Welding positioning system and method for offshore oil platform block structure

Abstract

The invention discloses a welding positioning system and method for an offshore oil platform block structure. The welding positioning system comprises a control assembly, a driving assembly, a welding assembly, an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail and a fixing frame. The driving assembly and the welding assembly are electrically connected with the output end of the control assembly. The welding assembly is fixedly arranged at the lower end of the fixing frame, the Z-axis guide rail is arranged in the vertical direction, the X-axis guide rail and the Y-axis guide rail are arranged in the horizontal direction, the extending direction of the X-axis guide rail is perpendicular to the extending direction of the Y-axis guide rail, and the driving assembly drives the Y-axis guide rail to move along the X-axis guide rail, the Z-axis guide rail to move along the Y-axis guide rail and the fixing frame to move along the Z-axis guide rail. The method has the advantages of reducing manual intervention, adapting to complex workpieces and supporting high-precision positioning.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot welding, and particularly relates to a welding positioning system and method for a module structure of an offshore oil platform. BACKGROUND

[0002] As a key infrastructure for the development of marine resources, the module structure of an offshore oil platform needs to withstand extreme environmental loads such as wind, wave, flow impact, seawater corrosion, and earthquake for a long time. Therefore, the welding quality directly determines the safety and service life of the platform, and the welding efficiency directly affects the construction period of the project. The current welding process for the module structure of an offshore oil platform has significant technical bottlenecks: 1. High dependence on manual work and poor quality stability: The mainstream welding methods are mainly manual welding and semi-mechanical welding. Manual welding completely depends on the skills and experience of welders. Even experienced welders are prone to weld quality fluctuations (such as cracks and incomplete penetration) due to fatigue and differences in operation habits during long-term high-intensity work. Although semi-mechanical welding improves some efficiency, it still cannot escape the interference of human factors, which poses a safety hazard to the service of the platform; 2. Poor adaptability of teaching and reappearing technology: Existing robot welding mostly adopts the teaching and reappearing mode. However, the module structure of an offshore oil platform has the characteristics of large size (single component size up to several to more than ten meters), heavy weight (several to several hundred tons), complex structure (multiple steel combinations), and variable specifications, sizes, and construction positions. The teaching process is time-consuming and labor-intensive, and cannot achieve rapid and accurate positioning; 3. Contradiction between offline programming and actual deviation: Offline programming technology plans the welding path in advance through a three-dimensional model. However, the system cannot independently obtain the actual pose of the workpiece, and manual calibration is required. At the same time, processing errors and assembly errors will cause deviations between the model-planned weld position and the actual steel structure weld, making it difficult to ensure welding accuracy, which is a core obstacle to the promotion of robot welding.

[0003] Therefore, there is an urgent need to design a welding positioning system and method for a module structure of an offshore oil platform to solve the above-mentioned problems. SUMMARY

[0004] The present application aims to provide a welding positioning system and method for a module structure of an offshore oil platform, which has the advantages of reducing manual intervention, adapting to complex workpieces, and supporting high-precision positioning, and solves the problems of high dependence on manual work, large teaching difficulty, large offline programming deviation, and lack of self-correction capability.

[0005] To achieve the above-mentioned purpose, the specific technical solutions of the welding positioning system and method for a module structure of an offshore oil platform of the present application are as follows: A welding positioning system for a module structure of an offshore oil platform comprises a control assembly, a driving assembly, a welding assembly, an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail, and a fixing frame. The driving assembly and the welding assembly are electrically connected with the output end of the control assembly. The welding assembly is fixedly arranged at the lower end of the fixed frame, the Z-axis guide rail is arranged in a vertical direction, the X-axis guide rail and the Y-axis guide rail are arranged in a horizontal direction, the extending direction of the X-axis guide rail is perpendicular to the extending direction of the Y-axis guide rail, and the driving assembly drives the Y-axis guide rail to move along the X-axis guide rail, drives the Z-axis guide rail to move along the Y-axis guide rail, and drives the fixed frame to move along the Z-axis guide rail.

