Intelligent welding method and system for chemical pipeline

Abstract

This application relates to an intelligent welding method and system for chemical pipelines, belonging to the field of intelligent welding technology. The method includes: acquiring welding process parameters; determining the welding origin concentration based on the welding process parameters; determining the instantaneous single-point concentration at each location for each time period based on the smoke diffusion rules and the welding origin concentration; determining the welding interval duration based on the welding process parameters, and determining the single-point steady-state concentration at each location based on the welding interval duration and the instantaneous single-point concentration; randomly determining a bevel point and constructing an identification line segment based on the identification point and the bevel point; defining a critical point when the single-point steady-state concentration at each point on the identification line segment is less than the effective observation concentration; constructing an initial exploration path based on the welding point and the critical point, controlling a preset vision sensor to scan the initial exploration path and fix it at the critical point, and controlling the pipeline to perform welding operations. This application has the function of improving the overall effect of pipeline welding.

Description

Technical Field

[0001] This application relates to the field of intelligent welding technology, and in particular to an intelligent welding method and system for chemical pipelines. Background Technology

[0002] In chemical pipeline construction, welding is a key link to ensure the safe and reliable operation of the pipeline system. The quality of pipeline welding is directly related to the sealing of the medium and the pressure bearing capacity of the pipeline. Therefore, extremely high requirements are placed on the welding process and the weld formation effect.

[0003] Currently, to ensure good welding quality, a common technique is to control the welding equipment to pre-run around the bevel before welding. During this process, onboard vision sensors accurately collect key data such as the geometric dimensions, gaps, and misalignment of the bevel. Based on the collected data, the system pre-plans the trajectory and posture of the welding torch, providing a path reference for subsequent automated welding. Another method is to use real-time path adjustment technology that observes while welding. This method uses sensors to detect the bevel information of the unwelded area in front of the welding torch in real time during welding, and dynamically adjusts the welding torch posture and welding parameters based on the detection results, thereby achieving "follow-up" welding and eliminating the need for the pre-run step.

[0004] Among the aforementioned technologies, the pre-running method can ensure a good welding effect, but it takes a long time, resulting in low welding efficiency. While the method of welding and observing simultaneously is more efficient, it generates a lot of smoke during the actual welding process, which obstructs the sensor from acquiring data, thus affecting the accuracy of data acquisition and subsequently the accuracy of the processing path. Therefore, the current methods result in poor overall pipe welding performance and there is still room for improvement. Summary of the Invention

[0005] To improve the overall effect of pipeline welding, this application provides an intelligent welding method and system for chemical pipelines.

[0006] Firstly, this application provides an intelligent welding method for chemical pipelines, employing the following technical solution: A smart welding method for chemical pipelines, comprising: Obtain welding process parameters; The welding origin concentration is determined by calculation based on the welding process parameters; The instantaneous single-point concentration at each location is determined based on the preset smoke diffusion rules and the concentration at the welding origin. The welding interval is determined based on the welding process parameters, and the steady-state concentration at each location is determined based on the welding interval and the instantaneous single-point concentration. A bevel point is randomly determined on the preset circular boundary line, and an identification line segment is constructed based on the preset identification point and the bevel point. When the steady-state concentration at each point on the identified line segment is less than the preset effective observation concentration, the corresponding bevel point is defined as the observation point, and the observation point closest to the preset welding point is defined as the critical point. The initial exploration path is constructed based on the welding point and the critical point. The preset vision sensor is controlled to scan the initial exploration path and fix it at the critical point, and the pipeline is controlled to perform welding operations.

[0007] Optionally, the step of determining the steady-state concentration at each location point based on the welding interval and the instantaneous single-point concentration includes: A virtual job duration is randomly generated, and the number of welding operations is determined based on the virtual job duration and the welding interval duration. The instantaneous single-point concentration at each corresponding duration is determined based on the number of welding operations, and the instantaneous single-point concentrations are summed to construct a fitted overall concentration. The difference between adjacent virtual job durations and overall concentrations is calculated to determine the concentration of adjacent changes. When adjacent change concentrations are less than the preset effective fluctuation concentration, the corresponding fitted overall concentration is defined as the effective overall concentration, and the single-point steady-state concentration is determined by calculation based on all effective overall concentrations.

