grinding wheel machine. It should be noted that both the grinding wheel machine and the moving mechanism are existing equipment. The grinding wheel machine includes a grinding wheel, while the moving mechanism can be a robotic arm, etc., as long as it can move the grinding wheel machine left, right, up, and down in three-dimensional space.

[0043] Please see Figure 1 The excavation control method for excavation point correction may include steps S10, S20 and S30.

[0044] Step S10 includes: obtaining information to be excavated. This information includes at least one defect area, and for each defect area, the corresponding excavation path, the preset bevel excavation angle, and the bevel contact point position of the grinding wheel. Understandably, different defect areas have different sizes and locations, therefore the excavation path, the preset bevel excavation angle, and the bevel contact point position are all different.

[0045] Setting a preset bevel angle based on the size of the defect area can more effectively obtain an ideal excavation trench, which helps to improve the repair quality. Since the bevel angle is usually an empirical value, in one embodiment, the operator can set the preset bevel angle by operating a human-computer interaction device (such as a mouse, keyboard, and touch screen).

[0046] like Figure 2 As shown, in one embodiment, the information to be excavated can be obtained by performing steps S101 to S103.

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

[0048] In one embodiment, the target weld can be scanned using an existing laser scanner (such as a 3D laser scanner) to obtain the 3D information. Of course, other devices capable of surveying the 3D information of an object can also be used instead of the laser scanner, such as visual 3D scanners, structured light scanners, etc. Understandably, a weld contains several defective regions and / or several defect-free regions; therefore, the 3D information includes the 3D coordinates of each location point in each defective region and / or each defect-free region within the weld.

[0049] Step S102 includes: determining whether there is at least one defective region in the weld based on the three-dimensional information.

[0050] It should be noted that most defects in welds are caused by improper welding operations, including weld beads, porosity, undercut, cracks, and slag inclusions. Regardless of the type of defect, they all have obvious characteristics in the height direction of the weld surface, such as protruding from the weld surface or recessed into the weld surface. Therefore, in one embodiment, the defect region in the weld can be extracted by performing the following steps: Analyze the three-dimensional coordinates of each location point. If there are multiple location points that are simultaneously higher or lower than the weld surface and clustered within a set range, the corresponding range is determined as a sub-defect region to obtain several sub-defect regions; perform region fusion processing on each sub-defect region, including: determining whether there are other sub-defect regions whose distance to this sub-defect region is less than a set distance. If there are other sub-defect regions whose distance to this sub-defect region is less than a set distance, then merge this sub-defect region with the other defect regions to obtain a new sub-defect region. If there are no other sub-defect regions whose distance to this sub-defect region is less than a set distance, then define this sub-defect region as a defect region; perform the region fusion processing repeatedly until all sub-defect regions are defined as defect regions, thereby obtaining at least one defect region. Understandably, this embodiment can merge several closely spaced sub-defect areas into a single defect area, facilitating unified excavation in subsequent steps, reducing the frequency of determining the bevel contact point location and excavation path, and thus playing a positive role in improving excavation efficiency. The set distance can range from 2mm to 10mm.

[0051] In another embodiment, existing weld defect identification methods can be used to identify defect structures in the weld and define each extracted defect structure as a defect region, thereby obtaining several defect regions.

[0052] Step S103 includes: when there is at least one defective area in the weld, determining the location of the bevel contact point and the excavation path corresponding to each defective area based on three-dimensional information. Further, when there is no defective area in the weld, it indicates that there is no defective structure in the target weld, therefore no excavation is required, and the excavation operation will end.

[0053] In one embodiment, the location of the bevel contact point and the excavation path corresponding to each defect area can be determined by performing the following steps: For each defect area, the following steps are performed: 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 based on the three-dimensional coordinate data; and determine the excavation path and the location of the bevel contact point based on the maximum length, maximum width, and maximum height. It should be noted that the maximum length of the defect area refers to its maximum width in its length direction, the maximum width of the defect area refers to its maximum width in its width direction, and the maximum height of the defect area refers to its maximum height in its height direction. Taking a pipe as an example, if the target weld is distributed along the circumference of the pipe, then the length direction of the defect area is consistent with the circumference of the pipe, the width direction of the defect area is consistent with the axial direction of the pipe, and the height direction of the defect area is consistent with the radial direction of the pipe.

[0054] Furthermore, in one embodiment, the excavation path can be planned by performing steps S1011 and S1012.

[0055] Step S1011 includes: dividing the defect area into layers based on the maximum height and a set height value in the height direction of the defect area, to obtain layers 1 to N to be excavated, arranged from high to low height, with length and width decreasing layer by layer based on a set reduction value, where N is a natural number greater than 1. Understandably, in this step, the higher the layer to be excavated, the greater its length and width. Therefore, the length and width of the first layer to be excavated can be determined based on the maximum height and maximum width of the defect area, wherein the length and width of the first layer to be excavated are greater than the maximum height and maximum width of the defect area, that is, the first layer to be excavated can encompass the defect area in its top-view plane in the height direction. Because some defective structures are narrower at the top and wider at the bottom in the height direction, the maximum area of ​​the defective structure in the height and width planes is located in the middle or even the lower part of its height direction. If the reduction value is set too large, the combination of each layer to be excavated may not be able to cover the defective area. Therefore, in order to ensure that the combination of each layer to be excavated can completely cover the defective area, the operator can set the reduction value by operating the human-machine interaction device according to the actual shape of the defective structure. The range of the reduction value can be from 1mm to 3mm, preferably 2mm.