[0006] Further, the welding positioning system for the offshore oil platform module structure further comprises an identification assembly fixedly connected with the fixed frame, so as to identify the welding position.

[0007] Further, the welding positioning system for the offshore oil platform module structure further comprises a processing assembly electrically connected with the identification assembly and the control assembly respectively, for processing the data of the identification assembly and uploading the processed data to the input end of the control assembly.

[0008] Further, the welding positioning system for the offshore oil platform module structure further comprises a welding power source electrically connected with the welding assembly and the output end of the control assembly respectively.

[0009] Further, the welding positioning system for the offshore oil platform module structure further comprises a storage assembly electrically connected with the input end and the output end of the control assembly.

[0010] A welding positioning method for an offshore oil platform module structure comprises the following steps: S1, obtaining the geometric characteristics of a workpiece to be welded to obtain original data; S2, controlling the identification assembly to scan the workpiece to be welded by using the control assembly to obtain collected data; S3, preprocessing the collected data to obtain preprocessed data; S4, registering the preprocessed data with the original data, and determining the positional deviation of the workpiece to be welded according to the registration result; S5, according to the positional deviation of the workpiece to be welded, the control assembly drives the welding assembly to match the weld position of the workpiece to be welded.

[0011] Further, the preprocessing of the collected data in step S3 comprises the following steps: According to the placement position of the workpiece to be welded, a region of interest is extracted to obtain first rough data; The first rough data is filtered and denoised to obtain preprocessed data.

[0012] Further, the pre-processing of the collected data in step S3 comprises the following steps: According to the placement position of the workpiece to be welded, a region of interest (ROI) is extracted to obtain first rough data; The first rough data is filtered and denoised to obtain second rough data; The second rough data is down-sampled to obtain pre-processed data.

[0013] Further, the registration of the pre-processed data and the original data in step S4 comprises the following steps: At least three non-collinear feature points are selected, and the pre-processed data and the original data of the corresponding points are aligned to obtain a coarse registration matrix; The coarse registration matrix is used as an initial matrix, and an iterative closest point (ICP) algorithm is used with an error registration threshold to align the pre-processed data and the original data.

[0014] Further, the welding positioning method of the offshore platform block structure further comprises the following steps: storing the placement position of the workpiece to be welded in space for offline calling.

[0015] The welding positioning system and method of the offshore platform block structure of the present application have the following advantages: 1. High-precision positioning, suitable for complex workpieces: through linear guide rails and gear and rack driving, X-axis synchronous double drive, the imaging depth of the high-precision 3D camera is 0.7-3m, the ICP fine registration algorithm error is ≤±0.05mm, and the positioning accuracy of ±0.05mm is realized, the machining and assembly error can be corrected, and the characteristics of large volume and complex structure of the offshore platform block are adapted.

[0016] 2. Reduce dependence on manual operation and improve efficiency: automatically complete scanning, pre-processing, registration and positioning, reduce manual teaching and manual calibration links, positioning time is shortened by more than 60% compared with teaching and reproduction technology; offline pose calling function further reduces repeated operation, and is suitable for batch prefabrication scene.

[0017] 3. Stable quality, reduce safety hazards: automatically correct the position deviation of the weld through the algorithm, avoid quality fluctuations caused by manual operation, ensure the consistency and stability of each weld, and reduce safety hazards during service of the offshore platform.

[0018] 4. Convenient operation, strong universality: the software interface is optimized, and non-professionals can quickly get started; the guide rail stroke is 5m x 10m x 3m, and the imaging range of the 3D camera is 0.5-9.5m 2 It can cover different sizes of offshore platform block components and has strong universality. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Figure 1 is a structural schematic diagram of a welding positioning system of a marine oil platform module structure according to the present application; Figure 2 Figure 2 is a structural schematic diagram of a welding positioning system of a marine oil platform module structure according to the present application; Figure 3 Figure 3 is a flow schematic diagram of a welding positioning method of a marine oil platform module structure according to the present application.