[0008] Optionally, the step of calculating to determine the single-point steady-state concentration based on all effective overall concentrations includes: An effective similar range is constructed based on the effective overall concentration and the preset similar concentration; The effective overall concentration within the effective proximity range is counted to determine the number within the range, and the effective proximity range corresponding to the largest number within the range is defined as the data center range; A virtual steady-state concentration is randomly generated within the dataset range, and the steady-state deviation is calculated based on the virtual steady-state concentration and the effective overall concentration within the dataset range. The minimum steady-state deviation is determined according to the preset sorting rules, and the virtual steady-state concentration corresponding to the minimum steady-state deviation is determined as the single-point steady-state concentration.

[0009] Optionally, the step of randomly determining a beveling point on a preset circular boundary line includes: The welding origin concentration and the corresponding limit observation position of the welding process parameters are determined according to the preset observation matching relationship. Based on the extreme observation position and the welding point, construct the permissible bevel range, randomly determine a bevel point within the permissible bevel range, and determine whether the bevel point is an observation point; If the bevel point is an observation point, then update the bevel point to the limit observation position to update the permissible bevel range; If the bevel point is not an observation point, then replace the welding point with the bevel point to update the permissible bevel range.

[0010] Optionally, after the permitted bevel range is updated, the intelligent welding method for chemical pipelines also includes: The identification line segment constructed by the previously determined bevel point is defined as the preceding line segment, and the largest single-point steady-state concentration on the preceding line segment is defined as the representative steady-state concentration. The representative deviation concentration is determined by calculating the difference between the representative steady-state concentration and the effective observed concentration. The effective deviation angle corresponding to the deviation concentration is determined based on the preset deviation matching relationship. The preceding line segment is rotated according to the effective deviation angle to determine the subsequent ray, and the intersection of the subsequent ray and the circumferential boundary line is determined as the next beveling point.

[0011] Optionally, the steps for controlling the welding operation on the pipeline include: The ramp scanning information is obtained when the visual sensor scans the initial exploration path; Determine the optimal offset angle for each bevel point based on the bevel scanning information; A simulated offset angle is randomly generated at each bevel point, and the simulated offset angles are combined to construct a path processing scheme. At adjacent slope points, the adjacent change angle is determined by calculation based on the simulated offset angle, and the path processing scheme in which all adjacent change angles are not greater than the preset unit allowable angle is defined as a reasonable processing scheme. Under a reasonable treatment plan, the optimal offset angle and the simulated offset angle are used to calculate and determine the quality coefficient of the plan. The reasonable treatment plan corresponding to the largest quality coefficient is defined as the treatment plan to be used, and welding operations are carried out on the pipeline according to the treatment plan to be used.

[0012] Optionally, after the quality coefficient of the solution is determined, the intelligent welding method for chemical pipelines may also include: Determine whether there exists a reasonable solution with at least two options having the same and highest quality coefficient. If there are no two solutions with the same and largest quality coefficients that are reasonable solutions, then the reasonable solution corresponding to the solution with the largest quality coefficient is defined as the solution to be used. If there are at least two solutions with the same and largest quality coefficient, then the solution with the largest quality coefficient is defined as the alternative solution. Under the alternative treatment plan, the difficulty coefficient of the change is determined based on the adjacent change angles, and the overall difficulty coefficient is determined by calculating based on all the change difficulty coefficients; The alternative selection coefficient is determined by calculating the overall difficulty coefficient and the solution quality coefficient, and the alternative treatment solution corresponding to the largest alternative selection coefficient is defined as the treatment solution to be used.

