Laser Cutting Method, Device, Equipment and Storage Medium for Pipe with Welding Groove

Abstract

The present invention provides a laser cutting method, device, equipment and storage medium for pipes with welding grooves. Sampling points are taken on the initial inner contour of the material removal shape on the target pipe to obtain a number of first inner contour scattered points, and the corresponding first outer contour scattered points and the initial cutting direction of each first inner contour scattered point are obtained; by superimposing a preset groove gap on the initial cutting direction, the ideal cutting direction of each first inner contour scattered point is obtained; the corresponding second outer contour scattered points are obtained according to each first inner contour scattered point and the ideal cutting direction; all the second outer contour scattered points are fitted to obtain an optimized outer contour, the optimized outer contour is used as the cutting trajectory, and the first cutting direction is used as the final cutting direction to execute the laser cutting program to perform laser cutting on the target pipe. Thus, it is possible to keep a uniform welding groove as much as possible with the welding surface of the target workpiece to be welded, which is beneficial to subsequent welding.

Description

Technical Field

[0001] One or more embodiments of the present invention relate to the technical field of laser cutting processing, and particularly to a laser cutting method, device, equipment and storage medium for pipes with welding grooves. Background Art

[0002] In the field of metal cutting, the target effect of certain blanking is that the surfaces of two workpieces fit perfectly together when butted, so that parameters such as the assembly position, angle, and length will be very precise and the assembly will be very firm, and then assembly processes such as welding are carried out.

[0003] When welding two workpieces, usually the end face of one workpiece needs to be closely attached to the pipe surface of the other workpiece to be welded to maintain stable contact; and a sloped gap needs to be reserved on the outer surface part where they contact as a welding gap, so that solder can be used to fill the welding gap during welding, thereby maintaining the firmness of the welding. When the welding gap is uniform, the welding effect is not only firm but also beautiful, while when the welding gap is uneven, it will cause corresponding troubles to the welding and affect the welding quality.

[0004] Therefore, how to effectively equalize the welding gap during the splicing of pipe fittings has become a technical problem that needs to be solved urgently at present. Summary of the Invention

[0005] In view of this, one or more embodiments of the present invention provide a laser cutting method, device, equipment and storage medium for pipes with welding grooves.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] According to the first aspect of one or more embodiments of the present invention, a laser cutting method for pipes with welding grooves is proposed, which is used to cut a groove for welding on a target pipe to weld the target pipe to a target workpiece. The method includes:

[0008] Obtain the initial inner contour and the initial outer contour of the material-removing shape of the target pipe; wherein the material-removing shape is drawn on the target pipe according to the welding surface of the target workpiece to be welded, and at least the initial inner contour of the initial inner contour and the initial outer contour fits the welding surface;

[0009] Sample the initial inner contour of the material-removing shape to obtain a number of first inner contour scattered points;

[0010] Based on each first inner contour scattered point, obtain the corresponding first outer contour scattered point; wherein, the connection line between each first outer contour scattered point and the corresponding first inner contour scattered point points to the axis of the target pipe;

[0011] Use the connection line between each first inner contour scatter point and the corresponding first outer contour scatter point as the initial cutting direction of each first inner contour scatter point; wherein, the cutting direction is characterized as the angle between the connection line between each first inner contour scatter point and the corresponding first outer contour scatter point and the perpendicular line of the target pipe, and the perpendicular line is perpendicular to the axis of the target pipe;

[0012] Obtain a preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain the ideal cutting direction of each first inner contour scatter point; wherein, the preset groove gap is characterized as a preset angle that causes the initial cutting direction to deviate along the welding surface away from the target workpiece;

[0013] Obtain the corresponding second outer contour scatter points according to each first inner contour scatter point and along the ideal cutting direction;

[0014] Fit all the second outer contour scatter points to obtain an optimized outer contour;

[0015] Use the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction, and execute a laser cutting program to perform laser cutting on the target pipe to cut a groove for welding on the target pipe; wherein, the first cutting direction is the ideal cutting direction or the mechanical maximum swing angle, and the mechanical maximum swing angle is the maximum angle between the cutting head of the laser cutting device and the perpendicular line of the target pipe.

[0016] Optionally, before using the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction, and executing a laser cutting program to perform laser cutting on the target pipe, it further includes:

[0017] Obtain the mechanical maximum swing angle;

[0018] Determine the first cutting direction according to the relationship between the absolute value of the ideal cutting direction and the mechanical maximum swing angle, wherein the absolute value of the first cutting direction is not greater than the mechanical maximum swing angle.

[0019] Optionally, the determining the first cutting direction according to the relationship between the absolute value of the ideal cutting direction and the mechanical maximum swing angle includes:

[0020] If the absolute value of the ideal cutting direction is greater than the mechanical maximum swing angle, then use the mechanical maximum swing angle as the first cutting direction;

[0021] If the absolute value of the ideal cutting direction is less than or equal to the maximum mechanical swing angle, the ideal cutting direction is used as the first cutting direction.

[0022] Optionally, obtain a preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain the ideal cutting direction of each first inner contour scatter point, specifically including:

[0023] Obtain a preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain a second cutting direction;

[0024] Obtain the maximum mechanical swing angle;

[0025] Determine the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle, where the absolute value of the ideal cutting direction is not greater than the maximum mechanical swing angle.

[0026] Optionally, the determining the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle includes:

[0027] If the absolute value of the second cutting direction is greater than the maximum mechanical swing angle, the maximum mechanical swing angle is used as the ideal cutting direction;

[0028] If the absolute value of the second cutting direction is less than or equal to the maximum mechanical swing angle, the second cutting direction is used as the ideal cutting direction.

