An automatic pipe orifice alignment method, system, terminal and storage medium

Abstract

The present invention discloses a method, a system, a terminal and a storage medium for automatic pipe orifice pairing. By performing image analysis on the orifices of two pipe orifices to be paired, the present invention determines the target marker point pairs on these two pipe orifices, and pairs these two pipe orifices according to the target marker point pairs, which can make the pairing of these two pipe orifices achieve the best match and keep the overall misalignment amount at the lowest level. It solves the problem that in the prior art, manual pipe orifice pairing is used, which is likely to result in a large misalignment after pairing, leading to the problem that the misalignment amount during the welding of steel pipes exceeds the standard.

Description

Technical Field

[0001] The present invention relates to the field of steel pipe welding, and particularly to an automatic pipe orifice alignment method, system, terminal and storage medium. Background Art

[0002] Currently, in the steel pipe welding project, the pipe orifice alignment process is usually completed by relying on the experience of pipe fitters. Pipe fitters generally perform the alignment of two pipe orifices to be aligned by visual inspection or using a ruler for measurement. However, this manual method of pipe orifice alignment has a large degree of randomness and is prone to a large misalignment after alignment, resulting in the problem that the offset amount during steel pipe welding exceeds the standard. Once the problem of excessive offset amount occurs, it will be time-consuming and laborious to rework, and if not reworked, it will pose a certain risk to the later operation of the pipeline.

[0003] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic pipe orifice alignment method, system, terminal and storage medium for the above-mentioned defects of the existing technology, aiming to solve the problem that when manual pipe orifice alignment is used in the existing technology, a large misalignment is likely to occur after alignment, resulting in the problem that the offset amount during steel pipe welding exceeds the standard.

[0005] The technical solution adopted by the present invention to solve the problem is as follows:

[0006] In the first aspect, an embodiment of the present invention provides an automatic pipe orifice alignment method, wherein the method includes:

[0007] Obtain a first pipe orifice image corresponding to a first pipe orifice and a second pipe orifice image corresponding to a second pipe orifice, wherein the first pipe orifice image includes a plurality of first degree marking points, the second pipe orifice image includes a plurality of second degree marking points, and the plurality of first degree marking points and the plurality of second degree marking points are in one-to-one correspondence and have opposite marking orders;

[0008] Determine a target marking point pair according to the first pipe orifice image and the second pipe orifice image, wherein the target marking point pair includes a first target marking point determined from the plurality of first degree marking points and a second target marking point determined from the plurality of second degree marking points;

[0009] Perform pipe orifice alignment on the first pipe orifice and the second pipe orifice according to the target marking point pair.

[0010] In an implementation manner, the determining a target marking point pair according to the first pipe orifice image and the second pipe orifice image includes:

[0011] Based on the first pipe orifice image and the second pipe orifice image, determine the pair error values corresponding to several pairs of marked points, where the several pairs of marked points include combinations formed by pairwise pairing between several of the first degree marked points and several of the second degree marked points, and the pair error value corresponding to each pair of marked points is used to reflect the matching error between the first pipe orifice and the second pipe orifice when paired with this pair of marked points;

[0012] Determine the target pair of marked points according to the minimum value of the pair error values corresponding to several pairs of marked points.

[0013] In one implementation, the several pairs of marked points are combinations formed by pairwise pairing between the first degree marked points and the second degree marked points respectively located on the maximum diameter of the first pipe orifice image and the second pipe orifice image, and combinations formed by pairwise pairing between the first degree marked points and the second degree marked points respectively located on the minimum diameter of the first pipe orifice image and the second pipe orifice image.

[0014] In one implementation, the step of determining the pair error values corresponding to several pairs of marked points according to the first pipe orifice image and the second pipe orifice image includes:

[0015] According to the first pipe orifice image and the second pipe orifice image, calculate the diameter difference or radius difference corresponding to each pair of marked points when each pair of marked points coincides respectively, to obtain the first difference data corresponding to each pair of marked points;

[0016] Determine the pair error value corresponding to each pair of marked points according to the first difference data corresponding to each pair of marked points.

[0017] In one implementation, the step of determining the pair error value corresponding to each pair of marked points according to the first difference data corresponding to each pair of marked points includes:

[0018] Calculate the weighted average value corresponding to the first difference data of each pair of marked points to obtain the first weighted average value corresponding to each pair of marked points;

[0019] Determine the pair error value corresponding to each pair of marked points according to the first weighted average value corresponding to each pair of marked points.

