A method and system for compensating for the intersecting line of roundness deviation of main pipes of orthogonal intersecting pipes

Abstract

The invention provides a method and system for compensating for the intersecting line of the roundness deviation of the main pipe of an orthogonal intersecting pipeline, and the distance from the distance measuring device to each selected point obtained by scanning the upper wall of the main pipe by the distance measuring device is obtained; wherein the distance measuring device moves on a straight line parallel to the X-axis direction at a set height above the intersecting pipeline and scans vertically downward, and the X-axis is a horizontal axis perpendicular to the main pipe axis; the distance from the distance measuring device to each selected point is calculated on an ideal intersecting model; according to the distance from the distance measuring device to each selected point of the ideal intersecting model, the deviation of each selected point in the Z-axis direction is obtained, and the intersecting line is corrected according to the deviation of each selected point; wherein the Z-axis is a vertical axis perpendicular to the X-axis and the main pipe axis; the invention corrects the ideal intersecting line according to the measured data, realizes the compensation of the intersecting line of the main pipe roundness deviation, so as to realize more accurate cutting or welding, and improve production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of automatic welding and cutting, and in particular to a method and system for compensating for the intersecting line of roundness deviation of main pipes of orthogonal intersecting pipelines. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] In the fields of automatic welding and cutting of pipe-to-pipe intersection models, the solution of the intersection line is crucial, which directly affects the accuracy of welding and cutting. Therefore, how to accurately solve the intersection line of the pipe-to-pipe intersection model is a very important topic.

[0004] The inventors found that the solution of the intersection line is based on the ideal intersection model, but due to the processing technology and process, the actual model often has a certain deviation from the ideal model. This deviation may come from the main pipe straightness deviation, the main pipe roundness deviation, and the branch pipe coordinate deviation caused by factors such as clamping. When the main pipe roundness error reaches a certain level, it is difficult to ensure the processing accuracy, which in turn leads to reduced production efficiency. Summary of the invention

[0005] In order to solve the deficiencies of the prior art, the present invention provides a method and system for compensating for the intersecting line of roundness deviation of the main pipes of orthogonal intersecting pipes, which improves the accuracy of intersecting line solution and the precision of automatic welding or cutting.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a method for compensating for the intersection line of the main pipe roundness deviation of orthogonal intersecting pipes.

[0008] A method for compensating for the intersecting line of roundness deviation of the main pipes of orthogonal intersecting pipes, comprising the following processes:

[0009] The distance from the ranging device to each selected point is obtained by scanning the upper wall of the main pipe with the ranging device; wherein the ranging device moves on a straight line parallel to the X-axis direction at a set height above the intersecting pipe and scans vertically downward, and the X-axis is a horizontal axis perpendicular to the axis of the main pipe;

[0010] Calculate the distance from the distance measuring device to each selected point on the ideal intersecting model;

[0011] According to the distance from the distance measuring device of the ideal intersection model to each selected point, the deviation of each selected point in the Z-axis direction is obtained, and the intersection line is corrected according to the deviation of each selected point; wherein the Z-axis is a vertical axis perpendicular to the X-axis and the main pipe axis.

[0012] As an optional implementation of the first aspect of the present invention, a diameter of 2R is found on the outer circle of the main cross section using a length measuring tool, and the middle point is taken as the theoretical circle center C, where R is the radius of the main circle of the ideal model;

[0013] The distance measured by the ranging device vertically downward to the theoretical center C is h0, and it always moves at this height. The ranging device moves on a straight line parallel to the X-axis, and the scanning range is between t1 and t2. Record x i The distance k measured by the rangefinder at i , get the data of N groups of points {(x 1 ,k 1 ),…(x i ,k i ),…(x N ,k N )};

[0014] Among them, point t1 is a point on a horizontal straight line passing through the leftmost point on the intersection line and parallel to the main pipe axis, point t2 is a point on a horizontal straight line passing through the rightmost point on the intersection line and parallel to the main pipe axis, and x i It is the distance in the X-axis direction from point t1 to the i-th point scanned.

[0015] As a further limitation of the first aspect of the present invention, for any point (x i ,k i ), the P of the actual coherence model and the ideal coherence model i Deviations in the Z-axis direction include:

[0016]

[0017] Among them, R is the outer radius of the main pipe, r is the outer radius of the branch pipe, and e is the eccentricity of the branch pipe.

[0018] As a further limitation of the first aspect of the present invention, the modified parametric equation of any point Q on the intersection line with respect to the branch pipe circumferential angle θ includes:

[0019] Q ix =rsinθ i +e

[0020] Q iy =-rcosθ i

[0021]

[0022] Among them, θ i is the circular angle corresponding to the i-th point.

[0023] A second aspect of the present invention provides a system for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipelines.

[0024] A system for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipelines, comprising:

[0025] The data acquisition module is configured to: acquire the distance from the ranging device to each selected point obtained by scanning the upper wall of the main pipe by the ranging device; wherein the ranging device moves on a straight line parallel to the X-axis direction at a set height above the intersecting pipe and scans vertically downward, and the X-axis is a horizontal axis perpendicular to the axis of the main pipe;

[0026] The distance calculation module under the ideal model is configured to: calculate the distance from the distance measuring device to each selected point on the ideal intersecting model;

[0027] The intersection line correction module is configured to obtain the deviation of each selected point in the Z-axis direction according to the distance from the distance measuring device of the ideal intersection model to each selected point, and correct the intersection line according to the deviation of each selected point; wherein the Z-axis is a vertical axis perpendicular to the X-axis and the main axis.

