A pipe cutting method, device and computer readable storage medium

Abstract

The present application relates to a pipe cutting method, device and computer readable storage medium. The pipe cutting method comprises: obtaining a three-dimensional graph of a part to be cut; obtaining a position relationship between a current machining graph and a next machining graph based on the three-dimensional graph and a machining sequence; obtaining a current lifting height according to the position relationship; if the current lifting height is less than a preset lifting height, lifting the cutting head according to the preset lifting height after cutting the part to be cut according to the current machining graph; if the current lifting height is greater than or equal to the preset lifting height, lifting the cutting head according to the current lifting height after cutting the part to be cut according to the current machining graph. Through the above pipe cutting method, the lifting height of each idle movement of the cutting head can be intelligently planned to ensure that the lifting distance is the shortest and the pipe is not touched.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric control, in particular to a pipe cutting method and device and a computer readable storage medium. BACKGROUND

[0002] In the application of laser cutting pipe, especially square tube, oval tube, etc., it is necessary to lift to avoid its high point, and then to lower to cut the next pattern after rotating in place. In the prior art, only a higher lifting height can be set, which leads to the fact that some empty movements that do not need to be lifted are still lifted to this height, increasing the lifting distance and reducing the production efficiency. And if the lifting height is set lower, there is a risk of collision. SUMMARY

[0003] The present application provides a pipe cutting method and device and a computer readable storage medium.

[0004] The present application provides a pipe cutting method, which comprises:

[0005] acquiring a three-dimensional pattern of a part to be cut;

[0006] acquiring a position relationship between a current machining pattern and a next machining pattern based on the three-dimensional pattern and a machining sequence;

[0007] acquiring a current lifting height according to the position relationship;

[0008] if the current lifting height is less than a preset lifting height, lifting the cutting head according to the preset lifting height after cutting the part to be cut according to the current machining pattern.

[0009] if the current lifting height is greater than or equal to the preset lifting height, lifting the cutting head according to the current lifting height after cutting the part to be cut according to the current machining pattern.

[0010] The position relationship between the current machining pattern and the next machining pattern acquired based on the three-dimensional pattern and the machining sequence comprises:

[0011] acquiring a line on the surface of the pipe between the end point of the current machining pattern and the start point of the next machining pattern based on the three-dimensional pattern and the machining sequence;

[0012] The current lifting height acquired according to the position relationship comprises:

[0013] discretizing and traversing all points of the line to acquire the highest point on the line;

[0014] acquiring the current lifting state based on the position of the highest point.

[0015] The step of obtaining the positional relationship between the current processing graphic and the next processing graphic based on the three-dimensional graphics and the processing sequence further includes:

[0016] Based on the three-dimensional graphics and the processing sequence, obtain the angle difference between the end point of the current processing graphic and the starting point of the next processing graphic;

[0017] The step of obtaining the current elevation height according to the positional relationship includes:

[0018] If the angle difference is greater than or equal to a preset angle threshold, the current elevation height is obtained using the highest point of the three-dimensional graphic and the current height.

[0019] If the angle difference is less than the preset angle threshold, the current elevation height is obtained by using the highest point of the three-dimensional graphic, the end angle of the current processed graphic, and the starting angle of the next processed graphic.

[0020] The pipe cutting method includes:

[0021] When the cross-sectional shape of the three-dimensional graphic is rectangular, obtain the width and height of the rectangle;

[0022] The highest point of the 3D graphic is calculated based on the width and height of the rectangle.

[0023] The pipe cutting method includes:

[0024] Obtain the highest point of the three-dimensional graphic during rotation;

[0025] The highest point of the three-dimensional image is determined based on the highest point.

[0026] The pipe cutting method includes:

[0027] When the cross-sectional shape of the three-dimensional graphic is circular, the current elevation height is determined based on the preset elevation height.

[0028] The calculation formula for obtaining the current lifting height using the highest point of the three-dimensional graphic, the end angle of the current processed graphic, and the starting angle of the other processed graphics is as follows:

[0029]

[0030] in, To raise the current height, The highest point of the three-dimensional graphic. The endpoint angle of the currently processed graphic. This is the starting angle for the next processed graphic.