[0020] In one implementation, the step of determining the pair error values corresponding to several pairs of marked points according to the first pipe orifice image and the second pipe orifice image includes:

[0021] Based on the first pipe orifice image and the second pipe orifice image, calculate the diameter difference or radius difference corresponding to each pair of marking points when the centers of the first pipe orifice image and the second pipe orifice image coincide and each pair of marking points is collinear with the center, so as to obtain the second difference data corresponding to each pair of marking points;

[0022] Based on the second difference data corresponding to each pair of marking points, determine the pair error value corresponding to each pair of marking points.

[0023] In one implementation, the step of determining the pair error value corresponding to each pair of marking points based on the second difference data corresponding to each pair of marking points includes:

[0024] Calculate the weighted average value corresponding to the second difference data of each pair of marking points to obtain the second weighted average value corresponding to each pair of marking points;

[0025] Based on the second weighted average value corresponding to each pair of marking points, determine the pair error value corresponding to each pair of marking points.

[0026] In a second aspect, an embodiment of the present invention further provides a pipe orifice automatic pairing system, where the system includes:

[0027] An acquisition module, configured to acquire a first pipe orifice image corresponding to a first pipe orifice and a second pipe orifice image corresponding to a second pipe orifice, where the first pipe orifice image includes a plurality of first degree marking points, the second pipe orifice image includes a plurality of second degree marking points, and the plurality of first degree marking points and the plurality of second degree marking points correspond one by one and have opposite marking orders;

[0028] A screening module, configured to determine a target pair of marking points based on the first pipe orifice image and the second pipe orifice image, where the target pair of marking points includes a first target marking point determined from the plurality of first degree marking points and a second target marking point determined from the plurality of second degree marking points;

[0029] A pairing module, configured to perform pipe orifice pairing on the first pipe orifice and the second pipe orifice according to the target pair of marking points.

[0030] In a third aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory and one or more processors; the memory stores one or more programs; the programs include instructions for executing the pipe orifice automatic pairing method as described in any one of the above; the processor is configured to execute the programs.

[0031] Fourthly, an embodiment of the present invention further provides a computer-readable storage medium, on which multiple instructions are stored, and the instructions are adapted to be loaded and executed by a processor to implement the steps of any one of the above-mentioned pipe orifice automatic pairing methods.

[0032] Advantages of the present invention: By performing image analysis on the orifices of two pipe orifices to be paired, the target marker point pairs on these two pipe orifices are determined, and these two pipe orifices are paired according to the target marker point pairs, which can make the pairing of these two pipe orifices reach the best match and keep the overall misalignment amount at the lowest level. It solves the problem that in the prior art, manual pipe orifice pairing is prone to a large misalignment after pairing, resulting in an excessive misalignment amount in steel pipe welding. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a flowchart of the pipe orifice automatic pairing method provided by the embodiment of the present invention.

[0035] Figure 2 It is an interaction diagram of each module in the pipe orifice automatic pairing system provided by the embodiment of the present invention.

[0036] Figure 3 It is a module diagram of the pipe orifice automatic pairing system provided by the embodiment of the present invention.

[0037] Figure 4 It is a principle block diagram of the terminal provided by the embodiment of the present invention. Detailed Embodiments

[0038] The present invention discloses a pipe orifice automatic pairing method, system, terminal and storage medium. To make the purpose, technical solution and effect of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] Those skilled in the art can understand that, unless specifically stated otherwise, the singular forms "a", "an", "the" and "said" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present invention means the presence of the stated features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0040] Those skilled in the art can understand that, unless otherwise defined, all terms used herein (including technical terms and scientific terms) have the same meaning as the general understanding of those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as here.

[0041] Currently, in the steel pipe welding project, the process of butt-jointing the pipe ends is usually completed by relying on the experience of pipe fitters. Pipe fitters generally carry out the butt-jointing of two pipe ends that need to be butt-jointed by visual inspection or by using a ruler to measure. However, this method of manually butt-jointing the pipe ends is highly arbitrary, and it is easy to have a large misalignment after butt-jointing, resulting in the problem that the offset amount during steel pipe welding exceeds the standard. Once the problem of the offset amount exceeding the standard occurs, if rework is carried out, it will be time-consuming and laborious, and if rework is not carried out, it will pose a certain risk to the later operation of the pipeline.