[0013] Secondly, this application provides an intelligent welding system for chemical pipelines, which adopts the following technical solution: A smart welding system for chemical pipelines, comprising: The acquisition module is used to acquire welding process parameters; The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The processing module calculates and determines the welding origin concentration based on the welding process parameters; The processing module determines the instantaneous single-point concentration at each location for each duration based on the preset smoke diffusion rules and the concentration at the welding origin. The processing module determines the welding interval duration based on the welding process parameters, and determines the steady-state concentration at each location point based on the welding interval duration and the instantaneous single-point concentration. The processing module randomly determines a bevel point on the preset circumferential boundary line and constructs an identification line segment based on the preset identification point and the bevel point. When the judgment module determines that the steady-state concentration at each point on the identification line segment is less than the preset effective observation concentration, the processing module defines the corresponding bevel point as the observation point and defines the observation point closest to the preset welding point as the critical point. The processing module constructs an initial exploration path based on the welding point and the critical point, controls the preset vision sensor to scan the initial exploration path and fix it at the critical point, and controls the pipeline to perform welding operations.

[0014] In summary, this application includes at least one of the following beneficial technical effects: During the internal welding of pipelines, the smoke generated can be analyzed in advance to identify the parts that may be obscured by smoke. This allows for the reasonable adjustment of the visual sensor position, enabling effective acquisition of images at the bevel, improving welding efficiency while ensuring welding accuracy, and enhancing the overall effect of pipeline welding. In the actual welding process, the deviation of the welding torch can be reasonably planned to achieve better welding results for the pipeline. Attached Figure Description

[0015] Figure 1This is a flowchart of an intelligent welding method for chemical pipelines.

[0016] Figure 2 This is a flowchart of the modules for intelligent welding methods for chemical pipelines. Detailed Implementation

[0017] To make the purpose, technical solution, and advantages of this application clearer, the following is combined with Figures 1-2 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0018] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0019] This application discloses an intelligent welding method for chemical pipelines, referring to... Figure 1 The process flow of the intelligent welding method for chemical pipelines includes the following steps: Step S100: Obtain welding process parameters.

[0020] Welding process parameters include pipe diameter, material type, bevel shape, welding current, welding voltage, and welding speed, etc.

[0021] Step S101: Calculate and determine the welding origin concentration based on the welding process parameters.

[0022] The welding origin concentration is the concentration of smoke generated at the welding point when welding is performed according to the welding process parameters, and it can be calculated using a CFD algorithm.

[0023] Step S102: Determine the instantaneous single-point concentration at each location for each duration based on the preset smoke diffusion rules and the welding origin concentration.

[0024] The smoke diffusion rule is a rule for smoke diffusion obtained by the staff through multiple experiments and in combination with CFD algorithm. For example, at what time point will the smoke of what proportion diffuse to which location? Therefore, the smoke concentration at each location at each time point can be calculated by using this rule, which is the instantaneous single-point concentration.

[0025] Step S103: Determine the welding interval duration based on the welding process parameters, and determine the steady-state concentration at each location point based on the welding interval duration and the instantaneous single-point concentration.

[0026] The welding interval is the interval between welding adjacent points after fitting the continuous welding process into a single-point welding process. For example, welding points within a short period of time are fitted as a single point for analysis, which facilitates data analysis. This data is related to welding speed, etc. The single-point steady-state concentration is the relatively stable smoke concentration value that a single location point can achieve during the welding process. For details, please refer to steps S200-S303.

[0027] Step S104: Randomly determine a bevel point on the preset circular boundary line, and construct an identification line segment based on the preset identification point and the bevel point.

[0028] The circumferential boundary line is the circumferential boundary of the pipe weld. The bevel point is randomly determined to analyze the situation of each location point that needs to be identified. The identification point is the coordinate point of the location where the vision sensor is installed. The identification line segment is the line segment formed by the identification point and the bevel point as the two endpoints. This line segment represents the visual path of the vision sensor to acquire data from the bevel point.

[0029] Step S105: When the steady-state concentration at each point on the identified line segment is less than the preset effective observation concentration, the corresponding bevel point is defined as the observation point, and the observation point closest to the preset welding point is defined as the critical point.

[0030] The effective observation concentration is the maximum single-point steady-state concentration allowed when the visual sensor is not visually obstructed, as set by the staff. When the single-point steady-state concentration of each point on the identification line segment is less than the effective observation concentration, it indicates that the data sensor can acquire visual data of the bevel point well. Therefore, it is defined as an observation point to distinguish different bevel points. The welding point is the position point of the welding torch operation. The critical point is defined to mark and distinguish the position point where the bevel condition can be observed during the welding torch processing, which is convenient for subsequent analysis.