[0031] The application also provides a pipe cutting device, which comprises a figure module, a position module, a height module and a lifting module, wherein

[0032] The figure module is used for acquiring a three-dimensional figure of a part to be cut.

[0033] The position module is used for acquiring a position relationship between a current machining figure and a next machining figure based on the three-dimensional figure and a machining sequence.

[0034] The height module is used for acquiring a current lifting height according to the position relationship.

[0035] The lifting module is used for judging whether the current lifting height is less than a preset lifting height; if yes, lifting the cutting head according to the preset lifting height after cutting the part to be cut according to the current machining figure; if no, lifting the cutting head according to the current lifting height after cutting the part to be cut according to the current machining figure.

[0036] The application also provides another pipe cutting device, which comprises a processor and a memory, wherein the memory stores program data, and the processor is used for executing the program data to realize the pipe cutting method as above.

[0037] The application also provides a computer readable storage medium, which is used for storing program data, and the program data is used for realizing the pipe cutting method as above when executed by a processor.

[0038] The pipe cutting device acquires a three-dimensional figure of a part to be cut, acquires a position relationship between a current machining figure and a next machining figure based on the three-dimensional figure and a machining sequence, acquires a current lifting height according to the position relationship, and lifts a cutting head according to a preset lifting height after cutting the part to be cut according to the current machining figure if the current lifting height is less than the preset lifting height, or lifts the cutting head according to the current lifting height after cutting the part to be cut according to the current machining figure if the current lifting height is greater than or equal to the preset lifting height. Through the pipe cutting method, the lifting height of each air movement of the cutting head can be intelligently planned to ensure that the lifting distance is the shortest and the cutting head does not touch the pipe. BRIEF DESCRIPTION OF DRAWINGS

[0039] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description read in conjunction with the accompanying drawings, in which like reference numerals refer to like elements throughout. The following detailed description is presented primarily for the purpose of enabling others to make and use the disclosure. It will be appreciated, however, that those skilled in the art will be able to devise various embodiments without the

[0040] Figure 1 is a flowchart of an embodiment of a pipe cutting method provided by the present application;

[0041] Figure 2 is a flowchart of an embodiment of a pipe cutting method provided by the present application; Figure 1

[0042] Figure 3 is a flowchart of an embodiment of a pipe cutting method provided by the present application;

[0043] Figure 4 is a flowchart of an embodiment of a pipe cutting method provided by the present application;

[0044] Figure 5 is a flowchart of an embodiment of a pipe cutting method provided by the present application;

[0045] Figure 6 is a structural schematic diagram of an embodiment of a pipe cutting device provided by the present application;

[0046] Figure 7 is a structural schematic diagram of an embodiment of a pipe cutting device provided by the present application;

[0047] Figure 8 is a structural schematic diagram of an embodiment of a computer readable storage medium provided by the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present disclosure.

[0049] The specific embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0050] Please refer to Figure 1 and Figure 2 , Figure 1 is a flowchart of an embodiment of a pipe cutting method provided by the present application, Figure 2 is a flowchart of an embodiment of a pipe cutting method provided by the present application; Figure 1 is a flowchart of an embodiment of a pipe cutting method provided by the present application.

[0051] ​The pipe cutting method of the application is applied to a pipe cutting device. The pipe cutting device of the application can be a server or a system formed by cooperation of a server and a terminal device. Accordingly, each part of the pipe cutting device, such as each unit, subunit, module, and sub-module, can be provided in the server or in the server and the terminal device respectively.

[0052] Further, the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster formed by multiple servers or as a single server. When the server is software, it can be implemented as multiple software or software modules, such as software or software modules for providing a distributed server, or as a single software or software module, which is not specifically limited herein. In some possible implementation manners, the pipe cutting method of the embodiments of the application can be implemented by a processor calling computer readable instructions stored in a memory.

[0053] Specifically, as shown in Figure 1 and Figure 2 the pipe cutting method of the embodiments of the application specifically includes the following steps:

[0054] Step S11: Obtain a three-dimensional graph of a part to be cut.

