Pipe welding positioning method, system, computer equipment and storage medium

Abstract

The present invention relates to a pipe welding positioning method, system, computer equipment and storage medium. The key points of its technical solution are: obtaining a first pipe coordinate according to a first ruler; obtaining a second pipe coordinate according to the first pipe coordinate, a first welding position, a second size, a second welding position and a welding association; obtaining the contact surface coordinates of the first pipe and the second pipe according to the second pipe coordinate and the first pipe coordinate; obtaining the coordinates of a target positioning hole and a target positioning block according to a preset positioning shape, a first welding position, the contact surface coordinates and the first size; obtaining a first cutting line according to the coordinates of the target positioning hole; obtaining a second cutting line according to the second pipe coordinate, the contact surface coordinates and the coordinates of the target positioning block; the present application can accurately obtain the first cutting line and the second cutting line, making it convenient to cut the first pipe according to the first cutting line to obtain a positioning hole and cut the second pipe according to the second cutting line to obtain a positioning block, so as to achieve a precise positioning function.

Description

Technical Field

[0001] The present invention relates to the technical field of welding positioning, and more particularly to a pipe welding positioning method, system, computer equipment and storage medium. Background Art

[0002] Welding, also known as fusion or melting, is a manufacturing process and technology that joins metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure.

[0003] Before welding a pipe, it is usually necessary to cut the pipe. This can be done with a grinding wheel, saw blade, or laser, so that a positioning block or positioning hole is produced at the welding position of the pipe, thereby playing a positioning role during welding and preventing the pipe from shifting during welding. However, current positioning blocks and / or positioning holes usually require manual measurement to determine their position on the pipe, which is prone to measurement errors. The grinding wheel, saw blade, or laser is then controlled to cut, and operational errors are prone to occur during the operation, resulting in deviations in the cutting position of the positioning block and / or the positioning block, affecting the welding positioning of the pipe. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a pipe welding positioning method, system, computer equipment and storage medium, which can accurately obtain a first cutting line of a first pipe and a second cutting line of a second pipe, facilitate cutting the first pipe according to the first cutting line to obtain a positioning hole, and facilitate cutting the second pipe according to the second cutting line to obtain a positioning block. The positioning block and the positioning hole realize the function of precise positioning in the form of a mortise and tenon structure.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A pipe welding positioning method, comprising:

[0007] Acquire a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship;

[0008] Obtaining first pipe coordinates of the first pipe in a first coordinate system according to the first ruler, wherein the first three-dimensional coordinate system is a three-dimensional coordinate system established based on the first pipe;

[0009] obtaining second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship, wherein the second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position are overlapped according to the welding association relationship;

[0010] Calculating the overlapped portion of the second pipe coordinates and the first pipe coordinates to obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates;

[0011] Obtaining upper surface coordinates of the target positioning hole, upper surface coordinates of the target positioning block, and lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size;

[0012] Obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole;

[0013] A second cutting line of the second pipe is obtained according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block.

[0014] Optionally, the first welding position includes: a first welding main point and multiple first welding secondary points; the second welding position includes: a second welding main point and multiple second welding secondary points; the welding association relationship is to establish an association relationship between the first welding main point and the second welding main point according to the welding position relationship between the first pipe and the second pipe, and to establish an association relationship between each first welding secondary point and its corresponding second welding secondary point according to the welding position relationship between the first pipe and the second pipe.

[0015] Optionally, obtaining the second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship includes:

[0016] Obtaining welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates;

[0017] Establishing a second three-dimensional coordinate system based on the second dimension and taking the preset point of the second pipe as the origin to obtain the coordinates of the second pipe;

[0018] Obtaining welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe;

[0019] determining coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system according to the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system;

[0020] The coordinates of the second pipe are converted according to the coordinate system conversion parameters to obtain second pipe coordinates.

[0021] Optionally, the first dimension includes: a first thickness for indicating the thickness of the first pipe; and obtaining the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first dimension includes:

[0022] Obtaining the welding coordinates of the first welding principal point in the first three-dimensional coordinate system according to the first pipe coordinates, and using the welding coordinates of the first welding principal point as the three-dimensional coordinates of the center point of the preset positioning shape to obtain the positioning coordinates of the preset positioning shape;

[0023] Scaling the positioning coordinates with the first welding principal point as a base point until the positioning coordinates completely fit within the contact surface coordinates, and using the positioning coordinates in the scaled state as the upper surface coordinates of the target positioning hole;

[0024] The lower surface coordinates of the target positioning block are determined according to the upper surface coordinates of the target positioning hole, and the upper surface coordinates of the target positioning block are obtained by taking the first thickness as the height of the target positioning block.