[0029] Optionally, obtaining the corresponding second outer contour scatter points according to each first inner contour scatter point and the ideal cutting direction is specifically: extending each first inner contour scatter point along the ideal cutting direction to the outer surface of the target pipe to obtain the corresponding second outer contour scatter points.

[0030] Optionally, the determining the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle further includes:

[0031] If the absolute value of the second cutting direction is greater than the maximum mechanical swing angle, and the absolute value of the initial cutting direction is greater than the maximum mechanical swing angle; then the maximum mechanical swing angle is used as the ideal cutting direction;

[0032] And in this case, obtaining the corresponding second outer contour scatter points according to each first inner contour scatter point and the ideal cutting direction is specifically: using the first outer contour scatter point corresponding to the first inner contour scatter point as the corresponding second outer contour scatter point.

[0033] Optionally, the welding surface is a flat surface or a curved surface.

[0034] Optionally, when the welding surface is a curved surface, taking each first inner contour scatter point as a reference, obtaining the corresponding first outer contour scatter point of the first inner contour scatter point specifically includes:

[0035] Obtaining an initial cutting surface of the material removal shape of the target pipe;

[0036] Sampling the initial outer contour of the material removal shape to obtain a number of third outer contour scatter points; wherein each first inner contour scatter point is respectively corresponding to each third outer contour scatter point through a curve, and all the curves form the initial cutting surface;

[0037] Taking each first inner contour scatter point as a reference, obtaining the tangent line of the first inner contour scatter point along the corresponding curve, and extending the tangent line to the outer surface of the target pipe to obtain the corresponding first outer contour scatter point.

[0038] Optionally, the size of the preset groove gap is 10 degrees - 35 degrees, and the maximum mechanical swing angle is 45 degrees.

[0039] According to the second aspect of one or more embodiments of the present invention, a laser cutting device for pipes with welding grooves is proposed, including an acquisition unit, a sampling unit, a first outer contour scatter point determination unit, a cutting direction determination unit, a second outer contour scatter point determination unit, a fitting unit, and a cutting unit; wherein:

[0040] The acquisition unit is configured to acquire the initial inner contour and the initial outer contour of the material removal shape of the target pipe; wherein, the material removal shape is drawn on the target pipe according to the welding surface of the target workpiece to be welded, and at least one of the initial inner contour and the initial outer contour fits the welding surface;

[0041] The sampling unit is configured to sample the initial inner contour of the material removal shape to respectively obtain a number of first inner contour scatter points;

[0042] The first outer contour scatter point determination unit is configured to take each first inner contour scatter point as a reference to obtain the corresponding first outer contour scatter point of the first inner contour scatter point; wherein, the connection line between each first outer contour scatter point and the corresponding first inner contour scatter point points to the axis of the target pipe; and the connection line between each first inner contour scatter point and the corresponding first outer contour scatter point serves as the initial cutting direction of each first inner contour scatter point; wherein, the cutting direction is characterized as the included angle between the connection line between each first inner contour scatter point and the corresponding first outer contour scatter point and the perpendicular line of the target pipe, and the perpendicular line is perpendicular to the axis of the target pipe;

[0043] The cutting direction determination unit is configured to obtain a preset groove gap and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain the ideal cutting direction of each first inner contour scatter point; wherein, the preset groove gap is characterized by a preset angle that causes the initial cutting direction to deviate away from the welding surface of the target workpiece.

[0044] The second outer contour scatter point determination unit is configured to obtain corresponding second outer contour scatter points according to each first inner contour scatter point and along the ideal cutting direction.

[0045] The fitting unit is configured to fit all the second outer contour scatter points to obtain an optimized outer contour.

[0046] The cutting unit is configured to use the optimized outer contour as a cutting trajectory and the first cutting direction as the final cutting direction to execute a laser cutting program to perform laser cutting on the target pipe to cut a groove for welding on the target pipe; wherein, the first cutting direction is the ideal cutting direction or the mechanical maximum swing angle, and the mechanical maximum swing angle is the maximum angle between the cutting head of the laser cutting device and the stretching direction of the target pipe.

[0047] According to a third aspect of one or more embodiments of the present invention, an electronic device is provided, including:

[0048] A processor;

[0049] And a memory for storing instructions executable by the processor;

[0050] Wherein, the processor realizes the steps in the method described in any one of the first aspect and the optional solutions of the present invention by running the executable instructions.

[0051] According to a fourth aspect of one or more embodiments of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the method described in any one of the first aspect and the optional solutions of the present invention are realized.

[0052] As can be seen from the above description, in the present invention, the initial inner contour of the material removal shape on the target pipe is sampled to obtain a number of first inner contour scatter points, and the first outer contour scatter points corresponding to each first inner contour scatter point are obtained, and the line connecting each first inner contour scatter point and the corresponding first outer contour scatter point is used as the initial cutting direction of each first inner contour scatter point; the ideal cutting direction of each first inner contour scatter point is obtained by superimposing the preset groove gap on the initial cutting direction of each first inner contour scatter point; the corresponding second outer contour scatter points are obtained according to each first inner contour scatter point and the ideal cutting direction; the optimized outer contour is obtained by fitting all the second outer contour scatter points, and the optimized outer contour is used as the cutting trajectory, and the first cutting direction is used as the final cutting direction, and the laser cutting program is executed to perform laser cutting on the target pipe. Thus, under the condition of respecting the objective attributes of laser cutting, the cutting surface obtained after laser cutting can maintain a uniform welding groove as much as possible with the welding surface of the target workpiece to be welded, so as to facilitate subsequent welding.