[0055] In the embodiments of the application, the pipe cutting device sets a preset lifting height according to the actual situation of the pipe by a user , that is, the preset lifting height can be a default lifting height preset in the pipe cutting device or a lifting height input by the user. It should be noted that if the preset lifting height is 0, the cutting head does not need to be lifted after cutting the current machining graph on the pipe.

[0056] The part to be cut can be a complete pipe or a part of the pipe.

[0057] After setting the preset lifting height of the pipe, the pipe cutting device imports a three-dimensional graph of the pipe and determines a machining order of a plurality of machining graphs on the pipe. The three-dimensional graph of the pipe can be a three-dimensional model of the pipe.

[0058] Step S12: Obtain a positional relationship between a current machining graph and a next machining graph based on the three-dimensional graph and the machining order.

[0059] In the embodiment of the present application, when a plurality of processing patterns are arranged on the pipe, i.e. after the current processing pattern is cut, the pipe needs to be rotated to cut the processing pattern in the next processing sequence, at this time, the pipe cutting device can calculate the current lifting height according to the positional relationship between the current processing pattern and the next processing pattern. For details, please refer to Figure 3 In the pipe shown in Figure 3 , the pipe cutting device needs to process several processing patterns, and needs to lift the cutting head to avoid obstacles from the last pattern to the next pattern.

[0060] The positional relationship between the current processing pattern and the next processing pattern can be represented by the line connecting the end point of the current processing pattern and the start point of the next processing pattern, or by the angle difference between the end point of the current processing pattern and the start point of the next processing pattern.

[0061] Step S13: obtaining the current lifting height according to the positional relationship.

[0062] For example, please continue to refer to Figure 2 and Figure 4 , Figure 4 is a schematic diagram of the processing of the elliptical pipe provided by the present application. If the pipe is in an elliptical, track-shaped or other special shape, the pipe cutting device can search for the end point of the current processing pattern and the start point of the next processing pattern, calculate the line on the surface of the pipe before the two positions. Then, the pipe cutting device splits the line according to a preset length, such as 0.1mm, and traverses to find the highest point of the Z axis on the line, so as to calculate the required lifting height according to the highest point .

[0063] For another example, in the embodiment of the present application, the pipe cutting device obtains the end point angle of the current processing pattern and the start point angle of the next processing pattern. For details, please refer to Figure 5 In the rectangular pipe in , the pipe cutting device searches for the end point angle of the nth processing pattern and the start point angle of the (n+1)th processing pattern , so as to calculate the angle difference between the two points .

[0064] The coordinate representation of the start point and the end point in the three-dimensional pattern can be represented as (X, Y, Z, B), and B is the angle of the point.

[0065] When the angle difference is greater than or equal to a preset angle threshold, such as 90 degrees, the pipe cutting device sets the lifting height to the highest point height , at this time, the height required to be lifted by the cutting head is , wherein is the current height of the cutting head.

[0066] When the angle difference When the angle is less than a preset threshold, such as 90 degrees, the pipe cutting device cuts the pipe at the highest point. and the angle of the current processed graphic The angle of the next processed graphic The required height to raise the cutting head is calculated using the following formula:

[0067]

[0068] in, To raise the current height, The highest point of the three-dimensional graphic. The endpoint angle of the currently processed graphic. This is the starting angle for the next processed graphic.

[0069] In this embodiment, for non-circular pipes, such as rectangular pipes, the position of the highest point of the pipe changes during rotation, and the corresponding shortest lifting distance also changes continuously. Therefore, the pipe cutting device can calculate a new lifting height according to the shape of the pipe, that is, determine a new shortest lifting distance based on the constantly changing highest point during rotation, thereby achieving the effect of intelligently planning the idle movement height of the cutting head.

[0070] It should be noted that the shape of the pipe mentioned in the embodiments of this application is understood to be the shape of the pipe cross-section.

[0071] For example, for a rectangular pipe, the pipe cutting device can determine the highest point height of the three-dimensional graphic during rotation by using the width and height of the rectangle, and use the highest point height to calculate the new lifting height.

[0072] Specifically, after the pipe cutting device cuts the current processing pattern of the pipe with the cutting head, it can raise the cutting head according to the new lifting height, thereby rotating the pipe and continuing to cut the processing pattern of the next processing sequence of the pipe.