[0020] Marked description in the figure: 1, control assembly; 2, driving assembly; 3, welding assembly; 31, welding robot; 32, welding torch; 4, X-axis guide rail; 5, Y-axis guide rail; 6, Z-axis guide rail; 7, fixed frame; 8, identification assembly; 9, processing assembly; 10, welding power supply; 11, storage assembly. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0022] Those skilled in the art can understand that although some embodiments herein include certain features rather than other features included in other embodiments, the combination of features of different embodiments means to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0023] The following will refer to the drawings Figure 1 to the drawings Figure 3 A welding positioning system and positioning method of a marine oil platform module structure are described.

[0024] As shown in Figures 1 to 2 A welding positioning system of a marine oil platform module structure includes: a control assembly 1, a driving assembly 2, a welding assembly 3, an X-axis guide rail 4, a Y-axis guide rail 5, a Z-axis guide rail 6 and a fixed frame 7; The driving assembly 2 and the welding assembly 3 are both electrically connected to the output end of the control assembly 1; The welding assembly 3 is fixedly arranged at the lower end of the fixed frame 7, the Z-axis guide rail 6 is arranged in the vertical direction, the X-axis guide rail 4 and the Y-axis guide rail 5 are arranged in the horizontal direction, the extending direction of the X-axis guide rail 4 is perpendicular to the extending direction of the Y-axis guide rail 5, and the driving assembly 2 drives the Y-axis guide rail 5 to move along the X-axis guide rail 4, the Z-axis guide rail 6 to move along the Y-axis guide rail 5, and the fixed frame 7 to move along the Z-axis guide rail 6.

[0025] Specifically, the X-axis guide rail 4 is fixedly arranged in parallel to the ground on both sides of the welding platform, the Y-axis guide rail 5 sliding seat is bolted to the X-axis guide rail 4 sliding block, the Z-axis guide rail 6 is fixedly arranged in perpendicular to the Y-axis guide rail 5 sliding seat, and the fixed frame 7 is bolted to the Z-axis guide rail 6 sliding block, thereby forming an XYZ three-axis linkage frame.

[0026] Preferably, the driving assembly 2 adopts a servo motor and a gear rack cooperation transmission, the X-axis guide rail 4, the Y-axis guide rail 5 and the Z-axis guide rail 6 all adopt a linear guide rail and a gear rack drive, the X-axis adopts a synchronous double-drive mode on both sides, the guide rail stroke is strictly adapted to the size of the offshore platform block, the X-axis stroke is 5 m, the Y-axis stroke is 10 m, and the Z-axis stroke is 3 m, so as to cover a large steel structure workpiece with a size of ≤10 m*5 m*3 m, the driving assembly 2 can drive the Y-axis guide rail 5 to move along the X-axis guide rail 4, the Z-axis guide rail 6 to move along the Y-axis guide rail 5, and the fixed frame 7 to move along the Z-axis guide rail 6, and the positioning accuracy is up to ±0.05 mm.

[0027] Preferably, the welding assembly 3 adopts a multi-degree-of-freedom welding robot 31, a welding gun 32 is installed at the end flange of the multi-degree-of-freedom welding robot 31, the welding robot 31 moves along the Z-axis guide rail 6 synchronously with the fixed frame 7, the posture of the welding gun 32 can be adjusted according to the welding seam position, and the welding requirement of a complex steel structure is adapted.

[0028] Further, as shown in Figures 1 to 2 The welding positioning system of the offshore oil platform block structure further comprises an identification assembly 8, the identification assembly 8 is fixedly connected with the fixed frame 7, so as to identify the welding position.