[0053] In a further preferred embodiment, before the laser cutting program is executed with the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction, the target tube is laser cut, and the following steps are further included: obtaining the maximum mechanical swing angle; and determining the first cutting direction according to the relationship between the absolute value of the ideal cutting direction and the maximum mechanical swing angle, wherein the absolute value of the first cutting direction is not greater than the maximum mechanical swing angle. Thus, the solution of the present invention takes into account the limitations of the actual equipment, so that the absolute value of a cutting direction is not greater than the maximum mechanical swing angle, which provides convenience for the final laser cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the T-shaped splicing of the inclined pipe;

[0055] Figure 2 It is a schematic diagram of the uneven weld of the target pipe caused by the existing cutting method;

[0056] Figure 3 is a flow chart of a method for laser cutting a pipe with a welding groove provided by an exemplary embodiment of the present invention;

[0057] Figure 4 It is a schematic diagram of a target pipe and a target workpiece that need to be T-joined provided by an embodiment of the present invention;

[0058] Figure 5 for Figure 4 Schematic diagram of the cutout shape of the target tube in ;

[0059] Figure 6 Based onFigure 5 Schematic diagram of the initial cutting direction of the material removal shape in

[0060] Figure 7 is based on Figure 6 Schematic diagram of obtaining the ideal cutting direction by superimposing the preset groove gap on the initial cutting direction in

[0061] Figure 8 Schematic diagram of obtaining the optimized outer contour

[0062] Figures 9 - 10 is based on Figure 8 Schematic diagram of the effect obtained by using the optimized outer contour as the cutting trajectory and the ideal cutting direction as the final cutting direction for cutting

[0063] Figure 11 Schematic diagram of the processing method when the ideal cutting direction after superimposing the preset groove gap is greater than the maximum mechanical swing angle in another embodiment

[0064] Figure 12 is Figure 11 Schematic diagram of the effect obtained by using the corresponding optimized outer contour as the cutting trajectory and the maximum mechanical swing angle as the final cutting direction for cutting

[0065] Figure 13 Schematic diagram of the processing method when the initial cutting direction is greater than the maximum mechanical swing angle in yet another embodiment

[0066] Figure 14 is Figure 13 Schematic diagram of the effect obtained by using the corresponding optimized outer contour as the cutting trajectory and the maximum mechanical swing angle as the final cutting direction for cutting

[0067] Figure 15 Schematic diagram of the structure of the electronic device where the laser cutting device for pipes with welding grooves provided by an exemplary embodiment is located.

[0068] Figure 16 Block diagram of the laser cutting device for pipes with welding grooves provided by an exemplary embodiment. Detailed implementation manners

[0069] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with one or more embodiments of the present invention. On the contrary, they are merely examples of the devices and methods consistent with some aspects of one or more embodiments of the present invention as detailed in the appended claims.

[0070] It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily executed in the order shown and described in the present invention. In some other embodiments, the steps included in the method may be more or less than those described in the present invention. In addition, a single step described in the present invention may be decomposed into multiple steps for description in other embodiments; and multiple steps described in the present invention may also be combined into a single step for description in other embodiments.

[0071] Before filing the present invention, the applicant conducted sufficient research on the laser cutting of the target pipe, discovered the corresponding problems existing in the laser cutting of the target pipe, and based on the corresponding problems, conducted research and exploration, and finally obtained the solution of this application. Specifically as follows:

[0072] In the field of metal cutting, in some cases, T-shaped splicing is required, where T-shaped splicing means that the axes of two pipe parts are in the same plane, and the end face of the first part contacts the pipe surface of the second part. T-shaped splicing includes vertical T-shaped splicing and inclined T-shaped splicing; among them, vertical T-shaped splicing means that the axes of two pipes are in the same plane and are perpendicular to each other; inclined T-shaped splicing means that the axes of two pipe parts are in the same plane and are not perpendicular to each other.

[0073] Figure 1 The schematic diagram of the inclined T-shaped splicing is shown, where the target pipe 20 and the target workpiece 10 are in an inclined T-shaped splicing, the end face of the target pipe 20 contacts the end face of the target workpiece 10, and they are welded and fixed. In actual operation, in order to splice the target pipe 20 and the target workpiece 10, a saddle-shaped opening needs to be cut on the target pipe 20 to contact the end face of the target workpiece 10.

[0074] For the saddle-shaped opening on the target pipe 20, the outer surface edge of the target pipe is the outer contour, and the inner surface edge is the inner contour. It can be considered that the contour is composed of countless points, and there is a corresponding rule between the inner points that make up the inner contour and the outer points that make up the outer contour. Usually, the connection line between the inner and outer points points to the axis of the target pipe.

[0075] According to the conventional laser cutting method, the laser will use the outer contour as the cutting trajectory and the connection line between the inner and outer points as the cutting direction for cutting. This method will cause the welding gap between the end face of the target pipe and the pipe surface of the target workpiece to be uneven, which is not conducive to subsequent welding. Specifically as Figure 2 shown, where a1 is the axis of the target pipe 20, a2 is the perpendicular line perpendicular to the axis (the angle between the perpendicular line and the cutting direction is the swing angle), and a3 is a cutting direction of the target workpiece 10. From Figure 2It can be seen that the gaps obtained by this method are uneven. For example, the gap at b is particularly large, while the gaps at other places are relatively small. Furthermore, the included angle c reaches 55 degrees, which means that even if no gap is left at this place, the groove angle has reached 55 degrees, while the maximum swing angle of the current machine is usually 45 degrees, thus exceeding the maximum swing angle range and bringing difficulties to cutting.

[0076] In view of this, the present invention provides a laser cutting method for pipes with welding grooves, which is applied to various electronic devices. For example, the method can be directly applied to the device for performing workpiece cutting, or can be applied to a general computer and then output relevant tool paths for reference by the device for performing workpiece cutting. The present invention does not make specific limitations on this.

[0077] Please refer to Figure 3 , Figure 3 which shows a flowchart of a laser cutting method for pipes with welding grooves provided by an exemplary embodiment of the present invention.