[0031] Step S106: Construct an initial exploration path based on the welding point and critical point, control the preset vision sensor to scan the initial exploration path and fix it at the critical point, and control the pipeline to perform welding operations.

[0032] The initial exploration path is an arc-shaped path between the welding points and critical points on the circumferential boundary line. The vision sensor scans the initial exploration path and is fixed at the critical point to acquire data on the initial exploration path. When welding begins on the pipeline, smoke is generated, obstructing the view of the path area. At this time, the pipeline rotates while the vision sensor remains fixed to ensure that the bevel conditions of other subsequent locations can be gradually acquired, thus facilitating subsequent welding operations. This method ensures the pre-running of the shortest path, improves overall efficiency, and can acquire bevel data better, thereby improving welding accuracy.

[0033] The steps for determining the steady-state concentration at each location point based on the welding interval and the instantaneous single-point concentration include: Step S200: Randomly construct a virtual operation duration, and determine the number of welding operations based on the virtual operation duration and the welding interval duration.

[0034] The virtual operation time is the total time for starting welding, which is randomly determined. The number of welding operations is the number of times smoke is generated, which is determined by dividing the virtual operation time by the welding interval time.

[0035] Step S201: Determine the instantaneous single-point concentration for each corresponding duration based on the number of solder joint operations, and sum the instantaneous single-point concentrations to construct a fitted overall concentration.

[0036] The instantaneous single-point concentration required at this time is the smoke concentration value at the corresponding location point under the corresponding time duration. By adding up the instantaneous single-point concentrations, the overall concentration fitted at a single location point under the virtual operation time can be obtained.

[0037] Step S202: Calculate the difference based on the fitted overall concentration of adjacent virtual job durations to determine the adjacent change concentration.

[0038] The adjacent change concentration is the difference between the fitted overall concentration of adjacent virtual operation durations. This difference is the absolute value. The adjacent virtual operation duration is two duration data points with a difference of welding interval duration.

[0039] Step S203: When the adjacent change concentration is less than the preset effective fluctuation concentration, the corresponding fitted overall concentration is defined as the effective overall concentration, and the single-point steady-state concentration is determined by calculation based on all the effective overall concentrations.

[0040] The effective fluctuation concentration is the maximum adjacent change concentration allowed when the smoke concentration change is considered relatively stable, as set by the staff. When the adjacent change concentration is less than the effective fluctuation concentration, it indicates that the smoke concentration at that point is relatively stable, so it can be defined as the effective overall concentration. At this time, different effective overall concentrations will be obtained under different virtual operation durations. The steady-state concentration of a single point can be obtained by calculating based on these effective overall concentrations. This calculation method can be to calculate the average value of all effective overall concentrations, or it can be determined by the method in steps S300-S303.

[0041] The steps for determining the steady-state concentration at a single point based on all effective overall concentrations include: Step S300: Construct an effective similar range based on the effective overall concentration and the preset similar concentration.

[0042] Similar concentrations are the concentration differences that are allowed when the concentrations set by the staff are extremely close. By adding and subtracting the similar concentrations from the effective overall concentration, a range of values ​​that are close to the values ​​of a single effective overall concentration can be constructed, which is the effective similar range.

[0043] Step S301: Count the effective overall concentrations within the effective proximity range to determine the number of units within the range, and define the effective proximity range corresponding to the largest number of units within the range as the data center range.

[0044] The number within a range refers to the number of effective overall concentrations within a single effective proximity range. The largest number within a range indicates that the data is most concentrated at this point and best reflects the concentration stability at that location. Therefore, it is defined as the data concentration range to distinguish between different effective proximity ranges, which facilitates subsequent analysis.

[0045] Step S302: Randomly generate a virtual steady-state concentration within the range of the dataset, and calculate and determine the steady-state deviation based on the virtual steady-state concentration and the effective overall concentration within the range of the dataset.