[0029] Preferably, the identification assembly 8 adopts a high-precision 3D camera, which is installed at the lower end of the Z-axis mechanism through a camera support; the camera imaging parameters are adapted to the offshore platform workpiece: the imaging depth range is 0.7 m~3 m, the imaging coverage area range is 0.5 m 2 ~9.5 m 2 ; the height of the fixed frame 7 can be adjusted to select the optimal scanning height according to the 3D camera imaging depth and the height of the workpiece to be welded; at the same time, the X-axis guide rail 4, the Y-axis guide rail 5 and the Z-axis guide rail 6 can drive the 3D camera to move horizontally along the preset scanning area, so as to ensure that the workpiece to be welded is completely in the camera field of view, and complete point cloud collection is realized.

[0030] Further, as shown inFigures 1 to 2 As shown in the figure, the welding positioning system of the offshore oil platform block structure further comprises a processing assembly 9 electrically connected with the identification assembly 8 and the control assembly 1 respectively, for processing the data of the identification assembly 8 and uploading to the input end of the control assembly 1.

[0031] Preferably, the processing assembly 9 is electrically connected with the identification assembly 8 and the control assembly 1, responsible for receiving the point cloud data collected by the 3D camera, performing point cloud preprocessing (ROI selection, filtering, downsampling), coordinate conversion (converting the camera coordinate system point cloud to XYZ coordinate system through the hand-eye calibration matrix), point cloud registration (coarse registration and fine registration); the processing assembly 9 is built-in with voxel filtering, random sampling and other algorithms, which can improve the data processing efficiency on the premise of preserving the geometric features of the workpiece.

[0032] Further, as shown in the figure, Figures 1 to 2 The welding positioning system of the offshore oil platform block structure further comprises a welding power supply 10 electrically connected with the welding assembly 3 and the output end of the control assembly 1.

[0033] Further, as shown in the figure, Figures 1 to 2 The welding positioning system of the offshore oil platform block structure further comprises a storage assembly 11 electrically connected with the input end and the output end of the control assembly 1.

[0034] Preferably, the welding power supply 10 is electrically connected with the welding assembly 3 and the control assembly 1, and outputs stable welding current / voltage under the instruction of the control assembly 1; the storage assembly 11 is preferably an industrial SSD bidirectionally electrically connected with the control assembly 1, for storing workpiece IFC model data, point cloud preprocessing data, and workpiece pose data, and supporting offline calling.

[0035] Preferably, the control assembly 1 is an industrial computer, which is the core control unit of the system, and its output end is electrically connected with the driving assembly 2, the welding assembly 3, and the welding power supply 10, and its input end is electrically connected with the processing assembly 9 and the storage assembly 11, which can receive data and output collaborative control instructions, and at the same time store hand-eye calibration data for establishing the coordinate correlation between the 3D camera and the XYZ axis guide rail.

[0036] Specifically, the welding robot 31 is fixed to the lower end of the fixed frame 7 through a flange, and the 3D camera is fixed to the side of the fixed frame 7 through an L-shaped support, with a distance of 500 mm from the robot to avoid interference from welding spatter; the control assembly 1, the processing assembly 9, the welding power supply 10, and the storage assembly 11 are integrated in a control cabinet, connected with each execution assembly through EtherCAT communication lines to realize real-time data interaction.

[0037] Specifically, the control component 1 drives the XYZ guide rail linkage through the driving component 2, and drives the 3D camera to scan the workpiece to be welded; the processing component 9 converts the collected point cloud data to the XYZ coordinate system, and after preprocessing, matches the stored workpiece model data, calculates the deviation of the actual pose of the workpiece from the theoretical model; the control component 1 drives the welding component 3 to adjust the position of the welding gun 32 according to the deviation to align the actual weld; at the same time, the system automatically stores the workpiece pose data for subsequent offline calling of the same workpiece, reducing repeated scanning and registration steps.

[0038] As shown in Figure 3 A welding positioning method for a module structure of an offshore oil platform includes the following steps: S1, obtaining the geometric characteristics of the workpiece to be welded to obtain the original data; Specifically, the control component 1 reads the IFC format model file of the workpiece to be welded from the external building information modeling (BIM) system, extracts the geometric characteristics of the workpiece through the built-in algorithm, and obtains the original data, including: the theoretical position coordinates of the weld on the workpiece, the size of the workpiece (length / width / height), and the position parameters of the key structure (such as the interface of the section steel); After extraction, mark the weld position data and the size data, and store them in the storage component 11.

