Pipe all-position submerged arc welding method, device and equipment based on global three-dimensional reconstruction and storage medium

Abstract

This application discloses a method, apparatus, equipment, and storage medium for all-position submerged arc welding of pipelines based on global 3D reconstruction, relating to the field of welding automation technology. The method includes: acquiring 3D point cloud data of the outer surface of the pipeline to be welded, and establishing a global coordinate system for the pipeline based on the 3D point cloud data; determining a welding path based on the 3D point cloud data within the global coordinate system; controlling a welding execution device to weld along the welding path; performing real-time internal defect detection on the welded seam after welding begins, and obtaining defect detection results; and optimizing welding process parameters in real-time based on the defect detection results until welding is completed. This application can improve the welding quality of pipeline welds.

Description

Technical Field

[0001] This application relates to the field of welding automation technology, and in particular to a method, apparatus, equipment and storage medium for all-position submerged arc welding of pipelines based on global three-dimensional reconstruction. Background Technology

[0002] In pipeline engineering, the quality of circumferential welds on large-diameter, thick-walled pipes is crucial. Pipelines often possess characteristics such as large diameter, thick walls, and immobility, making traditional flat-position submerged arc welding (SAW) unsuitable. All-position SAW technology is required, where the welding torch can continuously operate along the circumferential weld in various spatial orientations, including flat, vertical, and overhead positions. However, this process has significant drawbacks: the fluidity and heat distribution of the molten pool vary greatly at different welding positions, resulting in suboptimal weld quality. Therefore, improving the weld quality of pipeline welds remains a problem that needs to be addressed.

[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, equipment, and storage medium for all-position submerged arc welding of pipelines based on global three-dimensional reconstruction, aiming to solve the technical problem of how to improve the welding quality of pipeline welds.

[0005] To achieve the above objectives, this application proposes a pipeline all-position submerged arc welding method based on global three-dimensional reconstruction, the method comprising:

[0006] Acquire three-dimensional point cloud data of the outer surface of the pipe to be welded, and establish a global coordinate system for the pipe based on the three-dimensional point cloud data; The welding path is determined based on the three-dimensional point cloud data in the global coordinate system of the pipeline. Control the welding actuator to perform welding along the welding path; After welding begins, real-time internal defect detection is performed on the welded seams to obtain the defect detection results; Based on the defect detection results, the welding process parameters are optimized in real time until the welding is completed.

[0007] In one embodiment, the step of establishing a global coordinate system for the pipeline based on the three-dimensional point cloud data includes: The first straight pipe segment's point cloud subset is segmented from the three-dimensional point cloud data; The axial direction of the point cloud subset of the first straight pipe segment is fitted to obtain the pipe axial vector; The axial vector of the pipe is determined as the reference axis of the global coordinate system, and the midpoint of the axis of the first straight pipe segment is determined as the origin of the global coordinate system. Establish a global coordinate system for the pipeline based on the reference axis and the origin.

[0008] In one embodiment, the step of determining the welding path based on the three-dimensional point cloud data includes: The edge point clouds of the bevels on both sides of each pipe weld are segmented from the three-dimensional point cloud data; Spatial circle fitting is performed on the edge point clouds of the two bevels respectively to obtain the center and radius of the circles of the two bevels; The welding path is generated based on the center and radius of the bevel circles on both sides.

[0009] In one embodiment, before the step of controlling the welding execution device to weld along the welding path, the method further includes: The calibration trajectory is determined based on the weld path; The welding torch tip of the welding actuator is controlled to move along the calibrated trajectory, and the set of motion points of the welding torch tip in the welding torch tip coordinate system is recorded; The transformation relationship between the welding torch end coordinate system and the pipeline global coordinate system is calculated based on the set of motion points and the calibration trajectory.

[0010] In one embodiment, the step of controlling the welding execution device to perform welding along the welding path includes: Real-time acquisition of the actual position of the welding torch tip in the global coordinate system of the pipeline during the welding process; Calculate the lateral position deviation of the welding torch tip based on the actual position and the welding path; The welding actuator is corrected in real time based on the lateral position deviation.

[0011] In one embodiment, the step of performing real-time internal defect detection on the welded seam to obtain the defect detection result includes: A laser excitation beam is used to irradiate the welded seam to generate ultrasonic waves, and the vibration signal returned by the ultrasonic waves is received. The real-time temperature of the welded seam is obtained, and the target compensated sound velocity is calculated based on the real-time temperature. Defect detection is performed based on the vibration signal and the target compensated sound velocity to obtain the defect detection result.

[0012] In one embodiment, the step of real-time optimization of welding process parameters based on the defect detection results includes: Based on the defect detection results, the quality index data of the completed welding segment are obtained; The quality index data is compared with a preset quality threshold to obtain the comparison result; The welding process parameters are optimized in real time based on the comparison results until the welding is completed.

[0013] Furthermore, to achieve the above objectives, this application also proposes a pipeline all-position submerged arc welding device based on global three-dimensional reconstruction, the pipeline all-position submerged arc welding device based on global three-dimensional reconstruction comprising: A module is established to acquire three-dimensional point cloud data of the outer surface of the pipe to be welded, and to establish a global coordinate system for the pipe based on the three-dimensional point cloud data; The determination module is used to determine the welding path based on the three-dimensional point cloud data in the global coordinate system of the pipeline; A welding module is used to control the welding actuator to perform welding along the welding path; The detection module is used to perform real-time internal defect detection on the welded seams after welding has started, and to obtain the defect detection results. The optimization module is used to optimize the welding process parameters in real time based on the defect detection results until the welding is completed.