[0056] Figure 3 This is a cross-sectional view of the defective region after layering in one embodiment of the present invention. Figure 4 yes Figure 3The embodiment shows a top view of the layered defect area, where 10 is the workpiece to be welded, 20 is the weld, 30 is the defect structure (i.e., the defect area) on the weld, C1 is the first layer to be excavated, C2 is the second layer to be excavated, C3 is the third layer to be excavated, C4 is the fourth layer to be excavated, C5 is the fifth layer to be excavated, 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. Figure 3 and Figure 4 As shown, in this embodiment, the length and width of the layer to be excavated will increase with the layer number and will shorten towards the center by a set reduction value, so that the groove after excavation is roughly in the shape of a frustum structure, which helps to improve the quality and reliability of secondary welding.

[0057] Step S1012 includes: configuring the excavation path as follows: along each slope of the truncated pyramid structure formed by each layer to be excavated, the excavation path decreases from high to low, and the excavation width or length decreases with the height; wherein, the excavation height of each layer is a set height. Figure 5 As shown, the frustum structure can include multiple slopes, and each slope can have its corresponding bevel angle set according to requirements. Taking slope 91 as an example, the excavation route corresponding to slope 91 can be referenced to route D. The excavation paths of other slopes (including slopes 92, 93, and 94) are similar to route D and will not be described in detail here. In addition, the excavation routes of each slope constitute the aforementioned excavation path. 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 excavation width refers to the excavation distance in the width direction of the defect area, and the excavation length refers to the excavation distance in the length direction of the defect area.

[0058] Furthermore, in one embodiment, the location of the bevel contact point can be determined by performing steps SS1011 to 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 smallest width coordinate in the three-dimensional coordinate data of the defect area as the first width coordinate, and determining the largest width coordinate in the three-dimensional coordinate data of the defect area as the second width coordinate.

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

[0062] Step SS1014 includes: determining the initial contact point positions corresponding to each of the slope surfaces based on the height coordinates, the first width coordinates, the second width coordinates, the first length coordinates, and the second length coordinates. The initial contact point positions constitute the slope contact point positions. Since the height coordinates of all initial contact point positions are consistent, executing step SS1014 yields four initial contact point positions. Figure 5 In the example embodiment, the four initial contact point positions are E1, E2, E3 and E4, where E1 corresponds to the initial contact point position of slope 91, E2 corresponds to the initial contact point position of slope 92, E3 corresponds to the initial contact point position of slope 93 and E4 corresponds to the initial contact point position of slope 94.

[0063] It should be noted that weld excavation devices have been widely used in nuclear power plants, and the method for determining the location of the bevel contact point is relatively mature. Therefore, in some other embodiments, the location of the bevel contact point can also be determined by existing algorithms, that is, by communicating with existing bevel contact point location determination modules, the location of the bevel contact point can also be directly obtained.

[0064] Step S20 includes: before excavating each defect area, the following steps are performed: obtaining the radius of the grinding wheel in the grinding machine, determining the compensation value according to the preset bevel excavation angle and radius, compensating the bevel contact point position according to the compensation value, and obtaining the corrected contact point position.

[0065] In one embodiment, the expression for 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 bevel cutting angle. It can be understood that through analysis... Figure 6 By combining the similarity theorem of triangles, the expression for the compensation value can be derived. The specific derivation process will not be repeated here.

[0066] Furthermore, the step of compensating for the bevel contact point position based on the compensation value may include: offsetting the bevel contact point position along a regular direction by the compensation value to obtain the corrected contact point position; wherein, the regular direction is configured to be a direction away from the bevel to be excavated and parallel to the root angle line in the bevel angle. It should be noted that the preset bevel excavation angle refers to the angle formed by the bevel surface and the bevel root, while the root angle line refers to the angle line forming this angle that is consistent with the direction of the bevel root. (See reference...) Figure 6 The included angle line is 60°. Furthermore, 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 bevel, and the position of the bevel contact point is used to control the position of the contact point between the grinding wheel and the bevel.

[0067] like 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 (with...). Figure 6 (For reference), after offset compensation, the corresponding first sub-corrected contact point position 81 is obtained; for the initial contact point position 72, its regular direction is to the left, so after offset compensation, the corresponding second sub-corrected contact point position is obtained (not shown). It can be understood that since the excavation path is configured as follows: along each slope of the truncated pyramid structure formed by each layer to be excavated, from high to low, and the excavation width or excavation length decreases with the decrease of height, when excavating a certain slope, it is only necessary to perform compensation for its corresponding initial contact point position. It is not necessary to perform compensation when excavating each layer to be excavated. Of course, when excavating a new slope, it is necessary to compensate for its initial contact point position according to the preset bevel excavation angle of the new slope and the real-time radius of the grinding wheel to ensure that errors in the bevel angle and damage to the parent material are avoided.