[0025] Optionally, obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole includes:

[0026] The upper surface coordinates of the target positioning holes are sequentially connected to form a first closed curve to obtain a first cutting line of the first pipe.

[0027] Optionally, obtaining the second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block includes:

[0028] Obtaining first coincident coordinates of the target positioning block and the outer circumference of the second pipe according to the lower surface coordinates of the target positioning block, the upper surface coordinates of the target positioning block, and the coordinates of the second pipe;

[0029] The contact surface is translated until it coincides with the upper surface of the target positioning block to obtain the coincidence surface coordinates of the translated contact surface;

[0030] Obtaining second coincidence coordinates of the translated contact surface and the outer peripheral surface of the second pipe according to the coincidence surface coordinates and the second pipe coordinates;

[0031] The first coincident coordinates and the second coincident coordinates are deduplicated to obtain coincident coordinates, and the coincident coordinates are sequentially connected to form a second closed curve to obtain a second cutting line.

[0032] A pipe welding positioning system, comprising:

[0033] a data acquisition module, configured to acquire a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship;

[0034] A first coordinate generation module, configured to obtain first pipe coordinates of the first pipe in a first coordinate system according to the first ruler, wherein the first three-dimensional coordinate system is a three-dimensional coordinate system established based on the first pipe;

[0035] a second coordinate generation module, configured to obtain second pipe coordinates of the second pipe based on the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship, wherein the second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position coincide with each other according to the welding association relationship;

[0036] a calculation module, configured to calculate the overlapped portion of the second pipe coordinates and the first pipe coordinates, and obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates;

[0037] A third coordinate generation module is used to obtain the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size;

[0038] A first cutting line generating module, configured to obtain a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole;

[0039] The second cutting line generating module is used to obtain the second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block.

[0040] Optionally, the second coordinate generating module includes:

[0041] a first coordinate generating unit, configured to obtain welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates;

[0042] A second coordinate generating unit, configured to establish a second three-dimensional coordinate system based on the second dimension and taking a preset point of the second pipe as an origin to obtain coordinates of the second pipe;

[0043] a third coordinate generating unit, configured to obtain welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe;

[0044] a conversion parameter determining unit, configured to determine coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system based on the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system;

[0045] The fourth coordinate generating unit is used to convert the coordinates of the second pipe according to the coordinate system conversion parameters to obtain the second pipe coordinates.

[0046] A computer device includes a memory and a processor, wherein the memory stores a computer program and the processor implements the steps of the above method when executing the computer program.

[0047] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0048] In summary, the present invention has the following beneficial effects: the first cutting line of the first pipe and the second cutting line of the second pipe can be accurately obtained, so that the laser cutting head can cut the first pipe according to the first cutting line to obtain a positioning hole and cut the second pipe according to the second cutting line to obtain a positioning block. The positioning block and the positioning hole are precisely positioned in a mortise and tenon structure to achieve stability during welding of the first pipe and the second pipe, prevent deviation between the first pipe and the second pipe, and improve welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic flow chart of the pipe welding positioning method provided by the present invention;

[0050] Figure 2 This is a structural block diagram of the pipe welding positioning system provided by the present invention;

[0051] Figure 3 1 is a diagram showing the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] To make the objectives, features, and advantages of the present invention more readily apparent, the following detailed description of the present invention is provided with reference to the accompanying drawings. The accompanying drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

[0053] In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features.

[0054] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0055] The present invention provides a pipe welding positioning method, such as Figure 1 As shown, including:

[0056] Step 100: Obtain a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship;

[0057] Step 200: Obtain first pipe coordinates of the first pipe in a first coordinate system according to the first ruler, where the first three-dimensional coordinate system is a three-dimensional coordinate system established based on the first pipe;

[0058] Step 300: Obtain second pipe coordinates of the second pipe based on the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship. The second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position are overlapped based on the welding association relationship.

[0059] Step 400: Calculate the overlapped portion of the second pipe coordinates and the first pipe coordinates to obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates.