[0014] Furthermore, to achieve the above objectives, this application also proposes a pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction. The equipment includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The computer program is configured to implement the steps of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction as described above.

[0015] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction as described above.

[0016] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction as described above.

[0017] This application provides a method for all-position submerged arc welding of pipelines based on global 3D reconstruction. The method acquires 3D point cloud data of the outer surface of the pipeline to be welded and establishes a global coordinate system for the pipeline based on the 3D point cloud data. Under the global coordinate system, a welding path is determined based on the 3D point cloud data. A welding execution device is controlled to weld along the welding path. After welding begins, real-time internal defect detection is performed on the welded seam to obtain defect detection results. Welding process parameters are optimized in real-time based on the defect detection results until welding is completed. This application achieves precise planning and automatic generation of the welding path by acquiring 3D point cloud data of the pipeline and establishing a global coordinate system. By controlling the welding execution device to move along the planned path and simultaneously performing real-time defect detection, the method achieves immediate detection and location of internal defects in the weld seam. Finally, by dynamically optimizing the welding process parameters based on the real-time defect detection results, the method ensures the controllability of welding quality and improves the welding quality of pipeline welds. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic flowchart of an embodiment of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction in this application. Figure 2 This is a schematic diagram of the welding execution device and pipeline provided in Embodiment 1 of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction of this application; Figure 3 This is a structural diagram of the flux collection device provided in Embodiment 1 of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction of this application; Figure 4 This is a schematic diagram of welding path planning provided in Embodiment 1 of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction of this application; Figure 5 This is a schematic diagram of the process for Embodiment 2 of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction in this application; Figure 6 This is a schematic diagram of the modular structure of the pipeline all-position submerged arc welding device based on global three-dimensional reconstruction, as described in an embodiment of this application. Figure 7This is a schematic diagram of the equipment structure of the hardware operating environment involved in the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction in the embodiments of this application.

[0021] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0023] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0024] This application acquires three-dimensional point cloud data of the outer surface of the pipe to be welded, and establishes a global coordinate system for the pipe based on the three-dimensional point cloud data; under the global coordinate system of the pipe, a welding path is determined based on the three-dimensional point cloud data; the welding execution device is controlled to perform welding along the welding path; after welding begins, the welded weld is subjected to real-time internal defect detection to obtain defect detection results; the welding process parameters are optimized in real-time based on the defect detection results until welding is completed.

[0025] In pipeline engineering, the quality of circumferential welds on large-diameter, thick-walled pipes is crucial. Pipelines often possess characteristics such as large diameter, thick walls, and immobility, making traditional flat-position submerged arc welding (SAW) unsuitable. All-position SAW technology is required, where the welding torch can continuously operate along the circumferential weld in various spatial orientations, including flat, vertical, and overhead positions. However, this process has significant drawbacks: the fluidity and heat distribution of the molten pool vary greatly at different welding positions, resulting in suboptimal weld quality. Therefore, improving the weld quality of pipeline welds remains a problem that needs to be addressed.

[0026] This application achieves precise planning and automatic generation of welding paths by acquiring three-dimensional point cloud data of pipelines and establishing a global coordinate system. By controlling the welding execution device to move along the planned path and simultaneously performing real-time defect detection, it enables the immediate detection and location of internal defects in the weld. Finally, by dynamically optimizing the welding process parameters based on the real-time defect detection results, it ensures the controllability of welding quality and improves the welding quality of pipeline welds.

[0027] Based on this, the embodiments of this application provide a pipeline all-position submerged arc welding method based on global three-dimensional reconstruction, referring to... Figure 1 , Figure 1 This is a schematic flowchart of the first embodiment of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction of this application.

[0028] In this embodiment, the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction includes steps S10~S40: Step S10: Obtain the three-dimensional point cloud data of the outer surface of the pipe to be welded, and establish a global coordinate system for the pipe based on the three-dimensional point cloud data; It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction. The following description uses a pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction as an example to illustrate this embodiment and the subsequent embodiments.

[0029] It should be noted that the pipe used in this embodiment is a circular pipe. Therefore, the weld seam of the pipe to be welded can be nearly circular. The point cloud data of the entire pipe can be obtained by external 3D scanning. The global coordinate system of the pipe is established with the first straight pipe section as the reference, thereby obtaining the global 3D geometric model of the pipe, so as to obtain the coordinate data of any point cloud in the pipe and achieve precise welding.

[0030] In one feasible approach, the step of establishing a global coordinate system for the pipeline based on the 3D point cloud data includes: Step A101: Segment the point cloud subset of the first straight pipe segment from the three-dimensional point cloud data; It should be noted that the first step is the acquisition of 3D point clouds. A handheld 3D scanning device can be used to perform a full-coverage scan of the outer surface of the pipe to be welded, obtaining a set of 3D point cloud data of the pipe and weld area, denoted as:

[0031] in, For the overall point cloud collection, For the number of points in the point cloud; For the first The three-dimensional coordinates of a point in the coordinate system of the scanning device. These are three coordinate components. Further adjustments can be made to the point cloud set as needed. Voxel grid downsampling and noise reduction are performed to reduce the amount of data and filter out noise points.