[0078] The laser cutting method for pipes with welding grooves is used to cut a groove for welding on a target pipe so as to weld the target pipe to a target workpiece. The method may include the following specific steps S1 - S8:

[0079] Step S1, obtain an initial inner contour and an initial outer contour of the material-removing shape of the target pipe; wherein the material-removing shape is drawn on the target pipe according to the welding surface of the target workpiece to be welded, and at least the initial inner contour of the initial inner contour and the initial outer contour fits the welding surface.

[0080] Taking Figure 4 the shown target pipe 20 and target workpiece 10 as an example, in order to form a groove for welding between the cutting surface of the target pipe 20 and the welding surface of the target workpiece 10, in this embodiment, first, according to the welding surface to be welded, the material-removing shape is drawn on the target pipe 20, where the material-removing shape is, for example, a saddle-shaped opening, as Figure 5 shown. Of course, according to different welding surfaces to be welded, the material-removing shape also varies. The present invention does not limit the specific material-removing shape, as long as the cutting surface of the material-removing shape can enable the target pipe to be welded to the target workpiece well, it is within the protection scope of the present invention. Specifically, the material-removing shape can be drawn through software, such as CAD drawing software, etc.

[0081] Based on the shape of the removed material, obtain the initial inner contour and the initial outer contour of the removed material shape of the target pipe. Among them, the initial inner contour refers to the edge of the inner surface of the target pipe corresponding to the shape of the removed material, and the initial outer contour refers to the edge of the outer surface of the target pipe corresponding to the shape of the removed material. Among them, at least the initial inner contour among the initial inner contour and the initial outer contour fits the welding surface so that subsequent welding can proceed smoothly.

[0082] Step S2: Sample the initial inner contour of the removed material shape to obtain a number of first inner contour scattered points.

[0083] Specifically, as Figure 6 shown, sample the initial inner contour 22, where C1 is the first inner contour scattered point.

[0084] Step S3: Based on each first inner contour scattered point, obtain the corresponding first outer contour scattered point along this first inner contour scattered point; among them, the connection line between each first outer contour scattered point and the corresponding first inner contour scattered point points to the axis of the target pipe.

[0085] Specifically, as Figure 6 shown, based on the first inner contour scattered point C1, obtain the connection line between this first inner contour scattered point C1 and the axis of the target pipe 20, and extend this connection line to the outer surface of the target pipe to obtain the corresponding first outer contour scattered point B1. Among them, all the first outer contour scattered points are fitted into the first outer contour 21.

[0086] Step S4: Take the connection line between each first inner contour scattered point and the corresponding first outer contour scattered point as the initial cutting direction of each first inner contour scattered point; among them, the cutting direction is characterized by the angle between the connection line between each first inner contour scattered point and the corresponding first outer contour scattered point and the perpendicular line of the target pipe, and the perpendicular line is perpendicular to the axis of the target pipe;

[0087] Step S5: Obtain the preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scattered point to obtain the ideal cutting direction of each first inner contour scattered point; among them, the preset groove gap is characterized by a preset angle that makes the initial cutting direction deviate along the direction away from the welding surface of the target workpiece.

[0088] Specifically, as Figure 7As shown in the figure, where C1 and C5 are two first inner contour scatter points, and a2 is the perpendicular line of the target pipe 20. Assume that the initial cutting directions of these two inner contour scatter points are 25 degrees and -25 degrees, that is: e11 is the connection line between C1 and the corresponding first outer contour scatter point, and the angle between e11 and the perpendicular line a2 is the initial cutting direction of C1, and the value of this initial cutting direction is 25 degrees; f11 is the connection line between C5 and the corresponding first outer contour scatter point, and the angle between f11 and the perpendicular line a2 is the initial cutting direction of C5, and the value of this initial cutting direction is -25 degrees. Among them, in this embodiment, the positive and negative of the angle are defined as: taking the perpendicular line as the reference, if the cutting direction is from the perpendicular line to the inside of the target pipe, the corresponding angle is positive; if the cutting direction is from the perpendicular line to the outside of the target pipe, the corresponding angle is negative.

[0089] Assume that the preset groove gap is 20 degrees. Then for C1, adding the preset groove gap to its initial cutting direction means deviating 20 degrees along the welding surface away from the target workpiece on the basis of e11, and obtaining the ideal cutting direction e12 of C1, and the value of e12 is 45 degrees. For C5, adding the preset groove gap to its initial cutting direction means deviating 20 degrees along the welding surface away from the target workpiece on the basis of f11, and obtaining the ideal cutting direction f12 of C5, and the value of f12 is -5 degrees.

[0090] As Figure 7 shown, the gaps between the ideal cutting direction e12 of C1 and the ideal cutting direction f12 of C5 and the cutting surface of the target workpiece are both 20 degrees.

[0091] Step S6: Obtain the corresponding second outer contour scatter points according to each first inner contour scatter point and the ideal cutting direction.

[0092] In this embodiment, step S6 is specifically: extending each first inner contour scatter point along the ideal cutting direction to the outer surface of the target pipe to obtain the corresponding second outer contour scatter points. As Figure 7 shown, extend C1 and C5 along the ideal cutting directions e12 and f12 respectively to the outer surface of the target pipe to obtain the corresponding second outer contour scatter points D1 and D5.

[0093] The second outer contour scatter points corresponding to other first inner contour scatter points are processed similarly according to the above method, so as to obtain the second outer contour scatter points corresponding to all first inner contour scatter points. Specifically, Figure 6 、 Figure 8 illustrates 8 first inner contour scatter points, and correspondingly obtains 8 second outer contour scatter points.

[0094] Step S7: Fit all the second outer contour scatter points to obtain an optimized outer contour.