[0060] Step 500: Obtain the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size;

[0061] Step 600: Obtain a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole;

[0062] Step 700: Obtain a second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block.

[0063] In practical applications, the pipe can be a round pipe, a square pipe or a special-shaped pipe, etc. The welding of the pipe usually requires two pipes, that is, a first pipe and a second pipe. To weld the second pipe to the first pipe, it is necessary to determine the welding point of the first pipe and the welding point of the second pipe according to the actual welding requirements (such as the welding position relationship between the first pipe and the second pipe), that is, to determine the first welding position and the second welding position. The first inch is determined according to the shape of the first pipe. For example, if the first pipe is round, the outer diameter, thickness, length, etc. of the first pipe are provided. If the first pipe is square, the thickness, length, outer surface width and height of the first pipe are provided. The second inch is determined in the same way. The first dimension and the second dimension can be directly input by the user or measured by a laser scanning detector. The first welding position and the second welding position are determined by user input, such as selecting the welding surface of the first pipe and the welding surface of the second pipe, and then determining the welding point on the welding surface of the first pipe to obtain the first welding position, and determining the welding point on the welding surface of the second pipe to obtain the second welding position; the first welding position and the second welding position have a welding association relationship to determine the positional relationship between the first pipe and the second pipe; in this application, a first three-dimensional coordinate system is established with the preset point of the first pipe as the origin, and the first pipe coordinates of the first pipe in the first three-dimensional coordinate system are determined according to the first dimension. When the first tube is circular, the preset point is the center point of the first tube. When the first tube is square or anisotropic, the preset point is the vertex at the left rear of the bottom end of the first tube. By obtaining the first tube coordinates of the first tube in the first three-dimensional coordinate system, and then coinciding the first welding position and the second welding position according to the welding association relationship, that is, after the first tube and the second tube are combined according to the first welding position and the second welding position, the second tube coordinates of the second tube in the first three-dimensional coordinate system are obtained, so as to obtain the contact surface coordinates of the first tube and the second tube, and then determine the coordinates of the target positioning block and the target positioning hole according to the contact surface coordinates, and then determine the contact surface coordinates according to the target positioning. The coordinates of the hole are the first cutting line on the first pipe, and the second cutting line on the first pipe is determined according to the coordinates of the target positioning block, and the first cutting line and the second cutting line are sent to the controller that controls the laser cutting head. After determining the position of the first pipe, the controller can control the laser cutting head to cut the first pipe according to the first cutting line to obtain a positioning hole. After determining the position of the second pipe, the controller can control the laser cutting head to cut the second pipe according to the second cutting line to obtain a positioning block. The positioning block and the positioning hole are precisely positioned in a mortise and tenon structure to achieve stability during welding of the first pipe and the second pipe, prevent deviation between the first pipe and the second pipe, and improve welding accuracy.

[0064] Furthermore, the first welding position includes: a first welding main point and multiple first welding secondary points; the second welding position includes: a second welding main point and multiple second welding secondary points; the welding association relationship is to establish an association relationship between the first welding main point and the second welding main point based on the welding position relationship between the first pipe and the second pipe, and to establish an association relationship between each first welding secondary point and its corresponding second welding secondary point based on the welding position relationship between the first pipe and the second pipe.

[0065] In practical applications, at least two welding points are used to confirm the welding position on the pipe. In the present application, the first welding position is determined by the first welding main point and multiple first welding secondary points, and the second welding position is determined by the second welding main point and multiple second welding secondary points. The first welding main point and the second welding main point have an associated relationship, and the first welding secondary point and the corresponding second welding secondary point have a connected relationship to ensure that the positional relationship between the welding of the first pipe and the second pipe is unique.

[0066] Furthermore, obtaining the second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position and the welding association relationship includes:

[0067] Obtaining welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates;

[0068] Establishing a second three-dimensional coordinate system based on the second dimension and taking the preset point of the second pipe as the origin to obtain the coordinates of the second pipe;

[0069] Obtaining welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe;

[0070] determining coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system according to the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system;

[0071] The coordinates of the second pipe are converted according to the coordinate system conversion parameters to obtain second pipe coordinates.