[0042] In view of the above defects of the prior art, the present invention provides an automatic pipe orifice pairing method. The method includes obtaining a first pipe orifice image corresponding to a first pipe orifice and a second pipe orifice image corresponding to a second pipe orifice. The first pipe orifice image includes a plurality of first degree marking points, and the second pipe orifice image includes a plurality of second degree marking points. The plurality of first degree marking points and the plurality of second degree marking points are in one-to-one correspondence and have opposite marking orders. According to the first pipe orifice image and the second pipe orifice image, a target marking point pair is determined. The target marking point pair includes a first target marking point determined from the plurality of first degree marking points and a second target marking point determined from the plurality of second degree marking points. The first pipe orifice and the second pipe orifice are paired according to the target marking point pair. By performing image analysis on the orifices of two pipe orifices to be paired, determining the target marking point pair on these two pipe orifices, and pairing these two pipe orifices according to the target marking point pair, the best matching of these two pipe orifices can be achieved, and the overall misalignment amount can be kept at the lowest level. This solves the problem in the prior art that when manually pairing pipe orifices, a large misalignment often occurs after pairing, resulting in an excessive misalignment amount in the steel pipe welding.

[0043] As Figure 1 shown, the method includes the following steps:

[0044] Step S100, obtain a first pipe orifice image corresponding to a first pipe orifice and a second pipe orifice image corresponding to a second pipe orifice. The first pipe orifice image includes a plurality of first degree marking points, and the second pipe orifice image includes a plurality of second degree marking points. The plurality of first degree marking points and the plurality of second degree marking points are in one-to-one correspondence and have opposite marking orders.

[0045] Specifically, the first pipe orifice and the second pipe orifice in this embodiment are two pipe orifices to be paired. Before pairing, the first pipe orifice and the second pipe orifice need to be marked separately. Different marking orders are used for the first pipe orifice and the second pipe orifice during marking. In this embodiment, the marking points on the first pipe orifice are defined as first degree marking points, and the marking points on the second pipe orifice are defined as second degree marking points. The number of marking points on the two pipe orifices is equal, and each first degree marking point and each second degree marking point have a corresponding relationship. After marking, the first pipe orifice and the second pipe orifice are photographed to obtain the first pipe orifice image and the second pipe orifice image.

[0046] For example, for the first pipe orifice and the second pipe orifice to be paired, starting from the middle of the longitudinal weld of the first pipe orifice, degree markings are made clockwise along the pipe edge from 0° to 360°, obtaining 360 first degree marking points, denoted as A1 to A360; starting from the middle of the longitudinal weld of the second pipe orifice, degree markings are made counterclockwise along the pipe edge from 0° to 360°, obtaining 360 second degree marking points, denoted as B1 to B360. The degrees can also be further subdivided for more precise markings, such as making a marking every 0.1°. The more marking points there are, the higher the precision of the pairing. Then fix one of the pipes, adjust the other pipe so that its center of gravity is placed in the middle, and use a pipe clamping device to clamp the pipe to prevent slipping or rotation. After that, take pictures of the first pipe orifice and the second pipe orifice using a high-resolution camera (to reduce the error interference caused by manual photography, standard measurement equipment racks such as cameras, infrared rays, and microwave radars can be made and fixed at the center position directly in front of the pipe orifices to take pictures of the two pipe orifices), obtaining the first pipe orifice image and the second pipe orifice image.

[0047] As Figure 1 shown, the method further includes the following steps:

[0048] Step S200, determine a target marking point pair according to the first pipe orifice image and the second pipe orifice image, where the target marking point pair includes a first target marking point determined from several of the first degree marking points and a second target marking point determined from several of the second degree marking points.

[0049] Specifically, since the first pipe orifice image can reflect the contour shape of the first pipe orifice and the second pipe orifice image can reflect the contour shape of the second pipe orifice, in this embodiment, the first pipe orifice image and the second pipe orifice image are used for image analysis. Furthermore, a first target marking point is determined from several first degree marking points, and a second target marking point is determined from several second degree marking points. These two marking points form the target marking point pair. By pairing with these two target marking points, the first pipe orifice and the second pipe orifice can achieve the best match, thereby reducing the overall misalignment amount after the pairing of the first pipe orifice and the second pipe orifice.

[0050] In one implementation, step S200 specifically includes the following steps:

[0051] Step S201, determine the pairing error values corresponding to several marking point pairs according to the first pipe orifice image and the second pipe orifice image, where several of the marking point pairs include combinations formed by pairwise pairing between several of the first degree marking points and several of the second degree marking points, and the pairing error value corresponding to each marking point pair is used to reflect the matching error between the first pipe orifice and the second pipe orifice when pairing with this marking point pair;

[0052] Step S202: Determine the target marker point pair according to the minimum of the pair error values corresponding to several said marker point pairs.