[0039] S2, scanning the workpiece to be welded by the control component 1 to obtain the collected data; Specifically, the workpiece to be welded is hoisted into the welding area enclosed by the XYZ guide rail, and the rough parameters of the workpiece placement position are input through the human-computer interaction interface of the control component 1; the control component 1 sends instructions to the driving component 2 to drive the Y-axis along the X-axis, the Z-axis along the Y-axis, and the fixed frame 7 along the Z-axis, and move the 3D camera to the preset scanning area to ensure that the workpiece is completely within the imaging range of the camera; the 3D camera starts scanning, collects the three-dimensional point cloud data of the workpiece, obtains the collected data, and transmits it to the processing component 9 in real time; at the same time, the processing component 9 calls the transformation matrix of the 3D camera and the XYZ coordinate system obtained by the hand-eye calibration method in advance in the storage component 11, converts the collected data from the camera coordinate system to the base coordinate system of the XYZ axis, and ensures the coordinate uniformity.

[0040] S3, preprocessing the collected data to obtain preprocessed data; S4, matching the preprocessed data with the original data, and determining the position deviation of the workpiece to be welded according to the matching result; S5, according to the position deviation of the workpiece to be welded, the control component 1 drives the welding component 3 to match the weld position of the workpiece to be welded.

[0041] Further, the preprocessing of the collected data in step S3 includes the following steps: According to the placement position of the workpiece to be welded, a region of interest is extracted to obtain first coarse data; The first coarse data is filtered and denoised to obtain preprocessed data.

[0042] Further, the preprocessing of the collected data in step S3 includes the following steps: According to the placement position of the workpiece to be welded, a region of interest is extracted to obtain first coarse data; The first coarse data is filtered and denoised to obtain second coarse data; The second coarse data is down-sampled to obtain preprocessed data.

[0043] Specifically, the processing assembly 9 preprocesses the converted point cloud data, removes noise and redundant information, and retains effective welding area data, including the following steps: Region of interest (ROI) selection: According to the workpiece size and placement position obtained in step S1, the distance parameters between the workpiece placement plane and the XYZ axis origin are automatically calculated, the point cloud data of the workpiece placement plane (such as the welding platform) is removed, the original point cloud data of the workpiece body is extracted through a point cloud clustering algorithm, and first coarse data is obtained.

[0044] Filtering and denoising: A voxel filtering algorithm is used to divide the point cloud into a fixed-size voxel grid, and each grid retains one representative point. Noise points and irregular points in the point cloud are removed, data redundancy is reduced, and point cloud quality is improved to obtain second coarse data.

[0045] Down-sampling processing: A random sampling method is used to randomly select part of the point cloud data while fully retaining the geometric features of the workpiece, such as the weld joint and the profile of the section steel. Typically, 50% to 70% of the data is retained, reducing the number of point clouds and reducing the time-consuming of subsequent registration calculations. Finally, preprocessed data is obtained. After preprocessing, the processing assembly 9 transmits the data to the control assembly 1.

[0046] Further, the registration of the preprocessed data and the original data in step S4 includes the following steps: Select at least three non-collinear feature points, align the preprocessed data and the original data corresponding to the points, and obtain a coarse registration matrix; Using the coarse registration matrix as the initial matrix, an iterative closest point algorithm is used with an error registration threshold to align the preprocessed data and the original data.

[0047] Specifically, the control assembly 1 calls the original data in the storage assembly 11, the point cloud data converted from the workpiece IFC model, and the preprocessed data for coarse registration and fine registration to determine the deviation of the actual pose of the workpiece from the theoretical model, including the following steps: Coarse registration: through the human-computer interaction interface of the control component 1, manually select three non-collinear feature points of the original data and the pretreated data respectively, such as three corner points or key interface points of the workpiece; the control component 1 calculates a coarse registration matrix according to the coordinate difference of the corresponding feature points, and realizes the preliminary alignment of the original data and the pretreated data.