[0072] Specifically, the first welding main point can be represented by a distance a mm from the left end of the first tube, b mm from the bottom end of the first tube, and c mm from the rear end of the first tube. The first welding secondary point is also represented in the same manner as the first welding main point. After obtaining the coordinates of the first tube, the welding coordinates of the first welding main point and the welding coordinates of the first welding secondary point in the first three-dimensional coordinate system can be obtained according to the coordinates of the first tube. When the second tube is circular, the preset point is the center point of the second tube. When the second tube is square or anisotropic, the preset point is the vertex on the left rear side of the bottom end of the second tube. The second welding main point and the second welding secondary point are also represented in the same manner as the first welding main point. After obtaining the coordinates of the second tube, the welding coordinates of the second welding main point and the second welding secondary point in the second three-dimensional coordinate system can be obtained according to the coordinates of the second tube. The coordinate system conversion parameters include: a rotation matrix and a translation vector. Specifically, the coordinate system conversion factor θ is calculated according to the following formula:

[0073]

[0074] Wherein, P represents the welding coordinates of the first welding primary point or the first welding secondary point in the first three-dimensional coordinate system, P ′ Represents the welding coordinates of the second welding main point or the second welding secondary point in the second three-dimensional coordinate system; then, the coordinate system conversion factor is optimized according to the least squares method to obtain the optimal solution of the coordinate system conversion factor, the rotation matrix can be determined by the rotation parameter set of the parameter T(θ), and the translation vector can be determined by the translation parameter set of the parameter T(θ), and the values ​​of the elements in the rotation parameter set and the translation parameter set depend on the coordinate system conversion factor. Therefore, the coordinate system conversion parameter can be inferred from the value of the coordinate system conversion factor, and then the coordinates of the second pipe can be converted according to the coordinate system conversion parameter to obtain the second pipe coordinates.

[0075] Furthermore, the first dimension includes: a first thickness for indicating the thickness of the first pipe; and obtaining the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first dimension includes:

[0076] Obtaining the welding coordinates of the first welding principal point in the first three-dimensional coordinate system based on the first pipe coordinates, and using the welding coordinates of the first welding principal point as the three-dimensional coordinates of the center point of the preset positioning shape to obtain the positioning coordinates of the preset positioning shape. Specifically, obtaining the coordinates of each vertex of the preset positioning shape in the first three-dimensional coordinate system based on the positional relationship between the center point of the preset positioning shape and each vertex of the preset positioning shape, that is, obtaining the positioning coordinates of the preset positioning shape;

[0077] Scaling the positioning coordinates with the first welding principal point as a base point until the positioning coordinates completely fit within the contact surface coordinates, and using the positioning coordinates in the scaled state as the upper surface coordinates of the target positioning hole;

[0078] The lower surface coordinates of the target positioning block are determined according to the upper surface coordinates of the target positioning hole, and the upper surface coordinates of the target positioning block are obtained by taking the first thickness as the height of the target positioning block.

[0079] In actual applications, the preset positioning shape can be a square, triangle, etc. The depth of the target positioning hole and the height of the target positioning block can be determined by setting the first thickness, thereby preventing the target positioning block from being too high and causing the target positioning block formed after cutting to be unable to be fully inserted into the target positioning hole; in this application, the first welding main point is used as the center point of the preset positioning shape, and the preset positioning shape is scaled with the first welding main point until the preset positioning shape is completely located within the contact surface, and then the positioning coordinates in the scaled state are used as the upper surface coordinates of the target positioning hole, thereby determining the position of the target positioning hole on the first pipe, and determining the lower surface coordinates of the target positioning block based on the upper surface coordinates of the target positioning hole. Specifically, the upper surface coordinates of the target positioning hole are reduced by the center point of the target positioning hole according to a preset magnification to obtain the lower surface coordinates of the target positioning block, thereby determining the position of the target positioning block on the second pipe and ensuring that the positioning block formed after cutting can be smoothly inserted into the positioning hole.

[0080] Furthermore, obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole includes:

[0081] The upper surface coordinates of the target positioning holes are sequentially connected to form a first closed curve to obtain a first cutting line of the first pipe.

[0082] Specifically, since the positioning coordinates include: the coordinates of all vertices of the preset positioning shape, and the upper surface coordinates of the target positioning hole are obtained based on the positioning coordinates, the upper surface coordinates of the target positioning hole include: the coordinates of all vertices of the upper surface of the target positioning hole. Connecting all the vertex coordinates in sequence will obtain a first closed curve, that is, a first cutting line. The positioning hole obtained by the laser cutting head cutting the first tube according to the first cutting line is more accurate.