[0046] The data is analyzed by randomly generating virtual steady-state concentrations. The steady-state deviation reflects the overall deviation between the virtual steady-state concentration and the data within the central range of the dataset. The smaller the value, the smaller the deviation, and the more representative it is of the remaining data within that range. The deviation is determined by the sum of the absolute values ​​of the difference between the virtual steady-state concentration and the effective overall concentration within the central range of the dataset.

[0047] Step S303: Determine the steady-state deviation with the smallest value according to the preset sorting rules, and determine the virtual steady-state concentration corresponding to the smallest steady-state deviation as the single-point steady-state concentration.

[0048] The sorting rules are methods set by staff to sort numerical values, such as the bubble sort method. By using the sorting rules, the steady-state deviation with the smallest value can be determined. That is, the virtual steady-state concentration at this point best represents the concentration at that location. Therefore, it can be determined as the single-point steady-state concentration.

[0049] The steps for randomly determining a beveling point on a preset circular boundary line include: Step S400: Determine the welding origin concentration and the corresponding limit observation position of the welding process parameters according to the preset observation matching relationship.

[0050] The limit observation position is the bevel position that can be observed under theoretical conditions. Different welding origin concentrations and welding process parameters will lead to different diffusion conditions, and the corresponding limit observation positions will also be different. The observation matching relationship between the three is determined by the staff in advance through multiple experiments.

[0051] Step S401: Construct the permissible bevel range based on the limit observation position and the welding point, and randomly determine a bevel point within the permissible bevel range, and determine whether the bevel point is an observation point.

[0052] The permissible bevel range is the range of the extreme observation position on the circumferential boundary line and the arc-shaped path with the welding point as the two endpoints. By generating bevel points within this range, invalid data analysis is reduced and the overall analysis efficiency is improved. The purpose of the judgment is to determine the actual result of the bevel point, so as to facilitate the determination of the next bevel point.

[0053] Step S4011: If the bevel point is an observation point, then update the bevel point to the limit observation position to update the permissible bevel range.

[0054] When the bevel point is the observation point, it means that the required critical point is between the bevel point and the welding point. Therefore, the permissible bevel range can be updated again using the bevel point for the determination of the next bevel point. This method makes the overall efficiency high.

[0055] Step S4012: If the bevel point is not an observation point, replace the welding point with the bevel point to update the permissible bevel range.

[0056] When the bevel point is not an observation point, it means that the required critical point is between the bevel point and the limit observation position. In this case, the bevel point is used to replace the welding point to update the permissible bevel range, which makes it easier to determine the next bevel point.

[0057] Following the update of the permitted bevel range, the intelligent welding method for chemical pipelines also includes: Step S500: Define the identification line segment constructed by the previously determined bevel point as the preceding line segment, and define the largest single-point steady-state concentration on the preceding line segment as the representative steady-state concentration.

[0058] Define the preceding line segment and the steady-state concentration to identify and distinguish different data, which will facilitate subsequent analysis.

[0059] Step S501: Calculate the difference between the representative steady-state concentration and the effective observed concentration to determine the representative deviation concentration.

[0060] The representative deviation concentration is the difference between the representative steady-state concentration and the effective observed concentration; this difference is an absolute value.

[0061] Step S502: Determine the effective deviation angle corresponding to the representative deviation concentration based on the preset deviation matching relationship.

[0062] The effective deviation angle is the angle value set by the staff to represent the concentration deviation, which is the angle value that needs to be adjusted to determine the position of the bevel point. The deviation matching relationship between the two is determined in advance by the staff. It should be noted that the larger the concentration deviation, the larger the corresponding effective deviation angle.

[0063] Step S503: Rotate the preceding line segment according to the effective deviation angle to determine the subsequent ray, and determine the intersection of the subsequent ray and the circumferential boundary line as the next beveling point.

[0064] By rotating the preceding line segment with the identification point as the rotation point by an effective deviation angle, the subsequent ray can be obtained. The intersection of the subsequent ray and the circumferential boundary line is the critical point that is more in line with the requirements. Therefore, it can be determined as the bevel point for analysis. By repeatedly performing this step, the critical point that meets the requirements can be obtained.

[0065] The steps for controlling welding operations on pipelines include: Step S600: Obtain ramp scanning information when the vision sensor scans the initial exploration path.