[0032] Then, pipe segmentation and extraction of the first straight pipe segment are performed. Based on the spatial distribution and local geometric features of the point cloud, the overall point cloud can be segmented into pipe segments, dividing the pipe into several subsets of point cloud segments:

[0033] Where J represents the number of pipe segments obtained from the division. Let j be the point cloud set of the j-th pipe segment. Straight pipe segments are identified using criteria such as curvature, normal variation, and cylinder fitting radius. These segments are then numbered sequentially from one end to the other according to the axial direction of the pipe arrangement. The point cloud of the pipe segment that appears first in sequence and meets the straight pipe condition is recorded as the first straight pipe segment point cloud. .

[0034] Step A102: Fit the axial direction of the point cloud subset of the first straight pipe segment to obtain the pipe axial vector; It should be noted that the point cloud for the first straight pipe section... Calculate its centroid:

[0035] in, The centroid coordinates of the point cloud for the first straight pipe segment; Count the points in this segment of the point cloud. Then, analyze the point cloud... Principal component analysis (PCA) or least squares cylindrical fitting is used to obtain the unit direction vector that best represents the axial direction of the straight pipe segment. This direction vector is denoted as... , It indicates the spatial direction of the centerline of the first straight pipe segment, and is used as the Z-axis direction of the global coordinate system.

[0036] Step A103: Determine the axial vector of the pipe as the reference axis of the global coordinate system, and determine the midpoint of the axis of the first straight pipe segment as the origin of the global coordinate system; It should be noted that, in obtaining the direction of the central axis Afterwards, Along each point in the middle By projecting the direction, the start and end points of the straight pipe segment along the central axis are determined, and the corresponding spatial points are recorded. and Then the geometric center point of the centerline of the first straight pipe segment is defined as:

[0037] in, The midpoint of the axis of the first straight pipe segment will be used as the origin of the global coordinate system G for the pipeline. , These are the spatial coordinates of the two ends of the axial projection range of the straight pipe segment. The central axis direction and midpoint of the first straight pipe segment are used as the reference for establishing the subsequent global coordinate system.

[0038] Step A104: Establish a global coordinate system for the pipeline based on the reference axis and the origin.

[0039] It should be noted that after fitting the centerline of the first straight pipe segment, the midpoint of the centerline of the first straight pipe segment is used as the reference point. and axis direction Establish a global coordinate system G for the pipeline based on the reference.

[0040] First, the obtained central axis direction is directly defined as the Z-axis direction of the global coordinate system; the midpoint of the central axis is defined as the origin of the global coordinate system. Then, on the cross-sectional plane perpendicular to the axis, a unit direction vector that is approximately consistent with the radial direction of the pipe is selected as the axis direction, and the axis direction is constructed by cross product to form a set of right-handed orthogonal bases.

[0041] Based on this, the rotation matrix of the pipeline's global coordinate system can be constructed:

[0042] in, Let G be the rotation matrix from the scanning device coordinate system to the pipeline global coordinate system G. , , These are the unit vectors for the X, Y, and Z axes of the global coordinate system, respectively. For any original point cloud point, its coordinates in the global coordinate system G can be obtained using the following formula:

[0043] in, The coordinates of the origin of the global coordinate system in the coordinate system of the scanning device. This represents the coordinates of the point in the coordinate system of the scanning device.

[0044] By transforming the coordinates of all points in the overall point cloud, a three-dimensional geometric model of the entire pipe can be obtained in a unified global coordinate system.

[0045] Step S20: Determine the welding path based on the three-dimensional point cloud data in the global coordinate system of the pipeline; It should be noted that, in the global coordinate system of the pipeline, the center line of each circumferential weld can be extracted and the welding path can be generated based on the global point cloud of the pipeline and the edge point cloud of the bevel.

[0046] In one feasible approach, the step of determining the welding path based on the three-dimensional point cloud data includes: Step A201: Segment the edge point clouds of the bevels on both sides of each pipe weld from the three-dimensional point cloud data; It should be noted that, in the global coordinate system G, for point clouds... Calculate the geometric features such as normal, curvature, and height, and combine them with the approximate location of the weld or a pre-marked bevel region to construct the discriminant function for the i-th weld. The point cloud of the weld area is segmented from the overall point cloud:

[0047] in, Let be the point cloud set of the i-th weld, and let be the coordinates of a point in the global coordinate system. This is an indicator function; it takes the value 1 if the point belongs to the i-th weld region, and 0 otherwise.

[0048] To separate the bevel edge points on both sides of the weld from the smooth outer surface of the pipe body, the edges can be identified based on the local curvature or normal abrupt change in the point cloud. For each point, a local curvature index is calculated in its neighborhood, and a threshold is set to identify points that meet the criteria as weld edge points.

[0049] in, Let i be the set of edge point clouds of the i-th weld. For the first Local curvature index at each point; This is the preset curvature threshold.

[0050] Since the circumferential weld is formed by the butt joint of two circular pipes, the edge point cloud is actually composed of two parallel, approximately circular bevel edges. Spatial clustering can be used to automatically segment the edge point cloud into two bevel edge point clouds:

[0051] in, Let the bevel edge of the pipe end on one side of the i-th weld be represented by a point cloud. Point clouds are generated at the bevel edge of the other pipe end.

[0052] Step A202: Perform spatial circle fitting on the edge point clouds of the two bevels respectively to obtain the center and radius of the circles of the two bevels; It should be noted that, on a cross-sectional plane perpendicular to the pipe axis, the point clouds at the edges of the bevels on both sides can be fitted with circles, and then the weld centerline can be obtained through the middle circle of the two circles.