[0053] Specifically, since there are multiple first-degree marker points on the first pipe orifice and multiple second-degree marker points on the second pipe orifice, in this embodiment, it is necessary to pair each first-degree marker point with each second-degree marker point one by one, that is, to obtain multiple marker point pairs. And calculate the matching error between the two pipe orifices when each marker point pair is used as the matching point for pairing, that is, to obtain the pair error values corresponding to each marker point pair. It can be understood that the smaller the pair error value of the marker point pair, the smaller the matching error between the two pipe orifices, and the smaller the overall misalignment amount after the two pipe orifices are paired with this marker point pair. Therefore, in this embodiment, the marker point pair with the smallest pair error value is used as the target marker point pair for subsequent pairing.

[0054] In one implementation manner, step S201 specifically includes the following steps:

[0055] Step S2011: According to the first pipe orifice image and the second pipe orifice image, calculate the diameter difference or radius difference corresponding to each marker point pair when each marker point pair coincides respectively, so as to obtain the first difference data corresponding to each marker point pair.

[0056] Step S2012: Determine the pair error value corresponding to each marker point pair according to the first difference data corresponding to each marker point pair.

[0057] Briefly speaking, the first method for calculating the pair error value of each marker point pair provided in this embodiment is to use the method of edge point coincidence comparison. Specifically, each marker point pair in this embodiment can include all combinations formed by pairing each first-degree marker point with each second-degree marker point one by one. For each marker point pair, by moving the first pipe orifice image and the second pipe orifice image, overlapping the two images and making this marker point pair coincide, and then calculate the diameter difference or radius difference corresponding to each marker point pair on the first pipe orifice image and the second pipe orifice image at this time, so as to obtain the first difference data of this marker point pair. Among them, this first difference data can reflect the matching error between the first pipe orifice and the second pipe orifice when paired with this pair of marker point pairs. Therefore, in this embodiment, the first difference data of each marker point pair is used to determine the pair error value of this marker point pair.

[0058] For example, first import the first pipe orifice image and the second pipe orifice image into the graphic analysis software, and then extract the pipe orifice graphics, the pipe diameters / radii corresponding to each first degree marking point and each second degree marking point. Among them, the first pipe orifice corresponds to array A, denoted as A(1~180 / 360); the second pipe orifice corresponds to array B, denoted as B(1~180 / 360). It should be emphasized that when the first pipe orifice image and the second pipe orifice image are matched, note that the marking orders of the two pipe orifices need to be opposite, otherwise mirror matching needs to be adopted. Use computer software to move point A1 of the first pipe orifice image A and point B1 of the second pipe orifice image B to the coordinate origin respectively, and at the same time, the graphic plane angle can be adjusted so that A181 and B181 are on the same straight line. Use computer graphic analysis software to calculate the differences of the corresponding points on the graphics on the corresponding diameters / radii, C(1, 1, 1~360). Then keep figure B stationary, rotate figure A to make A2 coincide with point B1, and at the same time, the graphics A182 and B181 can be adjusted to be on the same straight line. Then use computer graphic analysis software to calculate the differences of the corresponding points on the graphics on the corresponding diameters / radii again. Record them with matrix C. Denote it as C(1, 2, 1~360). Repeat the above steps until A360 coincides with point B1. Record C(1, 360, 1~360). Then start from the beginning again, make A1 coincide with B2, repeat the above steps, and record C(2, 1~360, 1~360). Finally, each marking point in figure A coincides with each marking point in figure B respectively, and calculate the diameter difference / radius difference corresponding to each marking point pair in figure A and figure B when they coincide, and obtain the first difference data corresponding to each marking point pair.

[0059] In one implementation manner, step S2012 specifically includes the following steps:

[0060] Step S20121: Calculate the weighted average value corresponding to the first difference data of each of the marking point pairs to obtain the first weighted average value corresponding to each of the marking point pairs;

[0061] Step S20122: Determine the pairing error value corresponding to each of the marking point pairs according to the first weighted average value corresponding to each of the marking point pairs.