[0083] Furthermore, obtaining the second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block includes:

[0084] Obtaining first coincident coordinates of the target positioning block and the outer circumference of the second pipe according to the lower surface coordinates of the target positioning block, the upper surface coordinates of the target positioning block, and the coordinates of the second pipe;

[0085] The contact surface is translated until it coincides with the upper surface of the target positioning block to obtain the coincidence surface coordinates of the translated contact surface;

[0086] Obtaining second coincidence coordinates of the translated contact surface and the outer peripheral surface of the second pipe according to the coincidence surface coordinates and the second pipe coordinates;

[0087] The first coincident coordinates and the second coincident coordinates are deduplicated to obtain coincident coordinates, and the coincident coordinates are sequentially connected to form a second closed curve to obtain a second cutting line.

[0088] In practical applications, since the upper surface coordinates of the target positioning hole include all vertex coordinates of the upper surface of the target positioning hole, and the lower surface coordinates of the target positioning block are obtained according to the upper surface coordinates of the target positioning hole, and the upper surface coordinates of the target positioning block are obtained according to the lower surface coordinates of the target positioning block and the first thickness, the upper surface coordinates of the target positioning block include: all vertex coordinates of the upper surface of the target positioning block, and the lower surface coordinates of the target positioning block include: all vertex coordinates of the lower surface of the target positioning block; in this application, the lower surface coordinates of the target positioning block, the upper surface coordinates of the target positioning block and the second pipe coordinates are all coordinates representing boundaries, so according to the lower surface coordinates of the target positioning block, the upper surface coordinates of the target positioning block The surface coordinates and the second tube coordinates obtain the first coincident coordinates of the target positioning block and the outer circumference of the second tube, that is, the boundary of the target positioning block on the outer circumference of the second tube is obtained. The second coincident coordinates of the contact surface after translation and the outer circumference of the second tube are obtained according to the coincident surface coordinates and the second tube coordinates, that is, the boundary of the contact surface after translation to coincide with the upper surface of the target positioning block and the outer circumference of the second tube is obtained. Then, the coincident boundary of the boundary of the target positioning block on the outer circumference of the second tube and the boundary of the contact surface after translation and the outer circumference of the second tube are removed. The remaining boundary is the second cutting line. The positioning block obtained by cutting the second tube according to the second cutting line by the laser cutting head is more accurate.

[0089] The pipe welding positioning method of the present invention can accurately obtain the first cutting line of the first pipe and the second cutting line of the second pipe, so that the laser cutting head can cut the first pipe according to the first cutting line to obtain the positioning hole and cut the second pipe according to the second cutting line to obtain the positioning block. The positioning block and the positioning hole are precisely positioned in a mortise and tenon structure to achieve stability during welding of the first pipe and the second pipe, prevent deviation between the first pipe and the second pipe, and improve welding accuracy.

[0090] like Figure 2 As shown, the present invention also provides a dynamic grid coordinate system, comprising:

[0091] A data acquisition module 10 is configured to acquire a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship;

[0092] A first coordinate generating module 20 is configured to obtain first pipe coordinates of the first pipe in a first coordinate system based on the first ruler, wherein the first three-dimensional coordinate system is a three-dimensional coordinate system established based on the first pipe;

[0093] a second coordinate generating module 30 for obtaining second pipe coordinates of the second pipe based on the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship, wherein the second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position are overlapped according to the welding association relationship;

[0094] A calculation module 40 is used to calculate the overlapped portion of the second pipe coordinates and the first pipe coordinates to obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates;

[0095] A third coordinate generating module 50 is configured to obtain the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates of the target positioning block according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size;

[0096] A first cutting line generating module 60 is configured to obtain a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole;

[0097] The second cutting line generating module 70 is configured to obtain a second cutting line for the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block.

[0098] Furthermore, the second coordinate generation module includes:

[0099] a first coordinate generating unit, configured to obtain welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates;

[0100] A second coordinate generating unit, configured to establish a second three-dimensional coordinate system based on the second dimension and taking a preset point of the second pipe as an origin to obtain coordinates of the second pipe;

[0101] a third coordinate generating unit, configured to obtain welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe;

[0102] a conversion parameter determining unit, configured to determine coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system based on the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system;

[0103] The fourth coordinate generating unit is used to convert the coordinates of the second pipe according to the coordinate system conversion parameters to obtain the second pipe coordinates.