[0066] Bevel scanning information refers to the information about the pipe bevel acquired by the vision sensor.

[0067] Step S601: Determine the optimal offset angle for each bevel point based on the bevel scanning information.

[0068] The optimal offset angle is the offset angle that the welding torch needs to make relative to the circumference so that it can best weld the bevel point.

[0069] Step S602: Randomly generate a simulated offset angle at each bevel point, and combine the simulated offset angles to construct a path processing scheme.

[0070] By randomly determining the simulated offset angle, we can analyze the welding situation at different bevel points. At this time, we can construct a path processing scheme to determine the scheme that can complete the welding operation of the section where the initial exploration path is located, which will facilitate subsequent analysis.

[0071] Step S603: Calculate the adjacent change angles based on the simulated offset angles at the adjacent slope points, and define the path processing schemes in which all adjacent change angles are not greater than the preset unit permissible angle as reasonable processing schemes.

[0072] The adjacent variable angle is the angle that the welding gun needs to be adjusted at adjacent bevel points, which is the difference between two corresponding simulated offset angles. The unit permissible angle is the maximum angle value that the welding gun can be adjusted at adjacent bevel points as set by the operator. When all adjacent variable angles are not greater than the unit permissible angle, it means that the current path processing scheme meets the welding operation requirements. Therefore, it is defined as a reasonable processing scheme to distinguish different path processing schemes and facilitate subsequent analysis.

[0073] Step S604: Under the reasonable treatment plan, calculate the solution quality coefficient based on the optimal offset angle and the simulated offset angle, and define the reasonable treatment plan corresponding to the largest solution quality coefficient as the treatment plan to be used, and perform welding operations on the pipeline according to the treatment plan to be used.

[0074] The scheme quality coefficient is a parameter value that reflects the quality of the scheme. The larger the parameter, the more suitable the corresponding reasonable treatment scheme is. It is determined by calculating the difference between the optimal offset angle and the simulated offset angle, summing the absolute values ​​and taking the reciprocal. The reasonable treatment scheme corresponding to the largest scheme quality coefficient is the welding scheme most suitable for the current situation. Therefore, it is defined as the one that can complete the processing of the pipeline by using the treatment scheme.

[0075] After the quality coefficient of the scheme is determined, the intelligent welding method for chemical pipelines also includes: Step S700: Determine whether there are at least two reasonable solutions with the same and largest quality coefficient.

[0076] The purpose of the judgment is to determine whether there are multiple reasonable solutions that meet the requirements, so as to determine the only solution to use.

[0077] Step S7001: If there are no at least two solutions with the same and largest quality coefficient, then the solution with the largest quality coefficient is defined as the solution to be used.

[0078] When there are no at least two reasonable solutions with the same and highest quality coefficient, it means that there is only one reasonable solution that meets the requirements. In this case, it can be determined as the solution to be used.

[0079] Step S7002: If there are at least two reasonable solutions with the same and largest quality coefficient, then the reasonable solution corresponding to the solution with the largest quality coefficient is defined as the alternative solution.

[0080] When there are at least two reasonable treatment schemes with the same and largest quality coefficient, it indicates that there are multiple reasonable treatment schemes that meet the requirements. In this case, they are defined as alternative treatment schemes to distinguish between different reasonable treatment schemes, which facilitates subsequent analysis.

[0081] Step S701: Under the alternative processing scheme, determine the difficulty coefficient of the change based on the adjacent change angles, and calculate the overall difficulty coefficient based on all the change difficulty coefficients.

[0082] The variable difficulty coefficient is a parameter value that reflects the difficulty of changing the angle of the welding torch. It is determined by dividing adjacent variable angles by a preset calculation weight parameter. At this time, the overall difficulty coefficient can be obtained by averaging all variable difficulty coefficients.

[0083] Step S702: Calculate the alternative selection coefficient based on the overall difficulty coefficient and the solution quality coefficient, and define the alternative treatment solution corresponding to the largest alternative selection coefficient as the treatment solution to be used.

[0084] The alternative selection coefficient can be determined by dividing the quality coefficient of the solution by the overall difficulty coefficient. The highest alternative selection coefficient indicates that the corresponding alternative treatment solution is most suitable for the welding operation, and it can be defined as the treatment solution to be used.