[0062] Specifically, for each marking point pair, in this embodiment, the weighted average method is adopted to calculate the weighted average value corresponding to the first difference data of this marking point pair, that is, the first weighted average value of this marking point pair is obtained. Compared with other data processing methods, the weighted average method can more accurately reflect the matching error between the first pipe orifice and the second pipe orifice when pairing with this marking point pair. Therefore, the first weighted average value of this marking point pair is used as its corresponding pairing error value.

[0063] In another implementation manner, step S201 specifically includes the following steps:

[0064] Step S2013: According to the first pipe orifice image and the second pipe orifice image, calculate the diameter difference or radius difference corresponding to each pair of marking points when the centers of the first pipe orifice image and the second pipe orifice image coincide and each pair of marking points and the center are located on the same straight line, so as to obtain the second difference data corresponding to each pair of marking points.

[0065] Step S2014: Determine the pair error value corresponding to each pair of marking points according to the second difference data corresponding to each pair of marking points.

[0066] Briefly speaking, the second method for calculating the pair error value of each pair of marking points provided in this embodiment is to adopt the method of comparing the coincidence of the centers. Specifically, each pair of marking points in this embodiment may include all combinations formed by pairwise pairing of each first-degree marking point and each second-degree marking point. For each pair of marking points, by making the centers of the first pipe orifice image and the second pipe orifice image coincide and adjusting the pair of marking points to be collinear with the center by rotating the image, and then calculating the diameter difference or radius difference corresponding to each pair of marking points on the first pipe orifice image and the second pipe orifice image at this time, so as to obtain the second difference data of this pair of marking points. Among them, the second difference data can also reflect the matching error between the first pipe orifice and the second pipe orifice when pairing with this pair of marking points. Therefore, this embodiment can also determine the pair error value of this pair of marking points by using the second difference data of each pair of marking points.

[0067] For example, through graphic analysis software, make the centers of Figure A and Figure B coincide, keep Figure B stationary, adjust point A1 in Figure A and point B1 to be on the same diameter, and then calculate the diameter difference or radius difference corresponding to each pair of marking points A1, B1; A2, B2;... A360, B360 at this time, denoted as C(1, 1~360); then rotate Figure A around the center by 1°, and then make A2 and B1 collinear, and calculate the diameter difference or radius difference corresponding to each pair of marking points A2, B1; A3, B2;... A1, B360 at this time, denoted as C(2, 1~360). Repeat the above until point A360 coincides with point B1, and obtain the array C(1~360, 1~360), so as to obtain the second difference data corresponding to each pair of marking points.

[0068] In one implementation manner, the step S2014 specifically includes the following steps:

[0069] Step S20141: Calculate the weighted average value corresponding to the second difference data of each pair of marking points to obtain the second weighted average value corresponding to each pair of marking points.

[0070] Step S20142: Determine the pair error value corresponding to each of the marker point pairs according to the second weighted average value corresponding to each of the marker point pairs.

[0071] Specifically, for each marker point pair, in this embodiment, the weighted average method is used to calculate the weighted average value corresponding to the second difference data of this marker point pair, that is, the second weighted average value of this marker point pair is obtained. Compared with other data processing methods, the weighted average method can more accurately reflect the matching error between the first pipe orifice and the second pipe orifice when pairing with this marker point pair. Therefore, the second weighted average value of this marker point pair is used as its corresponding pair error value.

[0072] In one implementation, several of the marker point pairs are combinations formed by pairwise pairing of the first degree marker points and the second degree marker points respectively located on the maximum diameter of the first pipe orifice image and the second pipe orifice image, and combinations formed by pairwise pairing of the first degree marker points and the second degree marker points respectively located on the minimum diameter of the first pipe orifice image and the second pipe orifice image.

[0073] Briefly speaking, the steel pipe manufacturing process determines that the pipe orifice cannot be a standard circle. Therefore, strictly speaking, each pipe orifice is a polygon or an irregular ellipse close to a circle. Therefore, the third method provided in this embodiment for calculating the pair error value of each marker point pair is to use the method of quickly comparing the major and minor axes with the least amount of calculation. Specifically, in order to reduce the amount of calculation, the marker point pairs in this embodiment do not use all combinations formed by pairwise pairing of each first degree marker point and each second degree marker, but only use the marker point pairs formed by pairwise pairing of the first degree marker points and the second degree marker points located on the maximum diameter of the first pipe orifice image and the second pipe orifice image, or the marker point pairs formed by pairwise pairing of the first degree marker points and the second degree marker points located on the minimum diameter of the first pipe orifice image and the second pipe orifice image. Then, calculate the pair error values corresponding to these marker point pairs respectively, and select the target marker point pair from them.