[0104] The specific definitions of the pipe welding positioning system can be found in the definitions of the pipe welding positioning method above and will not be repeated here. Each module of the aforementioned pipe welding positioning system can be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor within a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0105] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When executed by the processor, the computer program implements a pipe welding positioning method.

[0106] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0107] In one embodiment, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0108] Acquire a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship;

[0109] Obtaining first pipe coordinates of the first pipe in a first coordinate system according to the first ruler, wherein the first three-dimensional coordinate system is a three-dimensional coordinate system established based on the first pipe;

[0110] obtaining second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship, wherein the second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position are overlapped according to the welding association relationship;

[0111] Calculating the overlapped portion of the second pipe coordinates and the first pipe coordinates to obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates;

[0112] Obtaining upper surface coordinates of the target positioning hole, upper surface coordinates of the target positioning block, and lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size;

[0113] Obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole;

[0114] A second cutting line of the second pipe is obtained according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block.

[0115] In one embodiment, the first welding position includes: a first welding main point and a plurality of first welding secondary points; the second welding position includes: a second welding main point and a plurality of second welding secondary points; the welding association relationship is to establish an association relationship between the first welding main point and the second welding main point based on the welding position relationship between the first pipe and the second pipe, and to establish an association relationship between each first welding secondary point and its corresponding second welding secondary point based on the welding position relationship between the first pipe and the second pipe.

[0116] In one embodiment, obtaining the second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship includes:

[0117] Obtaining welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates;

[0118] Establishing a second three-dimensional coordinate system based on the second dimension and taking the preset point of the second pipe as the origin to obtain the coordinates of the second pipe;

[0119] Obtaining welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe;

[0120] determining coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system according to the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system;

[0121] The coordinates of the second pipe are converted according to the coordinate system conversion parameters to obtain second pipe coordinates.

[0122] In one embodiment, the first dimension includes: a first thickness for indicating the thickness of the first pipe; and obtaining the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first dimension includes:

[0123] Obtaining the welding coordinates of the first welding principal point in the first three-dimensional coordinate system according to the first pipe coordinates, and using the welding coordinates of the first welding principal point as the three-dimensional coordinates of the center point of the preset positioning shape to obtain the positioning coordinates of the preset positioning shape;

[0124] Scaling the positioning coordinates with the first welding principal point as a base point until the positioning coordinates completely fit within the contact surface coordinates, and using the positioning coordinates in the scaled state as the upper surface coordinates of the target positioning hole;

[0125] The lower surface coordinates of the target positioning block are determined according to the upper surface coordinates of the target positioning hole, and the upper surface coordinates of the target positioning block are obtained by taking the first thickness as the height of the target positioning block.

[0126] In one embodiment, obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole includes:

[0127] The upper surface coordinates of the target positioning holes are sequentially connected to form a first closed curve to obtain a first cutting line of the first pipe.

[0128] In one embodiment, obtaining the second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block includes:

[0129] Obtaining first coincident coordinates of the target positioning block and the outer circumference of the second pipe according to the lower surface coordinates of the target positioning block, the upper surface coordinates of the target positioning block, and the coordinates of the second pipe;

[0130] The contact surface is translated until it coincides with the upper surface of the target positioning block to obtain the coincidence surface coordinates of the translated contact surface;

[0131] Obtaining second coincidence coordinates of the translated contact surface and the outer peripheral surface of the second pipe according to the coincidence surface coordinates and the second pipe coordinates;

[0132] The first coincident coordinates and the second coincident coordinates are deduplicated to obtain coincident coordinates, and the coincident coordinates are sequentially connected to form a second closed curve to obtain a second cutting line.

[0133] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0134] Acquire a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship;

[0135] Obtaining first pipe coordinates of the first pipe in a first coordinate system according to the first ruler, wherein the first three-dimensional coordinate system is a three-dimensional coordinate system established based on the first pipe;

[0136] obtaining second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship, wherein the second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position are overlapped according to the welding association relationship;

[0137] Calculating the overlapped portion of the second pipe coordinates and the first pipe coordinates to obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates;

[0138] Obtaining upper surface coordinates of the target positioning hole, upper surface coordinates of the target positioning block, and lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size;

[0139] Obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole;

[0140] A second cutting line of the second pipe is obtained according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block.