[0053] Using the calculated pipe axis direction Global origin and cross-sectional basis vectors , Determine the center point of the cross section containing the i-th weld. This center point can be obtained by the average projection of the point cloud of the local area of ​​the weld onto the axial direction, or given according to the design axial position; this embodiment does not impose any limitations. Then, with... Using the reference point, the point clouds at the edges of the two bevels are projected onto the reference point. , In the cross-sectional plane with as the base, for the edge point cloud of the first pipe end bevel. any point in Its two-dimensional coordinates within the cross section are:

[0054] Similarly, for any point in the point cloud at the edge of the second pipe end bevel:

[0055] In the two-dimensional plane (X,Y), {( , )}and{( , The points form two approximately circular sets. This invention performs circle fitting on these two sets of points, taking the first side bevel as an example; the fitting objective is to find the center of the circle (…). , ) and radius To minimize the fitting error:

[0056] Similarly, a circle is fitted to the point cloud at the edge of the second bevel to obtain the center of the circle ( , ) and radius By restoring the fitted circle centers from the cross-sectional plane coordinates to the three-dimensional global coordinate system {G}, the three-dimensional center coordinates of the two bevel circles can be obtained:

[0057] in, The three-dimensional coordinates of the center of the first pipe end bevel circle are: The coordinates of the three-dimensional center of the bevel circle at the second pipe end are given.

[0058] Since the weld is theoretically located in the middle between the two bevels, the weld centerline can be defined as the middle circle between the two bevel circles. The center and radius of this middle circle are obtained by arithmetic mean:

[0059] in, The three-dimensional center coordinates of the center circle of the i-th circumferential weld. The radius of the center circle of the i-th circumferential weld.

[0060] Step A203: Generate a welding path based on the center and radius of the bevel circles on both sides.

[0061] It should be noted that the centerline trajectory of the i-th circumferential weld can be determined using angular parameters within the cross-sectional plane. Represented as:

[0062] in, This is the centerline of the circumferential weld, providing a spatial reference for the path planning of subsequent welding equipment.

[0063] To facilitate trajectory tracking of CNC welding equipment at discrete points, angle parameters can be... By step size Discretize:

[0064] This yields the set of discrete welding path points for the i-th circumferential weld:

[0065] in, Let be the set of welding path points for the i-th circumferential weld. The number of discrete points along the path, determined by the angular resolution. Decide.

[0066] Step S30: Control the welding execution device to perform welding along the welding path; It should be noted that the welding actuator can be a pipe magnetic chuck welding trolley, capable of automatically moving along the pipe and completing the welding. A schematic diagram of the welding actuator and pipe can be found here. Figure 2 , Figure 2 In the diagram, 1 represents a pipe; 2 represents a pipe weld; 3 represents a welding carriage; 4 represents a horizontal adjustment module of the welding device; 5 represents a wire feeder drive motor; 6 represents a welding device connecting plate; 7 represents a wire feeder; 8 represents an ultrasonic device adjustment component; 9 represents a flux collection device; and 10 represents an ultrasonic device. The structural diagram of the flux-collecting device of the welding actuator can be referenced. Figure 3 , Figure 3 In the Chinese section, number 11 indicates the flux feed port; 12 indicates the flux compression linear module; 13 indicates the welding gun limiting hole; 14 indicates the welding gun lifting module; 15 indicates the flux collection box; 16 indicates quartz glass; and 17 indicates the roller. A welding path planning diagram can be used as a reference. Figure 4 , Figure 4 In the diagram, the numbers 18 represent the global coordinate system; 19 represent the trolley coordinate system; 20 represent the welding torch and trolley connection module; 21 represent the welding torch coordinate system; 22 represent the i-th weld seam; 23 represent the (i+1)-th weld seam; and 24 represent the (i+2)-th weld seam.

[0067] In one embodiment, before the step of controlling the welding actuator to weld along the welding path, the method further includes: determining a calibration trajectory based on the weld path; controlling the welding torch tip of the welding actuator to move along the calibration trajectory and recording the set of motion points of the welding torch tip in the welding torch tip coordinate system; and calculating the transformation relationship between the welding torch tip coordinate system and the pipeline global coordinate system based on the set of motion points and the calibration trajectory.

[0068] It should be noted that the rigid body coordinate system of the pipe magnetic chuck welding trolley can be defined as C, then the homogeneous transformation of the trolley relative to the global coordinate system G can be expressed as:

[0069] in, This is a 3x3 rotation matrix representing the car's posture. It is a 3x1 translation vector.

[0070] If the coordinates of any point in the car's coordinate system are... Its coordinates in the global coordinate system Then it satisfies:

[0071] The rigid body installation relationship between the welding torch end coordinate system T and the trolley coordinate system C is expressed as follows:

[0072] in, The installation orientation of the welding torch relative to the trolley. Let be the position vector of the welding torch tip relative to the origin of the trolley coordinate system. The coordinates of any point in the welding torch coordinate system are: Its coordinates in the car coordinate system , can be represented as:

[0073] Therefore, the homogeneous transformation relationship of the welding torch tip relative to the global coordinate system can be obtained:

[0074] Specifically, the relationship between the welding torch tip coordinate system T and the welding carriage body coordinate system C can be optimally determined through a combination of mechanical measurement and geometric modeling. During the design phase, based on the 3D models of the welding torch mounting bracket and the carriage frame, the theoretical position and orientation of the welding torch tip reference point in the carriage coordinate system can be given, yielding the theoretical rotation matrix and position vector. After assembly, using the positioning holes and reference surfaces on the carriage frame as references, the distance between the welding torch tip reference point and the carriage, as well as the angle between the welding torch tip and the carriage axis, are measured using tools such as rulers, calipers, and angle gauges. The theoretical values ​​are then corrected to obtain the actual position vector of the welding torch tip in the carriage coordinate system. , and rotation matrix Based on this, the rigid body transformation of the welding torch tip relative to the carriage is constructed. It is used to sequentially transform the coordinate system of the welding torch end to the trolley coordinate system and the global coordinate system of the pipeline.