[0074] For example, calculate the straightest major axis and the shortest diameter corresponding to the first pipe orifice in Figure A and the second pipe orifice in Figure B respectively through the measurement data. Then, only calculate the pair error values for the marker point pairs formed by the two endpoints of the longest diameter in Figure A and the two endpoints of the longest diameter in Figure B, and the marker point pairs formed by the two endpoints on the shortest diameter in Figure A and the two endpoints on the shortest diameter in Figure B, and select the target marker point pair from them.

[0075] In one implementation, first determine whether the roundness of the first pipe orifice and the second pipe orifice meets the error requirements. If not, determine that the first pipe orifice and the second pipe orifice are unqualified products. If the first pipe orifice and the second pipe orifice are qualified products, then determine the target marker point pair between the two pipe orifices.

[0076] As Figure 1 shown, the method further includes the following steps:

[0077] Step S300, pipe orifice pairing of the first pipe orifice and the second pipe orifice according to the target marking point pair.

[0078] Specifically, since the pairing error value of the target marking point pair is the smallest, after the first pipe orifice and the second pipe orifice are paired through the target marking point pair, the two pipe orifices can achieve the best matching effect, and the overall offset amount of the two pipe orifices is kept at the lowest level.

[0079] For example, assume that the 9 o'clock position of the first pipe orifice and the 5 o'clock position of the second pipe orifice are the target marking point pair. Then the control system adjusts the rotation of one of the pipe orifices along the axis according to the target marking point pair so that the 9 o'clock position is aligned with the 5 o'clock position, and finely adjusts the butt joint position to achieve the best spacing. Then, taking this as a reference, the pipeline is adjusted, and the best pairing effect of the first pipe orifice and the second pipe orifice can be obtained. When adjusting the pipeline, the actual on-site position can be combined, and the position of the pipeline can be adjusted according to the data fed back in real time by the camera and the position detector, such as horizontal displacement, vertical displacement, vertical inclination, left and right inclination, and front and back movement, so as to complete the adjustment of the butt joint position. After the pairing is completed, the pipe orifices are welded manually, or the automatic pairing welding is completed using an automatic welding system. After the welding is completed, the control system releases the clamping of the pipeline, thereby releasing the connection between the pipeline and the butt joint system equipment.

[0080] In one implementation, when multiple pipes are welded into a pipeline, there will be multiple arbitrary pipe orifice pairing situations. Then, the pipe orifice automatic pairing method of the present invention can be executed for pairwise pairing of all pipe orifices to obtain the best pipe orifice pairing result and improve the pairing effect of all weld joints of the entire pipeline.

[0081] Based on the above embodiments, the present invention also provides a pipe orifice automatic pairing system, as Figure 3 shown, the system includes:

[0082] An acquisition module 01, configured to acquire a first pipe orifice image corresponding to the first pipe orifice and a second pipe orifice image corresponding to the second pipe orifice. Among them, the first pipe orifice image includes a plurality of first degree marking points, the second pipe orifice image includes a plurality of second degree marking points, and the plurality of first degree marking points and the plurality of second degree marking points correspond one by one and have opposite marking orders;

[0083] A screening module 02, configured to determine a target marking point pair according to the first pipe orifice image and the second pipe orifice image. Among them, the target marking point pair includes a first target marking point determined from a plurality of the first degree marking points and a second target marking point determined from a plurality of the second degree marking points;

[0084] A pairing module 03 for pairing the first pipe orifice and the second pipe orifice according to the target marking points.

[0085] In one implementation, the acquisition module 01 includes an observation and measurement system, and the functions of the observation and measurement system include:

[0086] 1. Obtain the basic image information of the two pipe orifices to be paired through cameras and measuring instruments.

[0087] 2. During the pairing process, measure the positions and deviation information of the two paired pipe orifices in real time.

[0088] In one implementation, the screening module 02 includes an analysis and calculation system, and the functions of the analysis and calculation system include:

[0089] 1. Analyze and calculate the data of the observed pipe orifices to obtain the best matching result. Output the unqualified data and reasons; output the best matching result information (i.e., the target marking points).

[0090] 2. During the pairing of the two pipe orifices, calculate the positions and deviation information of the two measured pipe orifices in real time, compare with the actually required standards, and output adjustment data to the adjustment control system

[0091] In one implementation, the pairing module 03 includes an adjustment control system and an adjustment mechanism;

[0092] Among them, the functions of the adjustment control system include:

[0093] 1. According to the adjustment control data, send out adjustment signals to control the actions of the adjustment mechanism.