[0085] Reference Figure 2 Based on the same inventive concept, embodiments of the present invention provide an intelligent welding system for chemical pipelines, comprising: The acquisition module is used to acquire welding process parameters; The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The processing module calculates and determines the welding origin concentration based on the welding process parameters; The processing module determines the instantaneous single-point concentration at each location for each duration based on the preset smoke diffusion rules and the concentration at the welding origin. The processing module determines the welding interval duration based on the welding process parameters, and determines the steady-state concentration at each location point based on the welding interval duration and the instantaneous single-point concentration. The processing module randomly determines a bevel point on the preset circumferential boundary line and constructs an identification line segment based on the preset identification point and the bevel point. When the judgment module determines that the steady-state concentration at each point on the identification line segment is less than the preset effective observation concentration, the processing module defines the corresponding bevel point as the observation point and defines the observation point closest to the preset welding point as the critical point. The processing module constructs an initial exploration path based on the welding point and the critical point, controls the preset vision sensor to scan the initial exploration path and fix it at the critical point, and controls the pipeline to perform welding operations. The single-point steady-state concentration determination module is used to determine the single-point steady-state concentration. The steady-state concentration data analysis module is used to analyze and process a portion of the steady-state concentration data. The bevel point determination module is used to determine the location of the bevel point; The bevel point adjustment module is used to adjust and determine the position of the bevel point, reducing the amount of data analysis. The welding treatment scheme determination module is used to determine the welding gun treatment scheme under actual conditions; The reasonable processing solution screening module is used to screen multiple reasonable processing solutions that meet the requirements.

[0086] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

Claims

1. A smart welding method for chemical pipelines, characterized in that, include: Obtain welding process parameters; The welding origin concentration is determined by calculation based on the welding process parameters; The instantaneous single-point concentration at each location is determined based on the preset smoke diffusion rules and the concentration at the welding origin. The welding interval is determined based on the welding process parameters, and the steady-state concentration at each location is determined based on the welding interval and the instantaneous single-point concentration. A bevel point is randomly determined on the preset circular boundary line, and an identification line segment is constructed based on the preset identification point and the bevel point. When the steady-state concentration at each point on the identified line segment is less than the preset effective observation concentration, the corresponding bevel point is defined as the observation point, and the observation point closest to the preset welding point is defined as the critical point. The initial exploration path is constructed based on the welding point and the critical point. The preset vision sensor is controlled to scan the initial exploration path and fix it at the critical point, and the pipeline is controlled to perform welding operations.

2. The intelligent welding method for chemical pipelines according to claim 1, characterized in that, The steps for determining the steady-state concentration at each location point based on the welding interval and the instantaneous single-point concentration include: A virtual job duration is randomly generated, and the number of welding operations is determined based on the virtual job duration and the welding interval duration. The instantaneous single-point concentration at each corresponding duration is determined based on the number of welding operations, and the instantaneous single-point concentrations are summed to construct a fitted overall concentration. The difference between adjacent virtual job durations and overall concentrations is calculated to determine the concentration of adjacent changes. When adjacent change concentrations are less than the preset effective fluctuation concentration, the corresponding fitted overall concentration is defined as the effective overall concentration, and the single-point steady-state concentration is determined by calculation based on all effective overall concentrations.

3. The intelligent welding method for chemical pipelines according to claim 2, characterized in that, The steps for determining the steady-state concentration at a single point based on all effective overall concentrations include: An effective similar range is constructed based on the effective overall concentration and the preset similar concentration; The effective overall concentration within the effective proximity range is counted to determine the number within the range, and the effective proximity range corresponding to the largest number within the range is defined as the data center range; A virtual steady-state concentration is randomly generated within the dataset range, and the steady-state deviation is calculated based on the virtual steady-state concentration and the effective overall concentration within the dataset range. The minimum steady-state deviation is determined according to the preset sorting rules, and the virtual steady-state concentration corresponding to the minimum steady-state deviation is determined as the single-point steady-state concentration.