[0073] When the cross-sectional shape of the 3D graphic is rectangular, the pipe cutting device can determine the height of the highest point of the 3D graphic during rotation by using the width and height of the rectangle. For example, the maximum rotation radius of the rectangular pipe is the highest point. W is the width of the rectangular tube, and H is the height of the rectangular tube.

[0074] The cross-sectional shape of the 3D graphic can be the cross-sectional shape of the pipe 3D model cut according to the rotation direction, or it can be the projection shape of the pipe 3D model onto the XZ axis plane in the 3D coordinate system.

[0075] In the embodiments of the present application, for the pipe with a circular shape, the pipe cutting device can directly use the preset lifting height set by the user to lift the cutting head, because the highest point of the pipe with a circular shape remains unchanged during rotation. Therefore, for the pipe with a circular shape, it is generally considered that the preset lifting height set by the user is the shortest lifting distance for the entire pipe, and the pipe will not be hit.

[0076] In addition, it should be noted that when the angle difference is 0 degrees, it can be indicated that there is only one processing pattern, or the current processing pattern and the processing pattern of the next processing sequence are on the same plane, at this time, the pipe does not need to be rotated, and the cutting head can be directly lifted using the preset lifting height set by the user.

[0077] The pipe cutting device of the embodiments of the present application uses the three-dimensional pattern of the pipe, extracts the contour of the three-dimensional pattern of the pipe, intelligently plans the air-moving height of the air-moving between each cutting pattern, to ensure that the lifting distance is the shortest and the pipe will not be hit, which can not only ensure the shortest lifting obstacle avoidance to ensure processing efficiency, but also avoid hitting the pipe caused by the user setting the lifting too low.

[0078] Among them, for the pipe with an irregular shape, the pipe cutting device can rotate the three-dimensional pattern of the pipe to obtain the highest point of the three-dimensional pattern of the pipe when rotating, and then determine the current lifting height based on the highest point as the highest point position of the pipe.

[0079] Step S14: If the current lifting height is less than the preset lifting height, after cutting the to-be-cut part according to the current processing pattern, the cutting head is lifted according to the preset lifting height.

[0080] Step S15: If the current lifting height is greater than or equal to the preset lifting height, after cutting the to-be-cut part according to the current processing pattern, the cutting head is lifted according to the current lifting height.

[0081] Further, in order to further ensure that the lifting distance of the cutting head each time is the shortest and more close to the user setting, after calculating the new lifting height, the pipe cutting device can also compare the new lifting height with the preset lifting height set by the user. When the new lifting height is higher than the preset lifting height set by the user, the new lifting height is used as the shortest lifting distance to lift the cutting head. When the new lifting height is lower than the preset lifting height set by the user, the preset lifting height is used as the shortest lifting distance to lift the cutting head.

[0082] In the embodiment of the present application, the pipe cutting device acquires a three-dimensional graph of a part to be cut; acquires a position relationship between a current machining graph and a next machining graph based on the three-dimensional graph and a machining sequence; acquires a current lifting height according to the position relationship; if the current lifting height is less than a preset lifting height, after cutting the part to be cut according to the current machining graph, the cutting head is lifted according to the preset lifting height; if the current lifting height is greater than or equal to the preset lifting height, after cutting the part to be cut according to the current machining graph, the cutting head is lifted according to the current lifting height. Through the above pipe cutting method, the lifting height of each idle movement of the cutting head can be intelligently planned to ensure that the lifting distance is the shortest and the pipe is not touched.

[0083] Those skilled in the art can understand that, in the above method of the specific implementation, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process, and the specific execution order of each step should be determined by its function and possible internal logic.

[0084] To implement the pipe cutting method of the above embodiment, the present application further provides a pipe cutting device, please refer to Figure 6 , Figure 6 is a structural schematic diagram of an embodiment of the pipe cutting device provided by the present application.

[0085] The pipe cutting device 500 of the embodiment of the present application comprises a graph module 51, a position module 52, a height module 53 and a lifting module 54.

[0086] The graph module 51 is configured to acquire a three-dimensional graph of a part to be cut.

[0087] The position module 52 is configured to acquire a position relationship between a current machining graph and a next machining graph based on the three-dimensional graph and a machining sequence.