[0075] To establish the relationship between the trolley coordinate system C and the pipeline global coordinate system G, a reference weld centerline known in the 3D reconstruction model can be selected as the calibration trajectory. The welding trolley is controlled to move the tip of the welding torch a short distance along the weld, and the set of points at the tip of the welding torch in the trolley coordinate system is recorded.

[0076] Each of them It can be obtained from the origin of the coordinate system at the end of the welding torch through... Obtained through conversion.

[0077] Simultaneously, the corresponding global coordinate points are extracted from the reference weld centerline:

[0078] by and To achieve a one-to-one correspondence, the optimal rotation matrix and translation vector are solved using least-squares rigid body registration:

[0079] Solve for the optimal rotation matrix Translation vector Then, the calibrated result is obtained. Then, through the rigid transformation matrix between the trolley and the welding torch The transformation matrix between the welding torch and the global coordinates is obtained. This allows the welding torch tip to be precisely positioned in the global coordinate system.

[0080] In one feasible approach, the step of controlling the welding actuator to weld along the welding path includes: acquiring in real time the actual position of the welding torch tip in the global coordinate system of the pipeline during the welding process; calculating the lateral position deviation of the welding torch tip based on the actual position and the welding path; and correcting the welding actuator in real time based on the lateral position deviation.

[0081] It should be noted that in the local coordinate system of the weld, the direction of the weld centerline is defined as longitudinal, and the direction perpendicular to the weld is defined as transverse. Therefore, the transverse error is defined as:

[0082] in, arc length Lateral deviation between the welding torch and the center of the weld. Let be the horizontal coordinate of the welding torch. This can be obtained by projecting the position of the welding torch tip in the global coordinate system onto a local coordinate system near the center line of the i-th weld seam, using an arc length s. The lateral coordinate of the weld center point at the same arc length position (theoretically, it is usually 0), i.e. This represents the lateral coordinate of the center point of the weld.

[0083] Then, lateral deviation control of the welding torch is performed. Proportional control can be used to correct the lateral position of the welding torch, with the command increment being:

[0084] in, This refers to the adjustment amount of the welding torch's lateral position at arc length s. This is the gain for lateral error control.

[0085] The control system adjusts the lateral position of the welding torch by incremental commands. When there is a slight deviation in the movement of the trolley along the predetermined center line, the lateral position of the welding torch relative to the center of the weld can be corrected in real time. This enables short-cycle path correction during submerged arc welding, ensuring that the welding process does not have excessive deviations and improving welding quality.

[0086] Step S40: After welding begins, perform real-time internal defect detection on the welded seam to obtain the defect detection results; It should be noted that after welding begins, real-time internal defect detection can be performed on the welded seam immediately to determine whether defects exist. This allows for adjustments to welding parameters to reduce defects and improve subsequent welding quality. Specifically, laser ultrasonic testing can be used for this detection.

[0087] In one feasible approach, the step of performing real-time internal defect detection on the welded seam to obtain defect detection results includes: irradiating the welded seam with a laser excitation beam to excite ultrasonic waves and receiving vibration signals returned by the ultrasonic waves; acquiring the real-time temperature of the welded seam and calculating a target compensated sound velocity based on the real-time temperature; and performing defect detection based on the vibration signal and the target compensated sound velocity to obtain defect detection results.

[0088] It should be noted that the laser ultrasonic detection module can be placed on the welding carriage. The laser ultrasonic detection module includes a laser excitation beam and a laser detection beam. The two are focused on the area near the weld on the inner or outer wall of the pipe through an optical system, so as to excite and receive ultrasonic signals without contact.

[0089] The pose of the laser ultrasonic testing module relative to the welding carriage coordinate system C is a fixed homogeneous transformation matrix. For the current pose of the car in the global coordinate system G. Then the position of the laser irradiation point in the global coordinate system Its position in the car coordinate system The relationship between them is:

[0090] Furthermore, since the weld and its heat-affected zone have high temperatures after welding, and the ultrasonic wave propagation velocity in the material varies with temperature, to improve the accuracy of defect depth and location calculations, a temperature sensor is placed near the laser irradiation area to measure the surface temperature T at that location in real time. Assume the inspected steel is at a reference temperature... The speed of sound below is The speed of sound changes with temperature in an approximate linear manner. Therefore, the speed of sound model at temperature T is:

[0091] in, Let be the velocity of sound in the material at temperature T. is the linear coefficient of sound speed as a function of temperature.

[0092] During laser ultrasonic testing, the velocity of sound is determined based on the real-time temperature T output by the temperature sensor. This is used to calculate the subsequent propagation distance and defect location, thereby compensating for the impact of high temperature on measurement accuracy.

[0093] During ultrasonic testing, for a specific defect echo, its flight time is recorded as follows: Under the ultrasonic "excitation-reception" two-way model, the equivalent propagation distance corresponding to the defect echo is:

[0094] in, This represents the propagation distance from the effective sound source point of the laser-ultrasound to the defect. The time of flight corresponding to the defect echo. The calculated speed of sound.