[0095] As shown Figure 8 in the figure, all the second outer contour scatter points D1 - D5 (D6 - D8 not shown) are fitted to obtain the optimized outer contour 23.

[0096] Of course, the number of the first inner contour scatter points can also be other values, and the present invention does not make specific limitations thereto. Moreover, the more the number of the first inner contour scatter points, the higher the accuracy can be.

[0097] Step S8: Taking the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction, execute the laser cutting program to perform laser cutting on the target pipe, so as to cut a welding - used groove on the target pipe; wherein, the first cutting direction is the ideal cutting direction or the mechanical maximum swing angle, and the mechanical maximum swing angle is the maximum angle between the cutting head of the laser cutting device and the perpendicular line of the target pipe.

[0098] Specifically, in this embodiment, as shown Figure 7 in the figure, for the first inner contour scatter points C1 and C5, since the ideal cutting directions are 45 degrees and - 5 degrees respectively, which do not exceed the mechanical maximum swing angle (usually 45 degrees), the first cutting direction in this embodiment is the ideal cutting direction.

[0099] For laser cutting, as long as the cutting trajectory and the cutting direction are obtained, the laser cutting program can be executed to perform laser cutting on the target pipe.

[0100] By adopting the method provided by the embodiment of the present invention, the splicing effect between the cut target pipe 20 and the target workpiece 10 is as shown Figure 9 and Figure 10 in the figure. It can be seen that a cutting groove is formed between the target pipe 20 and the target workpiece 10, and the gap of the cutting groove is uniform, thus facilitating subsequent welding and improving the firmness and aesthetics of subsequent welding.

[0101] As a preferred embodiment, the present invention takes into account the limitation of the mechanical maximum swing angle. Limited by the actual equipment, the mechanical maximum swing angle usually has a limit. If it exceeds the maximum swing angle, it cannot be achieved in actual execution. Based on this, in the preferred embodiment of the present invention, on the basis of the foregoing embodiment, before step S8, it further includes:

[0102] Step S80: Obtain the mechanical maximum swing angle;

[0103] Step S81: Determine the first cutting direction according to the relationship between the absolute value of the ideal cutting direction and the mechanical maximum swing angle, wherein the absolute value of the first cutting direction is not greater than the mechanical maximum swing angle.

[0104] Further, step S81 determines the first cutting direction according to the relationship between the absolute value of the ideal cutting direction and the maximum mechanical swing angle, specifically including:

[0105] If the absolute value of the ideal cutting direction is greater than the maximum mechanical swing angle, then use the maximum mechanical swing angle as the first cutting direction;

[0106] If the absolute value of the ideal cutting direction is less than or equal to the maximum mechanical swing angle, then use the ideal cutting direction as the first cutting direction.

[0107] In an example, taking Figure 11 as an example, assume that the initial cutting directions of the first inner contour scatter points C6 and C7 are -25 degrees and 25 degrees respectively, and the preset groove gap is 40 degrees; that is, e211 is the connection line between C6 and the corresponding first outer contour scatter point, and the angle between e21 and the perpendicular line a2 is the initial cutting direction of C6, and the value of this initial cutting direction is -25 degrees; f21 is the connection line between C7 and the corresponding first outer contour scatter point, and the angle between f21 and the perpendicular line a2 is the initial cutting direction of C7, and the value of this initial cutting direction is 25 degrees.

[0108] For C6, adding the preset groove gap to its initial cutting direction means deviating 40 degrees along the welding surface away from the target workpiece on the basis of e21, obtaining the ideal cutting direction e22 of C6, and the value of e22 is 15 degrees.

[0109] For C7, adding the preset groove gap to its initial cutting direction means deviating 40 degrees along the welding surface away from the target workpiece on the basis of f21, obtaining the ideal cutting direction f22 of C7, and the value of f22 is 65 degrees.

[0110] When determining the first cutting direction, since the ideal cutting direction e22 of C6 is less than the maximum mechanical swing angle, thus use the ideal cutting direction e22 as the first cutting direction of C6; since the value of the ideal cutting direction f22 of C7 is greater than the maximum mechanical swing angle. Therefore, use the maximum mechanical swing angle (45 degrees) as the first cutting direction of C7, that is, the first cutting direction of C7 is f23 (the angle between it and the perpendicular line is the maximum mechanical swing angle of 45 degrees).

[0111] Among them, the effect diagram after cutting in the manner shown by Figure 11 is as shown in Figure 12As shown, a cutting groove is formed between the target pipe 20 and the target workpiece. Although the gap does not remain absolutely uniform, a relatively uniform gap is obtained. And due to considering the limitation of the maximum mechanical swing angle, the process feasibility of cutting is ensured and the cutting difficulty is reduced.

[0112] Figure 11 A corresponding example is that the initial cutting direction is not greater than the maximum mechanical swing angle, while the ideal cutting direction after superimposing the preset groove gap is greater than the maximum mechanical swing angle. Therefore, the limitation of the maximum mechanical swing angle is considered in the process of determining the first cutting direction.

[0113] As a preferred implementation manner, the present invention also considers the limitation of the maximum mechanical swing angle in the process of obtaining the ideal cutting direction of each first inner contour scatter point. Specifically, in step S5, the preset groove gap is obtained, and the preset groove gap is superimposed on the initial cutting direction of each first inner contour scatter point to obtain the ideal cutting direction of each first inner contour scatter point, which specifically includes:

[0114] S51: Obtain the preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain a second cutting direction;

[0115] S52: Obtain the maximum mechanical swing angle;

[0116] S53: Determine the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle, wherein the absolute value of the ideal cutting direction is not greater than the maximum mechanical swing angle.