[0088] The height module 53 is configured to acquire a current lifting height according to the position relationship.

[0089] The lifting module 54 is configured to determine whether the current lifting height is less than a preset lifting height. If yes, after cutting the part to be cut according to the current machining graph, the cutting head is lifted according to the preset lifting height. If no, after cutting the part to be cut according to the current machining graph, the cutting head is lifted according to the current lifting height.

[0090] To implement the pipe cutting method of the above embodiment, the present application further provides another pipe cutting device, please refer to Figure 7 , Figure 7 is a structural schematic diagram of another embodiment of the pipe cutting device provided by the present application.

[0091] The pipe cutting device 600 of the embodiment of the present application comprises a memory 61 and a processor 62, wherein the memory 61 and the processor 62 are coupled.

[0092] The memory 61 is configured to store program data, and the processor 62 is configured to execute the program data to implement the pipe cutting method described in the above embodiment.

[0093] In the embodiment, the processor 62 can also be referred to as a CPU (Central Processing Unit). The processor 62 can be an integrated circuit chip with processing capability. The processor 62 can also be a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a FPGA (Field Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general purpose processor can be a microprocessor or the processor 62 can also be any conventional processor.

[0094] To implement the pipe cutting method of the above embodiment, the present application further provides a computer readable storage medium, such as a storage medium 700 as shown in the figure. Figure 8 As shown in the figure, the computer readable storage medium 700 is configured to store program data 71, and the program data 71 is configured to, when executed by a processor, implement the pipe cutting method as described in the above embodiment.

[0095] The present application further provides a computer program product, wherein the above computer program product comprises a computer program, and the above computer program is operable to make a computer execute the pipe cutting method as described in the embodiment of the present application. The computer program product can be a software installation package.

[0096] The pipe cutting method described in the above embodiments of the present application exists in the form of a software function unit when implemented and sold or used as an independent product, and can be stored in a device, such as a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0097] In the above description of the present specification, unless explicitly specified and limited, the terms "fixed", "mounted", "connected" or "linked" and the like should be understood in a broad sense. For example, as to the term "connected", it can be fixed connection, detachable connection, or integral; it can be mechanical connection, electrical connection; it can be direct connection, indirect connection through an intermediate medium, or internal connection of two elements or interaction relationship between two elements. Therefore, unless the present specification explicitly limits, those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0098] According to the above description of the present specification, those skilled in the art can also understand that the terms used, such as "upper", "lower", "front", "rear", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "center", "longitudinal", "transverse", "clockwise" or "counterclockwise" and the like indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings of the present specification, which is only for the purpose of facilitating the description of the present application and simplifying the description, and does not explicitly or implicitly indicate or suggest that the device or element involved must have the described specific orientation, be constructed and operated in a specific orientation, therefore the above orientation or positional relationship terms cannot be understood or interpreted as a limitation on the present application.

[0099] In addition, the terms "first" or "second" and the like used in the description of the specification are used for terms indicating numbers or ordinal numbers only for the purpose of description and cannot be understood as explicitly or implicitly indicating relative importance or implying the number of indicated technical features. Thus, the features defined with "first" or "second" can explicitly or implicitly include at least one of the features. In the description of the specification, the meaning of "plurality" is at least two, for example, two, three or more, etc., unless otherwise explicitly and specifically limited.

[0100] While the present application has been illustrated and described with reference to various embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application. It should be understood that various alternatives to the embodiments of the application described herein can be employed in practicing the application. The following claims are intended to define the scope of the application and are accordingly to be accorded their fullest interpretation.