[0095] For a certain defect echo, in the trolley coordinate system C, let the position of the effective sound source point of the laser ultrasound be... The equivalent propagation direction unit vector of ultrasound within the material is: The spatial coordinates of the corresponding defect point in the trolley coordinate system are:

[0096] in, The coordinates of the defect point in the vehicle coordinate system are: For the distance of propagation.

[0097] Using the previously calculated car pose transformation matrix The coordinates of the defect point can be transformed to the global coordinate system:

[0098] in, Let G be the coordinates of the defect point in the global coordinate system G.

[0099] The centerline trajectory of the i-th circumferential weld is obtained by point cloud reconstruction and bevel circle fitting. , For any defect point on the i-th weld... It can be mapped to the angular position corresponding to the weld centerline trajectory through nearest-point projection:

[0100] in, Let be the angular position of the defect on the i-th weld.

[0101] Using the above formula, each defect can be represented as "located in the i-th circumferential weld, at an angle..." "Defects located at a depth d from the outer surface of the pipe" are helpful for repair location and defect statistics.

[0102] Step S50: Optimize the welding process parameters in real time based on the defect detection results until welding is completed.

[0103] It should be noted that the welding quality level can be determined by statistically analyzing the defect detection results. When the welding quality is lower than expected, the welding process parameters can be optimized in real time based on the defect detection results to improve the quality of subsequent welding and reduce the overall welding process defects.

[0104] This embodiment acquires three-dimensional point cloud data of the outer surface of the pipeline to be welded, and establishes a global coordinate system for the pipeline based on the three-dimensional point cloud data. Under the global coordinate system, a welding path is determined based on the three-dimensional point cloud data. The welding execution device is controlled to weld along the welding path. After welding begins, real-time internal defect detection is performed on the welded seam to obtain defect detection results. Based on the defect detection results, the welding process parameters are optimized in real-time until welding is completed. This embodiment achieves precise planning and automatic generation of the welding path by acquiring three-dimensional point cloud data of the pipeline and establishing a global coordinate system. By controlling the welding execution device to move along the planned path and simultaneously performing real-time defect detection, the immediate detection and location of internal defects in the weld seam are achieved. Finally, by dynamically optimizing the welding process parameters based on the real-time defect detection results, the controllability of welding quality is ensured, and the welding quality of the pipeline weld seam is improved.

[0105] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 5 Step S50 also includes steps S501 to S503: Step S501: Based on the defect detection results, obtain the quality index data of the completed welding segment; It should be noted that the ultrasonic testing results of the i-th weld can be statistically analyzed, and the following three quality indicators can be defined: the total number of defects detected in the weld. Maximum defect length of weld Maximum defect depth of weld .

[0106] The quality loss value of this weld is defined based on quality indicators:

[0107] in, , , These are preset weighting coefficients, corresponding to the weights of defect quantity, length, and depth, respectively. The higher the value, the worse the overall quality of the weld.

[0108] Will With quality threshold In comparison, when When the weld is deemed to be of acceptable quality, it is considered to be of acceptable quality. If the weld is deemed substandard, it needs to be repaired or the process adjusted.

[0109] Step S502: Compare the quality index data with the preset quality threshold to obtain the comparison result; It should be noted that key welding process parameters are expressed in scalar form. For example, the welding current for the i-th weld of the same type is... Welding speed is Voltage is ; The preset quality threshold corresponding to the target defect level is set as: the target maximum defect length. Target maximum defect depth Number of target defects .

[0110] Based on the inspection results of the i-th weld, the maximum defect length, the target maximum defect depth, and the target defect number of the weld are compared with the preset quality thresholds to obtain the comparison results.

[0111] Step S503: Optimize the welding process parameters in real time based on the comparison results until welding is completed.

[0112] It should be noted that the process parameters for the (i+1)th weld of the same type are specifically optimized as follows:

[0113] in, , , Set the welding current, speed, and voltage values ​​for the (i+1)th weld. , , This is the corresponding correction gain coefficient. The optimization of process parameters follows a unidirectional correction principle: only when the actual defect index of the i-th weld... The corresponding parameter deduction or acceleration correction is only performed when the actual detected value exceeds the preset target reference value; if the actual detected value is less than or equal to the target reference value, the corresponding correction gain coefficient is set to zero, and the current process parameter settings remain unchanged to maintain the existing high-quality welding state. The difference in parentheses is as follows: This represents the deviation between the actual defect statistic and the target value. For example, when... When, the above formula makes This reduces the welding current of the next weld, thus decreasing porosity and cracks caused by overheating; when At that time, it made This increases heat input and improves fusion. Through the simple parameter optimization relationships described above, a closed-loop feedback optimization of the process parameters from the post-weld result to the next weld can be achieved.

[0114] This embodiment obtains quality index data of the completed welded section based on the defect detection results; compares the quality index data with a preset quality threshold to obtain the comparison result; and optimizes the welding process parameters in real time based on the comparison result until welding is completed. This embodiment directly converts the defect results of real-time ultrasonic detection into process parameter adjustment instructions, realizing closed-loop quality control of the welding process and adaptive optimization of process parameters. This avoids the problem of disconnect between detection and welding in traditional methods, and can dynamically suppress the generation and accumulation of defects, thereby improving the welding quality of pipeline welds.

[0115] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction. Any simple modifications based on this technical concept are within the protection scope of this application.