[0117] Further, in the above step S53, determining the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle specifically includes:

[0118] If the absolute value of the second cutting direction is greater than the maximum mechanical swing angle, then use the maximum mechanical swing angle as the ideal cutting direction;

[0119] If the absolute value of the second cutting direction is less than or equal to the maximum mechanical swing angle, then use the second cutting direction as the ideal cutting direction.

[0120] In the above two cases, the method for determining the second outer contour is: extend each first inner contour scatter point along the ideal cutting direction to the outer surface of the target pipe to obtain the corresponding second outer contour scatter points.

[0121] Further, in the above step S53, determining the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle further includes:

[0122] If the absolute value of the second cutting direction is greater than the maximum mechanical swing angle, and the absolute value of the initial cutting direction is greater than the maximum mechanical swing angle; then the maximum mechanical swing angle is taken as the ideal cutting direction;

[0123] And in this case, obtaining the corresponding second outer contour scatter points according to each first inner contour scatter point and the ideal cutting direction specifically includes: using the first outer contour scatter point corresponding to the first inner contour scatter point as the corresponding second outer contour scatter point.

[0124] In an example, Figure 13 For example, assume that the initial cutting directions of the first inner contour scatter points C9 and C10 are -55 degrees and 55 degrees respectively, and the preset groove gap is 20 degrees; that is, e31 is the connection line between C9 and the corresponding first outer contour scatter point, and the angle between e31 and the perpendicular line a2 is the initial cutting direction of C9, and the value of this initial cutting direction is -55 degrees; f31 is the connection line between C10 and the corresponding first outer contour scatter point, and the angle between f31 and the perpendicular line a2 is the initial cutting direction of C10, and the value of this initial cutting direction is 55 degrees.

[0125] For C9, adding the preset groove gap to its initial cutting direction means deviating 20 degrees along the welding surface away from the target workpiece on the basis of e31, obtaining the second cutting direction e32 of C9, and the value of e32 is -35 degrees. Since the second cutting direction is less than the maximum mechanical swing angle, the ideal cutting direction of C9 is e32. And the method for determining the second outer contour is: extending each first inner contour scatter point along the ideal cutting direction to the outer surface of the target pipe to obtain the corresponding second outer contour scatter point.

[0126] For C10, adding the preset groove gap to its initial cutting direction means deviating 20 degrees along the welding surface away from the target workpiece on the basis of f31, obtaining the ideal cutting direction f32 of C10, and the value of f32 is 75 degrees; the value of the ideal cutting direction f32 of C10 is greater than the maximum mechanical swing angle. Therefore, the maximum mechanical swing angle (45 degrees) is taken as the ideal cutting direction of C10. In this case, since the absolute value of the second cutting direction is greater than the maximum mechanical swing angle, the maximum mechanical swing angle is taken as the ideal cutting direction; and the absolute value of the initial cutting direction is greater than the maximum mechanical swing angle; in this case, the method for determining the second outer contour scatter point is: using the first outer contour scatter point corresponding to the first inner contour scatter point as the corresponding second outer contour scatter point.

[0127] Among them, Figure 13 The effect diagram after cutting in the manner shown is as Figure 14As shown, a part of the inner contour of the end face of the target pipe 20 is completely fitted to the outer surface of the target workpiece 10, and there is an uneven gap between the outer contour and the outer surface of the target workpiece 10 (a part of this gap meets the angle set by the user, and the other part is restricted by the maximum swing angle, and the welding gap gradually becomes smaller). Another part of the end face of the target pipe 20 is that the outer contour is completely fitted to the outer surface of the target workpiece 10, and there is a gap between the inner contour and the outer surface of the target workpiece 10. Among them, leaving a gap in the inner contour is a helpless act restricted by the maximum swing angle, but the fitting of the outer contour ensures the stability of the splicing and enables welding. It's just that there is no welding gap, and the welding is a bit troublesome.

[0128] Under the consideration of the limitation of the maximum swing angle of the machine, this solution ensures the welding gap to the greatest extent and improves the welding quality.

[0129] In one example, the welding surface is a plane or a curved surface.

[0130] As a preferred embodiment, when the welding surface is a curved surface, taking each first inner contour scatter point as a reference to obtain the corresponding first outer contour scatter point of this first inner contour scatter point specifically includes:

[0131] Obtain the initial cutting surface of the material-removing shape of the target pipe.

[0132] Sample the initial outer contour of the material-removing shape to obtain a number of third outer contour scatter points; each first inner contour scatter point is respectively corresponding to each third outer contour scatter point through a curve, and all the curves form the initial cutting surface.

[0133] Taking each first inner contour scatter point as a reference, obtain the tangent line of this first inner contour scatter point along the corresponding curve, and extend the tangent line to the outer surface of the target pipe to obtain the corresponding first outer contour scatter point.

[0134] The first outer contour obtained by fitting the first outer contour scatter points obtained in the above manner can be surface-fitted to the welding surface, thereby further improving the splicing quality.

[0135] In one example, the size of the preset groove gap is 10 degrees - 35 degrees, and the maximum swing angle of the machine is 45 degrees. However, it should be realized that the present invention is not limited thereto. The size of the groove gap of the present invention is an empirical value after considering the maximum swing angle of the machine. It does not exclude that the size of the groove gap can take other values. In addition, with the update and replacement of the equipment, the maximum swing angle of the machine can also take other values. The specific values are not used as a limitation of the protection scope of the present invention.

[0136] Figure 15It is a schematic structural diagram of an electronic device where a laser cutting device for pipes with a welding groove provided by an exemplary embodiment of the present invention is located. Please refer to Figure 15 , at the hardware level, the device includes a processor 602, an internal bus 604, a network interface 606, a memory 608, and a non-volatile memory 610. Of course, it may also include other hardware required for other services. One or more embodiments of the present invention can be implemented in a software manner. For example, the processor 602 reads the corresponding computer program from the non-volatile memory 610 into the memory 608 and then runs it. Of course, in addition to the software implementation manner, one or more embodiments of the present invention do not exclude other implementation manners, such as a logic device or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be a hardware or a logic device.