[0068] Step S30 includes: controlling the grinding wheel to excavate the corresponding defect area based on the corrected contact point position and the excavation path.

[0069] In one embodiment, taking a defective area as an example, when it is necessary to excavate a certain slope of the defective area, the control terminal will control the moving mechanism to move the contact point of the grinding wheel to the sub-corrected contact point position corresponding to the slope. Then, the grinding machine will be started, and the moving mechanism will be controlled to carry out the excavation work along the excavation route corresponding to the slope until the slope is excavated. Then, other slopes will be excavated.

[0070] By implementing the technical solution of this invention, the position of the bevel contact point can be automatically corrected according to the preset bevel digging angle and the radius of the grinding wheel during the digging process. After the contact point position is corrected, the defect area (i.e., the weld) is then dug. This avoids unnecessary damage to the slope of the base material due to improper contact point position, and ensures that the bevel formed after digging meets the relevant requirements. It also realizes automated digging, effectively improving digging accuracy and quality, thereby improving the reliability of the welded object.

[0071] like Figure 7 As 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 excavation control method for excavation point correction provided in the embodiments of the present invention.

[0072] like Figure 8As shown, the present invention also provides a weld seam excavation system, including a weld seam excavation device and a control terminal provided in the embodiments of the present invention. The weld seam excavation device includes a grinding wheel and a moving mechanism.

[0073] In one embodiment, the weld seam excavation system may also include a laser scanner and a human-machine interface.

[0074] The laser scanner is used to acquire three-dimensional information of the weld. Correspondingly, the control terminal is also used to determine whether at least one defective region exists in the weld based on the three-dimensional information, and when at least one defective region exists, to determine the location of the bevel contact point and the excavation path corresponding to each defective region based on the three-dimensional information. It should be noted that the specific methods for determining the bevel contact point location and excavation path are described above and will not be repeated here.

[0075] The human-machine interface device is used to input relevant operation commands to the control terminal based on the operator's actions, thereby setting relevant parameters. These parameters include, but are not limited to, preset bevel excavation angles and set reduction values.

[0076] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0077] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software 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 implementations should not be considered beyond the scope of this invention.

[0078] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0079] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A method for controlling the excavation of weld seams by correcting excavation points, used in a weld seam excavation device, the weld seam excavation device comprising a grinding wheel, characterized in that, The excavation control method for excavation point correction includes: Obtain the information to be excavated; wherein, the information to be excavated includes at least one defect area, and the excavation path, preset bevel excavation angle and bevel contact point position of the grinding wheel corresponding to each defect area; Before excavating each of the defect areas, the following steps are performed: obtaining the radius of the grinding wheel in the grinding machine, determining a compensation value based on the preset bevel excavation angle and the radius, compensating the bevel contact point position based on the compensation value, and obtaining the corrected contact point position. Based on the corrected contact point location and the excavation path, the grinding wheel is controlled to excavate the corresponding defect area.

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

3. The excavation control method for excavation point correction according to claim 1, characterized in that, The step of compensating the position of the bevel contact point according to the compensation value includes: The position of the bevel contact point 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 away from the bevel to be excavated and parallel to the root angle line of the bevel angle.

4. The excavation control method for excavation point correction according to any one of claims 1 to 3, characterized in that, The steps for obtaining the information to be excavated include: Obtain the three-dimensional information of the weld; Based on the three-dimensional information, determine whether there is at least one defective region in the weld; When at least one defective region exists in the weld, the location of the bevel contact point and the excavation path corresponding to each defective region are determined based on the three-dimensional information.

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

6. The excavation control method for excavation point correction according to claim 5, characterized in that, The step of planning the excavation path based on the maximum length, the maximum width, and the maximum height includes: The defective region is divided into layers based on the maximum height and a set height value in the height direction of the defective region, so as to obtain the first to Nth layers to be excavated, with the height arranged from high to low and the length and width decreasing layer by layer based on a set reduction value, where N is a natural number greater than 1. The excavation path is configured such that, along each slope of the truncated pyramid structure formed by each of the layers to be excavated, the excavation width or length decreases from high to low as the height decreases; wherein, the excavation height of each layer is the set height.

7. The excavation control method for excavation point correction according to claim 6, characterized in that, The range of the set reduction value is 1mm to 3mm.

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, it implements the steps of the excavation control method for excavation point correction as described in any one of claims 1 to 7.

9. A weld seam excavation system, characterized in that, include: A weld seam excavation device, comprising a grinding wheel; and The control terminal as described in claim 8.

10. The weld seam excavation system according to claim 9, characterized in that, The weld seam excavation system also includes: A laser scanner is used to acquire three-dimensional information about the weld. The control terminal is also used to determine whether there is at least one defect area in the weld based on the three-dimensional information, and when there is at least one defect area in the weld, to determine the position of the bevel contact point and the excavation path corresponding to each defect area based on the three-dimensional information.

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