[0094] Among them, the functions of the adjustment mechanism include:

[0095] 1. Pipe clamping and releasing actions. When adjusting the position of the pipe, clamp the pipe so that the pipe moves together with the adjustment device (as Figure 2 shown). When the pipe rotates along the axis, the clamping device must be released so that the pipe can rotate along the axis.

[0096] 2. Pipe clockwise and counterclockwise rotation actions along the axis. The rollers on both sides of the support rotate, and the pipe is driven to rotate axially by friction.

[0097] 3. Pipe up and down tilting actions along the axis and the overall rise and fall of the pipe. Through the cooperation of the front and rear support columns H1, H2, H3, and H4, the four support columns are lifted or lowered simultaneously to achieve the overall lifting or lowering of the pipe; the two in the front (H1, H3) are jacked up, and the two in the rear (H2, H4) are lowered, then the pipe tilts upward. Conversely, the pipe orifice tilts downward.

[0098] 4. The pipe swings left and right in the horizontal direction along the axis. The C rotating device between the bases M and N drives the upper base N to rotate horizontally as a whole, thereby driving the pipe placed above to swing left and right in the horizontal direction along the axis.

[0099] 5. The pipe moves forward and backward along the axis. N moves as a whole along the X1 and X2 tracks on M to achieve the forward and backward movement.

[0100] 6. The pipe moves horizontally left and right. N moves as a whole along the Y1 and Y2 tracks on M to achieve the overall horizontal left and right translation of the pipe.

[0101] In one implementation, the pipe orifice automatic pairing system further includes a power system, and the functions of the power system include:

[0102] 1. Providing electric power and hydraulic power for the whole system. Among them, the transmission mechanism can be gears, racks, screws, etc. driven by a motor, or a hydraulic device can drive the hydraulic arm to act, or multiple methods can be combined.

[0103] Based on the above embodiments, the present invention also provides a terminal, and its principle block diagram can be as Figure 4 shown. The terminal includes a processor, a memory, a network interface, and a display screen connected through a system bus. Among them, the processor of the terminal is used to provide computing and control capabilities. The memory of the terminal includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the terminal is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes the pipe orifice automatic pairing method. The display screen of the terminal can be a liquid crystal display screen or an electronic ink display screen.

[0104] Those skilled in the art can understand that Figure 4 the principle block diagram shown in

[0105] merely shows the block diagram of some structures related to the solution of the present invention, and does not constitute a limitation on the terminal to which the solution of the present invention is applied. The specific terminal may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0106] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided by the present invention can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0107] In summary, the present invention discloses an automatic pipe orifice pairing method, system, terminal, and storage medium. The method obtains a first pipe orifice image corresponding to a first pipe orifice and a second pipe orifice image corresponding to a second pipe orifice. Among them, the first pipe orifice image includes a plurality of first degree marking points, and the second pipe orifice image includes a plurality of second degree marking points. The plurality of first degree marking points and the plurality of second degree marking points are in one-to-one correspondence and have opposite marking orders. According to the first pipe orifice image and the second pipe orifice image, a target marking point pair is determined. The target marking point pair includes a first target marking point determined from the plurality of first degree marking points and a second target marking point determined from the plurality of second degree marking points. The first pipe orifice and the second pipe orifice are paired according to the target marking point pair. By performing image analysis on the orifices of two pipe orifices to be paired, the target marking point pair on these two pipe orifices is determined, and these two pipe orifices are paired according to the target marking point pair, which can make the pairing of these two pipe orifices achieve the best match and keep the overall misalignment amount at the lowest level. It solves the problem that in the prior art, manual pipe orifice pairing is prone to a large misalignment after pairing, resulting in an excessive misalignment amount in steel pipe welding.

[0108] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or changes can be made according to the above description, and all such improvements and changes should fall within the protection scope of the appended claims of the present invention.