[0141] In one embodiment, the first welding position includes: a first welding main point and a plurality of first welding secondary points; the second welding position includes: a second welding main point and a plurality of second welding secondary points; the welding association relationship is to establish an association relationship between the first welding main point and the second welding main point based on the welding position relationship between the first pipe and the second pipe, and to establish an association relationship between each first welding secondary point and its corresponding second welding secondary point based on the welding position relationship between the first pipe and the second pipe.

[0142] In one embodiment, obtaining the second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship includes:

[0143] Obtaining welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates;

[0144] Establishing a second three-dimensional coordinate system based on the second dimension and taking the preset point of the second pipe as the origin to obtain the coordinates of the second pipe;

[0145] Obtaining welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe;

[0146] determining coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system according to the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system;

[0147] The coordinates of the second pipe are converted according to the coordinate system conversion parameters to obtain second pipe coordinates.

[0148] In one embodiment, the first dimension includes: a first thickness for indicating the thickness of the first pipe; and obtaining the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first dimension includes:

[0149] Obtaining the welding coordinates of the first welding principal point in the first three-dimensional coordinate system according to the first pipe coordinates, and using the welding coordinates of the first welding principal point as the three-dimensional coordinates of the center point of the preset positioning shape to obtain the positioning coordinates of the preset positioning shape;

[0150] Scaling the positioning coordinates with the first welding principal point as a base point until the positioning coordinates completely fit within the contact surface coordinates, and using the positioning coordinates in the scaled state as the upper surface coordinates of the target positioning hole;

[0151] The lower surface coordinates of the target positioning block are determined according to the upper surface coordinates of the target positioning hole, and the upper surface coordinates of the target positioning block are obtained by taking the first thickness as the height of the target positioning block.

[0152] In one embodiment, obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole includes:

[0153] The upper surface coordinates of the target positioning holes are sequentially connected to form a first closed curve to obtain a first cutting line of the first pipe.

[0154] In one embodiment, obtaining the second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block includes:

[0155] Obtaining first coincident coordinates of the target positioning block and the outer circumference of the second pipe according to the lower surface coordinates of the target positioning block, the upper surface coordinates of the target positioning block, and the coordinates of the second pipe;

[0156] The contact surface is translated until it coincides with the upper surface of the target positioning block to obtain the coincidence surface coordinates of the translated contact surface;

[0157] Obtaining second coincidence coordinates of the translated contact surface and the outer peripheral surface of the second pipe according to the coincidence surface coordinates and the second pipe coordinates;

[0158] The first coincident coordinates and the second coincident coordinates are deduplicated to obtain coincident coordinates, and the coincident coordinates are sequentially connected to form a second closed curve to obtain a second cutting line.

[0159] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the 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-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. 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 various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0160] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A pipe welding positioning method, characterized in that: include: Acquire a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship; Obtaining first pipe coordinates of the first pipe in a first three-dimensional coordinate system according to the first size, where the first three-dimensional coordinate system is established based on the first pipe; obtaining second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship, wherein the second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position are overlapped according to the welding association relationship; Calculating the overlapped portion of the second pipe coordinates and the first pipe coordinates to obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates; Obtaining upper surface coordinates of the target positioning hole, upper surface coordinates of the target positioning block, and lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size; Obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole; Obtaining a second cutting line for the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block; The first welding position includes: a first welding main point and a plurality of first welding secondary points; the second welding position includes: a second welding main point and a plurality of second welding secondary points; the welding association relationship is to establish an association relationship between the first welding main point and the second welding main point based on the welding position relationship between the first pipe and the second pipe, and to establish an association relationship between each first welding secondary point and its corresponding second welding secondary point based on the welding position relationship between the first pipe and the second pipe; The first dimension includes: a first thickness for indicating the thickness of the first pipe; the upper surface coordinates of the target positioning hole, the upper surface coordinates and the lower surface coordinates of the target positioning block obtained according to the preset positioning shape, the first welding position, the contact surface coordinates and the first dimension include: Obtaining the welding coordinates of the first welding principal point in the first three-dimensional coordinate system according to the first pipe coordinates, and using the welding coordinates of the first welding principal point as the three-dimensional coordinates of the center point of the preset positioning shape to obtain the positioning coordinates of the preset positioning shape; Scaling the positioning coordinates with the first welding principal point as a base point until the positioning coordinates completely fit within the contact surface coordinates, and using the positioning coordinates in the scaled state as the upper surface coordinates of the target positioning hole; The lower surface coordinates of the target positioning block are determined according to the upper surface coordinates of the target positioning hole, and the upper surface coordinates of the target positioning block are obtained by taking the first thickness as the height of the target positioning block.