[0116] This application also provides a pipeline all-position submerged arc welding device based on global three-dimensional reconstruction. Please refer to [reference needed]. Figure 6 The pipeline all-position submerged arc welding device based on global three-dimensional reconstruction includes: Module 10 is used to acquire three-dimensional point cloud data of the outer surface of the pipe to be welded, and to establish a global coordinate system for the pipe based on the three-dimensional point cloud data. The determination module 20 is used to determine the welding path based on the three-dimensional point cloud data in the global coordinate system of the pipeline. Welding module 30 is used to control the welding execution device to perform welding along the welding path; The detection module 40 is used to perform real-time internal defect detection on the welded seam after welding has started, and to obtain the defect detection results. The optimization module 50 is used to optimize the welding process parameters in real time based on the defect detection results until the welding is completed.

[0117] This embodiment acquires three-dimensional point cloud data of the outer surface of the pipeline to be welded, and establishes a global coordinate system for the pipeline based on the three-dimensional point cloud data. Under the global coordinate system, a welding path is determined based on the three-dimensional point cloud data. The welding execution device is controlled to weld along the welding path. After welding begins, real-time internal defect detection is performed on the welded seam to obtain defect detection results. Based on the defect detection results, the welding process parameters are optimized in real-time until welding is completed. This embodiment achieves precise planning and automatic generation of the welding path by acquiring three-dimensional point cloud data of the pipeline and establishing a global coordinate system. By controlling the welding execution device to move along the planned path and simultaneously performing real-time defect detection, the immediate detection and location of internal defects in the weld seam are achieved. Finally, by dynamically optimizing the welding process parameters based on the real-time defect detection results, the controllability of welding quality is ensured, and the welding quality of the pipeline weld seam is improved.

[0118] In one embodiment, the establishment module 10 is further configured to segment a subset of the point cloud of the first straight pipe segment from the three-dimensional point cloud data; fit the axial direction of the subset of the point cloud of the first straight pipe segment to obtain the pipe axial vector; determine the pipe axial vector as the reference axis of the global coordinate system, and determine the midpoint of the axis of the first straight pipe segment as the origin of the global coordinate system; and establish a global coordinate system for the pipe based on the reference axis and the origin.

[0119] In one embodiment, the determining module 20 is further configured to segment the bevel region point cloud of each pipe weld from the three-dimensional point cloud data; extract the edge point cloud of the bevel on both sides of the pipe weld from the bevel region point cloud; perform spatial circle fitting on the edge point cloud of the bevel on both sides respectively to obtain the center and radius of the bevel circle on both sides; calculate the center circle data of the pipe weld based on the center and radius of the bevel circle on both sides; and generate a welding path according to the center circle data.

[0120] In one embodiment, the welding module 30 is further configured to determine a calibration trajectory based on the weld path; control the welding torch tip of the welding execution device to move along the calibration trajectory, and record the set of motion points of the welding torch tip in the welding torch tip coordinate system; and calculate the transformation relationship between the welding torch tip coordinate system and the pipeline global coordinate system based on the set of motion points and the calibration trajectory.

[0121] In one embodiment, the welding module 30 is further configured to acquire in real time the actual position of the welding torch tip in the global coordinate system of the pipeline during the welding process; calculate the lateral position deviation of the welding torch tip based on the actual position and the welding path; and perform real-time correction of the welding execution device based on the lateral position deviation.

[0122] In one embodiment, the detection module 40 is further configured to irradiate the welded seam with a laser excitation beam to excite ultrasonic waves, and receive the vibration signal returned by the ultrasonic waves; acquire the real-time temperature of the welded seam, and calculate the target compensated sound velocity based on the real-time temperature; perform defect detection based on the vibration signal and the target compensated sound velocity, and obtain the defect detection result.

[0123] In one embodiment, the optimization module 50 is further configured to obtain quality index data of the completed welded segment based on the defect detection results; compare the quality index data with a preset quality threshold to obtain a comparison result; and optimize the welding process parameters in real time based on the comparison result until the welding is completed.

[0124] The pipeline all-position submerged arc welding apparatus based on global three-dimensional reconstruction provided in this application, employing the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction in the above embodiments, can solve the technical problem of how to improve the welding quality of pipeline welds. Compared with the prior art, the beneficial effects of the pipeline all-position submerged arc welding apparatus based on global three-dimensional reconstruction provided in this application are the same as the beneficial effects of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction provided in the above embodiments, and other technical features in the pipeline all-position submerged arc welding apparatus based on global three-dimensional reconstruction are the same as the features disclosed in the methods of the above embodiments, and will not be repeated here.

[0125] This application provides a pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction. The pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction in the above embodiment 1.

[0126] The following is for reference. Figure 7 This document illustrates a structural schematic diagram of a pipeline all-position submerged arc welding equipment based on global 3D reconstruction, suitable for implementing embodiments of this application. The pipeline all-position submerged arc welding equipment based on global 3D reconstruction in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), and vehicle terminals (e.g., vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 7 The pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0127] like Figure 7 As shown, the pipeline all-position submerged arc welding equipment based on global 3D reconstruction may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in ROM (Read Only Memory) 1002 or the program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the pipeline all-position submerged arc welding equipment based on global 3D reconstruction. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the pipe all-position submerged arc welding equipment based on global 3D reconstruction to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a pipe all-position submerged arc welding equipment based on global 3D reconstruction with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0128] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0129] The pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction provided in this application, employing the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction in the above embodiments, can solve the technical problem of how to improve the welding quality of pipeline welds. Compared with the prior art, the beneficial effects of the pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction provided in this application are the same as the beneficial effects of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction provided in the above embodiments, and other technical features in the pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction are the same as the features disclosed in the method of the previous embodiment, and will not be repeated here.