[0137] Please refer to Figure 16 , Figure 16 Shown is a block diagram of a tool path optimization device for groove cutting of a laser cutting device for pipes with a welding groove of a target pipe fitting a curved surface provided by an exemplary embodiment of the present invention. The tool path optimization device for groove cutting of the laser cutting device for pipes with a welding groove of the target pipe fitting a curved surface can be applied in Figure 15 the electronic device shown in

[0138] The obtaining unit 101 is configured to obtain an initial inner contour and an initial outer contour of the material-removing shape of the target pipe. Wherein, the material-removing shape is drawn on the target pipe according to the welding surface of the target workpiece to be welded, and at least one of the initial inner contour and the initial outer contour fits the welding surface;

[0139] The point-sampling unit 102 is configured to sample the initial inner contour of the material-removing shape to obtain a number of first inner contour scattered points respectively;

[0140] The first outer contour scatter point determination unit 103 is configured to obtain, based on each first inner contour scatter point, a first outer contour scatter point corresponding to the first inner contour scatter point; wherein, the connection line between each first outer contour scatter point and the corresponding first inner contour scatter point points to the axis of the target pipe; and the connection line between each first inner contour scatter point and the corresponding first outer contour scatter point serves as the initial cutting direction of each first inner contour scatter point; wherein, the cutting direction is characterized by the included angle between the connection line between each first inner contour scatter point and the corresponding first outer contour scatter point and the perpendicular line of the target pipe, and the perpendicular line is perpendicular to the axis of the target pipe.

[0141] The cutting direction determination unit 104 is configured to obtain a preset groove gap and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain the ideal cutting direction of each first inner contour scatter point; wherein, the preset groove gap is characterized by a preset angle that causes the initial cutting direction to deviate along the welding surface away from the target workpiece.

[0142] The second outer contour scatter point determination unit 105 is configured to obtain corresponding second outer contour scatter points based on each first inner contour scatter point and the ideal cutting direction.

[0143] The fitting unit 106 is configured to fit all the second outer contour scatter points to obtain an optimized outer contour.

[0144] The cutting unit 107 is configured to use the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction to execute a laser cutting program to perform laser cutting on the target pipe, so as to cut a groove for welding on the target pipe; wherein, the first cutting direction is the ideal cutting direction or the mechanical maximum swing angle, and the mechanical maximum swing angle is the maximum included angle between the cutting head of the laser cutting device and the stretching direction of the target pipe.

[0145] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method are implemented.

[0146] The systems, devices, modules or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver device, a game console, a tablet computer, a wearable device, or a combination of any several of these devices.

[0147] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] The memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0149] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0150] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity or device including the element.

[0151] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0152] The terms used in one or more embodiments of the present invention are for the purpose of describing particular embodiments only and are not intended to limit one or more embodiments of the present invention. The singular forms "a", "the", and "said" used in one or more embodiments of the present invention and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0153] It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of the present invention to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "upon" or "in response to determining".

[0154] The above description is only a preferred embodiment of one or more embodiments of the present invention and is not intended to limit one or more embodiments of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of one or more embodiments of the present invention shall be included within the scope of protection of one or more embodiments of the present invention.

Claims

1. A laser cutting method for pipes with welding grooves, characterized in that, Used to cut a welding groove on a target pipe to weld the target pipe to a target workpiece, the method includes: Obtain the initial inner contour and the initial outer contour of the material removal shape of the target pipe; wherein the material removal shape is drawn on the target pipe according to the welding surface of the target workpiece to be welded, and at least the initial inner contour of the initial inner contour and the initial outer contour fits the welding surface; Sample the initial inner contour of the material removal shape to obtain a number of first inner contour scattered points; Based on each first inner contour scattered point, obtain the corresponding first outer contour scattered point; wherein, the connection line between each first outer contour scattered point and the corresponding first inner contour scattered point points to the axis of the target pipe; Use the connection line between each first inner contour scattered point and the corresponding first outer contour scattered point as the initial cutting direction of each first inner contour scattered point; wherein, the cutting direction is characterized by the included angle between the connection line between each first inner contour scattered point and the corresponding first outer contour scattered point and the perpendicular line of the target pipe, and the perpendicular line is perpendicular to the axis of the target pipe; Obtain a preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scattered point to obtain the ideal cutting direction of each first inner contour scattered point; wherein, the preset groove gap is characterized by a preset angle that makes the initial cutting direction deviate away from the welding surface of the target workpiece; Obtain the corresponding second outer contour scattered points based on each first inner contour scattered point and the ideal cutting direction; Fit all the second outer contour scattered points to obtain an optimized outer contour; Use the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction, execute the laser cutting program to perform laser cutting on the target pipe, so as to cut a welding groove on the target pipe; wherein, the first cutting direction is the ideal cutting direction or the mechanical maximum swing angle, and the mechanical maximum swing angle is the maximum included angle between the cutting head of the laser cutting device and the perpendicular line of the target pipe.

2. The laser cutting method for a pipe with a welding groove according to claim 1, wherein Before using the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction to execute the laser cutting program to perform laser cutting on the target pipe, it further includes: Obtain the mechanical maximum swing angle; Determine the first cutting direction according to the relationship between the absolute value of the ideal cutting direction and the mechanical maximum swing angle, wherein the absolute value of the first cutting direction is not greater than the mechanical maximum swing angle.