2. The pipe welding positioning method according to claim 1, characterized in that: The obtaining of the second pipe coordinates of the second pipe according to the first pipe coordinates, the first welding position, the second size, the second welding position and the welding association relationship includes: Obtaining welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates; Establishing a second three-dimensional coordinate system based on the second dimension and taking the preset point of the second pipe as the origin to obtain the coordinates of the second pipe; Obtaining welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe; determining coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system according to the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system; The coordinates of the second pipe are converted according to the coordinate system conversion parameters to obtain second pipe coordinates.

3. The pipe welding positioning method according to claim 1, characterized in that: The step of obtaining a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole includes: The upper surface coordinates of the target positioning holes are sequentially connected to form a first closed curve to obtain a first cutting line of the first pipe.

4. The pipe welding positioning method according to claim 1, characterized in that: The step of obtaining a second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block includes: Obtaining first coincident coordinates of the target positioning block and the outer circumference of the second pipe according to the lower surface coordinates of the target positioning block, the upper surface coordinates of the target positioning block, and the coordinates of the second pipe; The contact surface is translated until it coincides with the upper surface of the target positioning block to obtain the coincidence surface coordinates of the translated contact surface; Obtaining second coincidence coordinates of the translated contact surface and the outer peripheral surface of the second pipe according to the coincidence surface coordinates and the second pipe coordinates; The first coincident coordinates and the second coincident coordinates are deduplicated to obtain coincident coordinates, and the coincident coordinates are sequentially connected to form a second closed curve to obtain a second cutting line.

5. A pipe welding positioning system based on the method according to claim 1, characterized in that: include: a data acquisition module, configured to acquire a first size and a first welding position of a first pipe, and a second size and a second welding position of a second pipe, wherein the first welding position and the second welding position have a welding association relationship; a first coordinate generating module, configured to obtain first pipe coordinates of the first pipe in a first three-dimensional coordinate system according to the first size, wherein the first three-dimensional coordinate system is a three-dimensional coordinate system established based on the first pipe; a second coordinate generation module, configured to obtain second pipe coordinates of the second pipe based on the first pipe coordinates, the first welding position, the second size, the second welding position, and the welding association relationship, wherein the second pipe coordinates are the coordinates of the second pipe in the first three-dimensional coordinate system after the first welding position and the second welding position coincide with each other according to the welding association relationship; a calculation module, configured to calculate the overlapped portion of the second pipe coordinates and the first pipe coordinates, and obtain the contact surface between the first pipe and the second pipe and the contact surface coordinates; A third coordinate generation module is used to obtain the upper surface coordinates of the target positioning hole, the upper surface coordinates of the target positioning block, and the lower surface coordinates according to the preset positioning shape, the first welding position, the contact surface coordinates, and the first size; A first cutting line generating module, configured to obtain a first cutting line of the first pipe according to the upper surface coordinates of the target positioning hole; The second cutting line generating module is used to obtain the second cutting line of the second pipe according to the second pipe coordinates, the contact surface coordinates, and the upper surface coordinates and the lower surface coordinates of the target positioning block.

6. The pipe welding positioning system according to claim 5, characterized in that: The second coordinate generation module includes: a first coordinate generating unit, configured to obtain welding coordinates of a first welding primary point and a first welding secondary point in a first three-dimensional coordinate system according to the first pipe coordinates; A second coordinate generating unit, configured to establish a second three-dimensional coordinate system based on the second dimension and taking a preset point of the second pipe as an origin to obtain coordinates of the second pipe; a third coordinate generating unit, configured to obtain welding coordinates of a second primary welding point and a second secondary welding point in a second three-dimensional coordinate system according to the coordinates of the second pipe; a conversion parameter determining unit, configured to determine coordinate system conversion parameters between the first three-dimensional coordinate system and the second three-dimensional coordinate system based on the welding association relationship, the welding coordinates of the first welding primary point and the first welding secondary point in the first three-dimensional coordinate system, and the welding coordinates of the second welding primary point and the second welding secondary point in the second three-dimensional coordinate system; The fourth coordinate generating unit is used to convert the coordinates of the second pipe according to the coordinate system conversion parameters to obtain the second pipe coordinates.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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