[0130] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0131] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0132] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction in the above embodiments.

[0133] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0134] The aforementioned computer-readable storage medium may be included in a pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction; or it may exist independently and not assembled into a pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction.

[0135] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by a pipeline all-position submerged arc welding equipment based on global 3D reconstruction, the equipment causes the following: it acquires 3D point cloud data of the outer surface of the pipeline to be welded and establishes a global coordinate system for the pipeline based on the 3D point cloud data; it determines a welding path based on the 3D point cloud data within the global coordinate system; it controls a welding execution device to weld along the welding path; after welding begins, it performs real-time internal defect detection on the welded seam and obtains defect detection results; and it optimizes the welding process parameters in real-time based on the defect detection results until welding is completed.

[0136] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0138] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0139] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described pipeline all-position submerged arc welding method based on global three-dimensional reconstruction, which can solve the technical problem of how to improve the welding quality of pipeline welds. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction provided in the above embodiments, and will not be repeated here.

[0140] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described pipeline all-position submerged arc welding method based on global three-dimensional reconstruction.

[0141] The computer program product provided in this application can solve the technical problem of how to improve the welding quality of pipeline welds. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction provided in the above embodiments, and will not be repeated here.

[0142] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for all-position submerged arc welding of pipelines based on global three-dimensional reconstruction, characterized in that, The method includes: Acquire three-dimensional point cloud data of the outer surface of the pipe to be welded, and establish a global coordinate system for the pipe based on the three-dimensional point cloud data; The welding path is determined based on the three-dimensional point cloud data in the global coordinate system of the pipeline. Control the welding actuator to perform welding along the welding path; After welding begins, real-time internal defect detection is performed on the welded seams to obtain the defect detection results; Based on the defect detection results, the welding process parameters are optimized in real time until the welding is completed.

2. The method as described in claim 1, characterized in that, The step of establishing a global coordinate system for the pipeline based on the three-dimensional point cloud data includes: The first straight pipe segment's point cloud subset is segmented from the three-dimensional point cloud data; The axial direction of the point cloud subset of the first straight pipe segment is fitted to obtain the pipe axial vector; The axial vector of the pipe is determined as the reference axis of the global coordinate system, and the midpoint of the axis of the first straight pipe segment is determined as the origin of the global coordinate system. Establish a global coordinate system for the pipeline based on the reference axis and the origin.

3. The method as described in claim 1, characterized in that, The step of determining the welding path based on the three-dimensional point cloud data includes: The edge point clouds of the bevels on both sides of each pipe weld are segmented from the three-dimensional point cloud data; Spatial circle fitting is performed on the edge point clouds of the two bevels respectively to obtain the center and radius of the circles of the two bevels; The welding path is generated based on the center and radius of the bevel circles on both sides.

4. The method as described in claim 1, characterized in that, Before the step of controlling the welding actuator to weld along the welding path, the method further includes: The calibration trajectory is determined based on the weld path; The welding torch tip of the welding actuator is controlled to move along the calibrated trajectory, and the set of motion points of the welding torch tip in the welding torch tip coordinate system is recorded; The transformation relationship between the welding torch end coordinate system and the pipeline global coordinate system is calculated based on the set of motion points and the calibration trajectory.

5. The method as described in claim 1, characterized in that, The step of controlling the welding execution device to weld along the welding path includes: Real-time acquisition of the actual position of the welding torch tip in the global coordinate system of the pipeline during the welding process; Calculate the lateral position deviation of the welding torch tip based on the actual position and the welding path; The welding actuator is corrected in real time based on the lateral position deviation.

6. The method as described in claim 1, characterized in that, The steps for real-time internal defect detection of the welded seam to obtain the defect detection results include: A laser excitation beam is used to irradiate the welded seam to generate ultrasonic waves, and the vibration signal returned by the ultrasonic waves is received. The real-time temperature of the welded seam is obtained, and the target compensated sound velocity is calculated based on the real-time temperature. Defect detection is performed based on the vibration signal and the target compensated sound velocity to obtain the defect detection result.

7. The method as described in claim 1, characterized in that, The step of real-time optimization of welding process parameters based on the defect detection results includes: Based on the defect detection results, the quality index data of the completed welding segment are obtained; The quality index data is compared with a preset quality threshold to obtain the comparison result; The welding process parameters are optimized in real time based on the comparison results until the welding is completed.

8. A pipeline all-position submerged arc welding device based on global three-dimensional reconstruction, characterized in that, The device includes: A module is established to acquire three-dimensional point cloud data of the outer surface of the pipe to be welded, and to establish a global coordinate system for the pipe based on the three-dimensional point cloud data; The determination module is used to determine the welding path based on the three-dimensional point cloud data in the global coordinate system of the pipeline; A welding module is used to control the welding actuator to perform welding along the welding path; The detection module is used to perform real-time internal defect detection on the welded seams after welding has started, and to obtain the defect detection results. The optimization module is used to optimize the welding process parameters in real time based on the defect detection results until the welding is completed.

9. A pipeline all-position submerged arc welding equipment based on global three-dimensional reconstruction, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the pipeline all-position submerged arc welding method based on global three-dimensional reconstruction as described in any one of claims 1 to 7.

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