3. The laser cutting method for a pipe with a welding groove according to claim 2, characterized in that, The determining the first cutting direction according to the relationship between the absolute value of the ideal cutting direction and the mechanical maximum swing angle includes: If the absolute value of the ideal cutting direction is greater than the mechanical maximum swing angle, then use the mechanical maximum swing angle as the first cutting direction; If the absolute value of the ideal cutting direction is less than or equal to the mechanical maximum swing angle, then use the ideal cutting direction as the first cutting direction.

4. The laser cutting method for a pipe with a welding groove according to any one of claims 1-3, characterized in that, Obtain a preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain the ideal cutting direction of each first inner contour scatter point. Specifically, it includes: Obtain a preset groove gap, and superimpose the preset groove gap on the initial cutting direction of each first inner contour scatter point to obtain a second cutting direction; Obtain the maximum mechanical swing angle; Determine the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle, where the absolute value of the ideal cutting direction is not greater than the maximum mechanical swing angle.

5. The laser cutting method for a pipe with a welding groove according to claim 4, characterized in that, The determining the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle includes: If the absolute value of the second cutting direction is greater than the maximum mechanical swing angle, then use the maximum mechanical swing angle as the ideal cutting direction; If the absolute value of the second cutting direction is less than or equal to the maximum mechanical swing angle, then use the second cutting direction as the ideal cutting direction.

6. The laser cutting method for a pipe with a welding groove according to claim 5, wherein, The obtaining the corresponding second outer contour scatter points according to each first inner contour scatter point and the ideal cutting direction is specifically: extending each first inner contour scatter point along the ideal cutting direction to the outer surface of the target pipe to obtain the corresponding second outer contour scatter points.

7. The laser cutting method for a pipe with a welding groove according to claim 5, characterized in that The determining the ideal cutting direction according to the relationship between the absolute value of the second cutting direction and the maximum mechanical swing angle further includes: If the absolute value of the second cutting direction is greater than the maximum mechanical swing angle, and the absolute value of the initial cutting direction is greater than the maximum mechanical swing angle; then use the maximum mechanical swing angle as the ideal cutting direction; And in this case, the obtaining the corresponding second outer contour scatter points according to each first inner contour scatter point and the ideal cutting direction is specifically: using the first outer contour scatter point corresponding to the first inner contour scatter point as the corresponding second outer contour scatter point.

8. The laser cutting method for a pipe with a welding groove according to claim 1, wherein, The welding surface is a plane or a curved surface.

9. The laser cutting method for pipes with welding grooves according to claim 8, characterized in that, When the welding surface is a curved surface, the obtaining the first outer contour scatter point corresponding to each first inner contour scatter point with each first inner contour scatter point as a reference specifically includes: Obtain the initial cutting surface of the material removal shape of the target pipe; Sample the initial outer contour of the material removal shape to obtain a number of third outer contour scatter points; where each first inner contour scatter point is respectively corresponding to each third outer contour scatter point through a curve, and all the curves form the initial cutting surface; With each first inner contour scatter point as a reference, obtain the tangent line of the corresponding curve along the first inner contour scatter point, and extend the tangent line to the outer surface of the target pipe to obtain the corresponding first outer contour scatter point.

10. The laser cutting method for pipes with a welding groove according to claim 1, characterized in that, The size of the preset groove gap is 10 degrees - 35 degrees, and the maximum mechanical swing angle is 45 degrees.

11. A laser cutting device for pipes with a welding groove, characterized in that, It includes an acquisition unit, a sampling unit, a first outer contour scatter point determination unit, a cutting direction determination unit, a second outer contour scatter point determination unit, a fitting unit, and a cutting unit; where: The obtaining unit is configured to obtain an initial inner contour and an initial outer contour of the material-removing shape of the target pipe; wherein, the material-removing shape is drawn on the target pipe according to the welding surface of the target workpiece to be welded, and at least one of the initial inner contour and the initial outer contour fits the welding surface; The point-sampling unit is configured to sample the initial inner contour of the material-removing shape to respectively obtain a plurality of first inner contour scattered points; The first outer contour scattered point determining unit is configured to, based on each first inner contour scattered point, obtain a corresponding first outer contour scattered point; wherein, the connection line between each first outer contour scattered point and the corresponding first inner contour scattered point points to the axis of the target pipe; and the connection line between each first inner contour scattered point and the corresponding first outer contour scattered point serves as the initial cutting direction of each first inner contour scattered point; wherein, the cutting direction is characterized by the included angle between the connection line between each first inner contour scattered point and the corresponding first outer contour scattered point and the perpendicular line of the target pipe, and the perpendicular line is perpendicular to the axis of the target pipe; The cutting direction determining unit is configured to obtain a preset groove gap and superimpose the preset groove gap on the initial cutting direction of each first inner contour scattered point to obtain the ideal cutting direction of each first inner contour scattered point; wherein, the preset groove gap is characterized by a preset angle for deviating the initial cutting direction away from the welding surface of the target workpiece; The second outer contour scattered point determining unit is configured to obtain corresponding second outer contour scattered points based on each first inner contour scattered point and the ideal cutting direction; The fitting unit is configured to fit all the second outer contour scattered points to obtain an optimized outer contour; The cutting unit is configured to use the optimized outer contour as the cutting trajectory and the first cutting direction as the final cutting direction to execute a laser cutting program to perform laser cutting on the target pipe so as to cut a groove for welding on the target pipe; wherein, the first cutting direction is the ideal cutting direction or the mechanical maximum swing angle, and the mechanical maximum swing angle is the maximum included angle between the cutting head of the laser cutting device and the stretching direction of the target pipe.

12. An electronic device, characterized in that, Comprising: A processor; And a memory for storing instructions executable by the processor; Wherein, the processor realizes the steps in the method according to any one of claims 1-10 by running the executable instructions.

13. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by the processor, the steps in the method according to any one of claims 1-10 are realized.

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