Claims

1. An automatic pipe orifice alignment method, characterized in that, The method includes: Obtaining a first nozzle image corresponding to a first nozzle and a second nozzle image corresponding to a second nozzle, wherein the first nozzle image includes a plurality of first degree marking points, the second nozzle image includes a plurality of second degree marking points, and the plurality of first degree marking points and the plurality of second degree marking points correspond to each other one by one and have opposite marking orders; According to the first nozzle image and the second nozzle image, when calculating that each pair of marking points coincides, calculating the diameter difference or radius difference corresponding to each pair of marking points to obtain first difference data corresponding to each pair of marking points; the plurality of pairs of marking points include combinations formed by pairwise pairing between the plurality of first degree marking points and the plurality of second degree marking points; According to the first difference data corresponding to each pair of marking points, determining a pair error value corresponding to each pair of marking points; the pair error value corresponding to each pair of marking points is used to reflect the matching error between the first nozzle and the second nozzle when pairing with this pair of marking points; According to the minimum value of the pair error values corresponding to the plurality of pairs of marking points, determining a target pair of marking points; the target pair of marking points includes a first target marking point determined from the plurality of first degree marking points and a second target marking point determined from the plurality of second degree marking points; Pairing the first nozzle and the second nozzle according to the target pair of marking points.

2. The automatic pipe orifice alignment method according to claim 1, characterized in that, The plurality of pairs of marking points are combinations formed by pairwise pairing between the first degree marking points and the second degree marking points respectively located on the maximum diameter of the first nozzle image and the second nozzle image, and combinations formed by pairwise pairing between the first degree marking points and the second degree marking points respectively located on the minimum diameter of the first nozzle image and the second nozzle image.

3. The automatic pipe orifice alignment method according to claim 1, characterized in that, The determining the pair error value corresponding to each pair of marking points according to the first difference data corresponding to each pair of marking points includes: Calculating a weighted average value corresponding to the first difference data of each pair of marking points to obtain a first weighted average value corresponding to each pair of marking points; According to the first weighted average value corresponding to each pair of marking points, determining the pair error value corresponding to each pair of marking points.

4. The automatic pipe orifice alignment method according to claim 1, characterized in that The determining the pair error values corresponding to the plurality of pairs of marking points according to the first nozzle image and the second nozzle image includes: According to the first nozzle image and the second nozzle image, when the centers of the first nozzle image and the second nozzle image coincide and each pair of marking points is respectively on the same straight line as the center, calculating the diameter difference or radius difference corresponding to each pair of marking points to obtain second difference data corresponding to each pair of marking points; According to the second difference data corresponding to each pair of marking points, determining the pair error value corresponding to each pair of marking points.

5. The automatic pipe orifice alignment method according to claim 4, characterized in that The determining the pair error value corresponding to each pair of marking points according to the second difference data corresponding to each pair of marking points includes: Calculate the weighted average value corresponding to the second difference data of each of the said marker point pairs to obtain the second weighted average value corresponding to each of the said marker point pairs; Determine the pair error value corresponding to each of the said marker point pairs according to the second weighted average value corresponding to each of the said marker point pairs.

6. An automatic pipe orifice alignment system, characterized in that, The system includes: An acquisition module, configured to acquire a first nozzle image corresponding to a first nozzle and a second nozzle image corresponding to a second nozzle, wherein the first nozzle image includes a plurality of first degree marker points, and the second nozzle image includes a plurality of second degree marker points, and the plurality of first degree marker points and the plurality of second degree marker points correspond one by one and have opposite marking orders; A screening module, configured to calculate the diameter difference or radius difference corresponding to each marker point pair when each marker point pair coincides respectively according to the first nozzle image and the second nozzle image, to obtain the first difference data corresponding to each marker point pair; the plurality of marker point pairs include combinations formed by pairwise pairing between the plurality of first degree marker points and the plurality of second degree marker points; Determine the pair error value corresponding to each of the said marker point pairs according to the first difference data corresponding to each of the said marker point pairs; the pair error value corresponding to each of the said marker point pairs is used to reflect the matching error between the first nozzle and the second nozzle when pairing with this marker point pair; Determine a target marker point pair according to the minimum value of the pair error values corresponding to the plurality of marker point pairs respectively; the target marker point pair includes a first target marker point determined from the plurality of first degree marker points and a second target marker point determined from the plurality of second degree marker points; A pairing module, configured to perform nozzle pairing on the first nozzle and the second nozzle according to the target marker point pair.

7. A terminal, characterized in that, The terminal includes a memory and one or more processors; the memory stores one or more programs; the programs include instructions for executing the nozzle automatic pairing method according to any one of claims 1-5; the processor is configured to execute the programs.

8. A computer-readable storage medium having a plurality of instructions stored thereon, characterized in that, The instructions are suitable for being loaded and executed by the processor to implement the steps of the nozzle automatic pairing method according to any one of claims 1-5 above.

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