[0048] Fine registration: taking the coarse registration matrix as the initial matrix, the ICP (iterative closest point) algorithm is used for fine registration; the control component 1 predefines an error registration threshold, such as ±0.05 mm, iteratively calculates the distance between the two point clouds, and when the registration error changes of three consecutive iterations are lower than the threshold, it is determined that the algorithm converges, and the optimal rigid transformation matrix is obtained; at this time, the workpiece model point cloud and the actual workpiece point cloud are completely aligned, and the control component 1 calculates the position deviation of the workpiece to be welded from the theoretical model according to the optimal transformation matrix, such as X axis deviation ±0.03 mm, Y axis deviation ±0.02 mm, and Z axis deviation ±0.04 mm.

[0049] The control component 1 sends an adjustment instruction to the driving component 2 according to the position deviation calculated in step S4: drive the XYZ guide rail linkage to move the welding robot 31 on the fixed frame 7, so that the actual position of the welding gun 32 is accurately aligned with the actual position of the weld, and the deviation is ≤±0.05 mm; at the same time, the control component 1 sends an instruction to the welding power supply 10 to adjust the welding parameters (such as current and voltage) to the preset value, and completes the positioning preparation before welding.

[0050] Further, the welding positioning method of the offshore oil platform block structure further comprises the following steps: storing the placement position of the workpiece to be welded in space for offline calling.

[0051] After step S5 is completed, the control component 1 automatically stores the pose data (including XYZ coordinates and attitude angles) of the workpiece to be welded in space to the storage component 11; when welding the same specification and same placement position of the workpiece subsequently, steps S2-S4 do not need to be repeated, and the control component 1 directly reads the historical pose data from the storage component 11 to drive the welding component 3 to quickly position, which greatly improves the welding efficiency.

[0052] In order to make the technical scheme of the present application clearer, the present application will be further described in combination with the offshore oil platform block H-shaped steel butt welding scene, but the protection scope of the present application is not limited.

[0053] The control component 1 reads the IFC model of the H-shaped steel from the BIM system, extracts the theoretical position and external dimensions of the weld, and stores them to the SSD; the selected specification of the H-shaped steel is 500×200×10×16, the selected theoretical position of the weld is X=2000 mm, Y=3000 mm, Z=1500 mm, and the selected external dimensions are 3000 mm in length, 200 mm in width and 500 mm in height.

[0054] The crane hoists the H-shaped steel to the welding area, the approximate position is X=2000±50mm, Y=3000±50mm, the control assembly 1 drives the 3D camera to move to Z=1800mm, 300mm away from the workpiece surface, in the imaging depth, the scanning obtains 2 million point cloud data, and the XYZ coordinate system is converted through the hand-eye calibration matrix.

[0055] The processing assembly 9 performs: ROI extraction, removes the platform point cloud, and retains 1.5 million workpiece point clouds; voxel filtering, voxel size 0.5mm*0.5mm*0.5mm, obtains 800,000 points; random sampling, retains 60%, obtains 480,000 pre-processing data, and transmits to the control assembly 1.

[0056] Coarse registration: manually selects three non-collinear corner points (model (1800, 2800, 1250); actual (1802, 2803, 1248)), and obtains a coarse registration matrix.

[0057] Fine registration: the ICP algorithm converges after 3 iterations, the error is 0.04mm, and the deviation is calculated: X+2.1mm, Y+3.2mm, Z-2.3mm.

[0058] The control assembly 1 drives the guide rail adjustment: X+2.1mm, Y+3.2mm, Z-2.3mm, the welding gun 32 is aligned with the actual weld, and the deviation is 0.03mm; the welding power supply 10 is adjusted to a current of 220A and a voltage of 26V, and positioning is completed.