Claims

1. A pipe cutting method, characterized by, The pipe cutting method comprises: acquiring a three-dimensional graph of a part to be cut; acquiring a positional relationship between a current machining graph and a next machining graph based on the three-dimensional graph and a machining sequence; acquiring a current lifting height according to the positional relationship; if the current lifting height is less than a preset lifting height, lifting a cutting head by the preset lifting height after cutting the part to be cut according to the current machining graph; if the current lifting height is greater than or equal to the preset lifting height, lifting the cutting head by the current lifting height after cutting the part to be cut according to the current machining graph; when a cross-sectional shape of the three-dimensional graph is a rectangle, acquiring a width and a height of the rectangle and calculating a highest point of the three-dimensional graph based on the width and the height of the rectangle; when the cross-sectional shape of the three-dimensional graph is a circle, determining the current lifting height based on the preset lifting height; when the three-dimensional graph is an irregular shape, rotating the three-dimensional graph, acquiring a highest point of the three-dimensional graph when the three-dimensional graph is rotated, and determining the current lifting height by taking the highest point as a highest point position; the acquiring of the positional relationship between the current machining graph and the next machining graph based on the three-dimensional graph and the machining sequence comprises: acquiring a line on a pipe surface between an end point of the current machining graph and a start point of the next machining graph based on the three-dimensional graph and the machining sequence; acquiring an angle difference between the end point of the current machining graph and the start point of the next machining graph based on the three-dimensional graph and the machining sequence; the acquiring of the current lifting height according to the positional relationship comprises: discretizing and traversing all points of the line to acquire a highest point on the line; if the angle difference is greater than or equal to a preset angle threshold, acquiring the current lifting height by using the highest point of the three-dimensional graph and a current height; if the angle difference is less than the preset angle threshold, acquiring the current lifting height by using the highest point of the three-dimensional graph and an end point angle of the current machining graph and a start point angle of the next machining graph.

2. The pipe cutting method according to claim 1, wherein the pipe cutting method comprises: acquiring the highest point of the three-dimensional graph when the three-dimensional graph is rotated; determining the highest point of the three-dimensional graph based on the highest point.

3. The pipe cutting method according to claim 1, wherein a calculation formula for acquiring the current lifting height by using the highest point of the three-dimensional graph and the end point angle of the current machining graph and the start point angle of the next machining graph is as follows: The pipe cutting device comprises a graph module, a position module, a height module and a lifting module, wherein: the graph module is configured to acquire a three-dimensional graph of a part to be cut; wherein, is a current raised height, is a highest point height of the three-dimensional pattern, is an end point angle of the current machining pattern, is a start point angle of the next machining pattern.

4. A pipe cutting apparatus, characterised in that, the position module is configured to acquire a positional relationship between a current machining graph and a next machining graph based on the three-dimensional graph and a machining sequence; the height module is configured to acquire a current lifting height according to the positional relationship; and the lifting module is configured to lift a cutting head by the current lifting height after cutting the part to be cut according to the current machining graph. ​ The lifting module is configured to determine whether the current lifting height is less than a preset lifting height; if yes, lifting the cutting head according to the preset lifting height after cutting the part to be cut according to the current machining pattern; if no, lifting the cutting head according to the current lifting height after cutting the part to be cut according to the current machining pattern; when the cross-sectional shape of the three-dimensional pattern is a rectangle, the lifting module is configured to obtain the width and height of the rectangle; calculate the highest point of the three-dimensional pattern based on the width and height of the rectangle; when the cross-sectional shape of the three-dimensional pattern is a circle, the lifting module is configured to determine the current lifting height based on the preset lifting height; when the three-dimensional pattern is an irregular shape, the lifting module rotates the three-dimensional pattern, obtains the highest point when the three-dimensional pattern is rotated, and determines the current lifting height as the highest point position. The position module is further configured to obtain a line on the pipe surface between the end point of the current machining pattern and the start point of the next machining pattern based on the three-dimensional pattern and the machining sequence; and obtain an angle difference between the end point of the current machining pattern and the start point of the next machining pattern based on the three-dimensional pattern and the machining sequence. The height module is further configured to discretize and traverse all points of the line to obtain the highest point on the line; if the angle difference is greater than or equal to a preset angle threshold, obtain the current lifting height using the highest point of the three-dimensional pattern and the current height; if the angle difference is less than the preset angle threshold, obtain the current lifting height using the highest point of the three-dimensional pattern and the end point angle of the current machining pattern and the start point angle of the next machining pattern.

5. A pipe cutting apparatus, characterised in that, The pipe cutting device comprises a processor and a memory, the memory stores program data, and the processor is configured to execute the program data to realize the pipe cutting method of any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured to store program data, and the program data is executed by the processor to realize the pipe cutting method of any one of claims 1-3.

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