4. The intelligent welding method for chemical pipelines according to claim 1, characterized in that, The steps for randomly determining a beveling point on a preset circular boundary line include: The welding origin concentration and the corresponding limit observation position of the welding process parameters are determined according to the preset observation matching relationship. Based on the extreme observation position and the welding point, construct the permissible bevel range, randomly determine a bevel point within the permissible bevel range, and determine whether the bevel point is an observation point; If the bevel point is an observation point, then update the bevel point to the limit observation position to update the permissible bevel range; If the bevel point is not an observation point, then replace the welding point with the bevel point to update the permissible bevel range.

5. The intelligent welding method for chemical pipelines according to claim 4, characterized in that, Following the update of the permitted bevel range, the intelligent welding method for chemical pipelines also includes: The identification line segment constructed by the previously determined bevel point is defined as the preceding line segment, and the largest single-point steady-state concentration on the preceding line segment is defined as the representative steady-state concentration. The representative deviation concentration is determined by calculating the difference between the representative steady-state concentration and the effective observed concentration. The effective deviation angle corresponding to the deviation concentration is determined based on the preset deviation matching relationship. The preceding line segment is rotated according to the effective deviation angle to determine the subsequent ray, and the intersection of the subsequent ray and the circumferential boundary line is determined as the next beveling point.

6. The intelligent welding method for chemical pipelines according to claim 1, characterized in that, The steps for controlling welding operations on pipelines include: The ramp scanning information is obtained when the visual sensor scans the initial exploration path; Determine the optimal offset angle for each bevel point based on the bevel scanning information; A simulated offset angle is randomly generated at each bevel point, and the simulated offset angles are combined to construct a path processing scheme. At adjacent slope points, the adjacent change angle is determined by calculation based on the simulated offset angle, and the path processing scheme in which all adjacent change angles are not greater than the preset unit allowable angle is defined as a reasonable processing scheme. Under a reasonable treatment plan, the optimal offset angle and the simulated offset angle are used to calculate and determine the quality coefficient of the plan. The reasonable treatment plan corresponding to the largest quality coefficient is defined as the treatment plan to be used, and welding operations are carried out on the pipeline according to the treatment plan to be used.

7. The intelligent welding method for chemical pipelines according to claim 6, characterized in that, After the quality coefficient of the scheme is determined, the intelligent welding method for chemical pipelines also includes: Determine whether there exists a reasonable solution with at least two options having the same and highest quality coefficient. If there are no two solutions with the same and largest quality coefficients that are reasonable solutions, then the reasonable solution corresponding to the solution with the largest quality coefficient is defined as the solution to be used. If there are at least two solutions with the same and largest quality coefficient, then the solution with the largest quality coefficient is defined as the alternative solution. Under the alternative treatment plan, the difficulty coefficient of the change is determined based on the adjacent change angles, and the overall difficulty coefficient is determined by calculating based on all the change difficulty coefficients; The alternative selection coefficient is determined by calculating the overall difficulty coefficient and the solution quality coefficient, and the alternative treatment solution corresponding to the largest alternative selection coefficient is defined as the treatment solution to be used.

8. A smart welding system for chemical pipelines, used to implement the smart welding method for chemical pipelines as described in any one of claims 1-7, characterized in that, include: The acquisition module is used to acquire welding process parameters; The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The processing module calculates and determines the welding origin concentration based on the welding process parameters; The processing module determines the instantaneous single-point concentration at each location for each duration based on the preset smoke diffusion rules and the concentration at the welding origin. The processing module determines the welding interval duration based on the welding process parameters, and determines the steady-state concentration at each location point based on the welding interval duration and the instantaneous single-point concentration. The processing module randomly determines a bevel point on the preset circumferential boundary line and constructs an identification line segment based on the preset identification point and the bevel point. When the judgment module determines that the steady-state concentration at each point on the identification line segment is less than the preset effective observation concentration, the processing module defines the corresponding bevel point as the observation point and defines the observation point closest to the preset welding point as the critical point. The processing module constructs an initial exploration path based on the welding point and the critical point, controls the preset vision sensor to scan the initial exploration path and fix it at the critical point, and controls the pipeline to perform welding operations.

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