[0059] The system stores the H-shaped steel pose as X=2002.1mm, Y=3003.2mm, and Z=1497.7mm, and the data is called for subsequent same workpieces, and positioning is completed within 10 seconds, saving 25 minutes per piece.

[0060] Obviously, the above embodiments of the application are only examples for clearly illustrating the application, and are not intended to limit the embodiments of the application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments are not enumerated. Any modification, equivalent replacement and improvement made within the spirit and principle of the application should be included in the protection scope of the claims of the application.

Claims

1. A welding positioning system for a modular structure of an offshore oil platform, characterized in that, Includes: control components, drive components, welding components, X-axis guide rails, Y-axis guide rails, Z-axis guide rails, and mounting brackets; Both the drive assembly and the welding assembly are electrically connected to the output terminal of the control assembly. The welding assembly is fixedly mounted at the lower end of the fixing frame. The Z-axis guide rail is arranged vertically, and the X-axis guide rail and the Y-axis guide rail are arranged horizontally. The extension direction of the X-axis guide rail is perpendicular to the extension direction of the Y-axis guide rail. The driving assembly drives the Y-axis guide rail to move along the X-axis guide rail, the Z-axis guide rail to move along the Y-axis guide rail, and the fixing frame to move along the Z-axis guide rail.

2. The welding positioning system for offshore oil platform modular structures according to claim 1, characterized in that, It also includes an identification component, which is fixedly connected to the mounting bracket to facilitate the identification of the welding position.

3. The welding positioning system for offshore oil platform modular structures according to claim 2, characterized in that, It also includes a processing component, which is electrically connected to the identification component and the control component respectively, and is used to process the data of the identification component and upload it to the input terminal of the control component.

4. The welding positioning system for offshore oil platform modular structures according to claim 1, characterized in that, It also includes a welding power source, which is electrically connected to the output terminals of the welding assembly and the control assembly, respectively.

5. The welding positioning system for offshore oil platform modular structures according to claim 1, characterized in that, It also includes a storage component, which is electrically connected to the input and output terminals of the control component.

6. A welding positioning method for a marine oil platform module structure, employing the welding positioning system for a marine oil platform module structure as described in any one of claims 1 to 5, characterized in that, Includes the following steps: S1. Obtain the geometric features of the workpiece to be welded and obtain the raw data; S2. The identification component is controlled by the control component to scan the workpiece to be welded, and the collected data is obtained. S3. Preprocess the collected data to obtain preprocessed data; S4. Register the preprocessed data with the original data, and determine the positional deviation of the workpiece to be welded based on the registration result; S5. Based on the positional deviation of the workpiece to be welded, the control component drives the welding component to match the weld position of the workpiece to be welded.

7. The welding positioning method for offshore oil platform module structures according to claim 6, characterized in that, Step S3 involves preprocessing the collected data, including the following steps: Based on the placement of the workpiece to be welded, the region of interest is extracted to obtain the first coarse data; The first coarse data is filtered and denoised to obtain preprocessed data.

8. The welding positioning method for the modular structure of an offshore oil platform according to claim 6, characterized in that, Step S3 involves preprocessing the collected data, including the following steps: Based on the placement of the workpiece to be welded, the region of interest is extracted to obtain the first coarse data; The first coarse data is filtered and denoised to obtain the second coarse data; The second coarse data is downsampled to obtain preprocessed data.

9. The welding positioning method for the modular structure of an offshore oil platform according to claim 6, characterized in that, Step S4, registering the preprocessed data with the original data, includes the following steps: Select at least three non-collinear feature points, align the preprocessed data of the corresponding points with the original data, and obtain a coarse registration matrix; Using the coarse registration matrix as the initial matrix, the iterative nearest point algorithm is adopted and the error registration threshold is set to align the preprocessed data with the original data.

10. The welding positioning method for the modular structure of an offshore oil platform according to claim 6, characterized in that, It also includes the following steps: The placement of the workpiece to be welded in space is stored for retrieval when offline.

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