[0028] As an optional implementation of the second aspect of the present invention, the data acquisition module includes:

[0029] Use the length measuring tool to find a diameter of 2R on the outer circle of the main pipe section, and take its midpoint as the theoretical center C, where R is the radius of the main pipe circle of the ideal model;

[0030] The distance measured by the ranging device vertically downward to the theoretical center C is h0, and it always moves at this height, so that the ranging device moves on a straight line parallel to the X-axis, and the scanning range is between t1 and t2, and x is recorded. i The distance k measured by the rangefinder at i , get the data of N groups of points {(x 1 ,k 1 ),…(x i ,k i ),…(x N ,k N )};

[0031] Among them, point t1 is a point on a horizontal straight line passing through the leftmost point on the intersection line and parallel to the main axis, point t2 is a point on a horizontal straight line passing through the rightmost point on the intersection line and parallel to the main axis, and x i is the horizontal distance from point t1 to the i-th point scanned.

[0032] As a further limitation of the second aspect of the present invention, in the intersection line correction module, for any point (x i ,k i ), the P of the actual coherence model and the ideal coherence modeli Deviations in the Z-axis direction include:

[0033]

[0034] Among them, R is the outer radius of the main pipe, r is the outer radius of the branch pipe, and e is the eccentricity of the branch pipe.

[0035] As a further limitation of the second aspect of the present invention, in the intersection line correction module, the corrected parametric equation of any point Q on the intersection line with respect to the branch pipe circumferential angle θ includes:

[0036] Q ix =rsinθ i +e

[0037] Q iy =-rcosθ i

[0038]

[0039] Among them, θ i is the circular angle corresponding to the i-th point.

[0040] The third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes as described in the first aspect of the present invention.

[0041] A fourth aspect of the present invention provides an electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes as described in the first aspect of the present invention are implemented.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The present invention innovatively proposes a method and system for compensating for the intersection line of the roundness deviation of the main pipe of orthogonal intersecting pipes, corrects the ideal intersection line according to the measured data, and realizes the compensation of the intersection line of the main pipe roundness deviation, so as to achieve more accurate cutting or welding and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0045] Figure 1 A front view of two pipes of the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes provided in Example 1 of the present invention;

[0046] Figure 2 This is a left view of two pipes of the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0048] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0051] Embodiment 1:

[0052] In view of the problems existing in the existing solutions mentioned in the background technology, and the fact that there are few studies on the intersection line error caused by the main pipe roundness deviation, and there is no complete set of available theories or methods, therefore, embodiment 1 of the present invention provides a method for compensating the intersection line of the main pipe roundness deviation of orthogonal intersecting pipes, comprising the following process:

[0053] S1: Move the distance measuring device on a straight line parallel to the x-axis at a certain height above the intersecting pipeline and scan the upper wall of the main pipe vertically downward to obtain several sets of data.

[0054] S2: Calculate the distances between the points selected in S1 and the points on the ideal intersecting model measured by the distance measuring device.

[0055] S3: Calculate the deviation of the two sets of data points in the z direction and correct the intersection line according to the deviation.

[0056] S1, more specifically, includes:

[0057] Use a ruler to find a diameter of 2R (R is the radius of the ideal model main tube circle) on the main tube cross-section circle (external circle), and take the middle point as the theoretical center C;

[0058] Considering the branch pipe circumferential angle θ∈(0,2π], the circumferential angle is divided into θ i=i degrees, i∈[1,360] and i is an integer, according to formula (9), we can get θ i The corresponding x i ;

[0059] like Figure 1 As shown in the figure, the rangefinder is clamped by an automatically moving mechanical arm, so that the rangefinder is vertically downward to the measured distance of point C is h0, and it always moves at this height, so that the rangefinder moves on a straight line parallel to the x-axis, and the scanning range is between point t1 and point t2, and x is recorded. i The distance k measured by the rangefinder at i , get 360 sets of point data {(x 1 ,k 1 ),…(x i ,k i ),…(x 360 ,k 360 )};

[0060] Among them, point t1 is a point on a horizontal straight line passing through the leftmost point on the intersection line and parallel to the main pipe axis, such as Figure 1 As shown in the figure, point t2 is a point on a horizontal straight line passing through the rightmost point on the intersection line and parallel to the main pipe axis. i is the horizontal distance from point t1 to the i-th point scanned.

[0061] S2, more specifically, includes:

[0062] For a point P selected in S1 i , according to known and measured data:

[0063] C′m i =|rx i -e| (1)

[0064] Among them, point C' is on the main pipe axis and in the same vertical plane as the scanned point, r is the outer radius of the branch pipe, and e is the eccentricity of the branch pipe (positive or negative).

[0065] In Rt△C′P′ i m i middle

[0066]

[0067] Then the rangefinder can measure P′ i The distance should be:

[0068] k′ i =h 0 -P′ i m i (3)

[0069] Solving all data points, we can get 360 sets of point data {(x 1 ,k′ 1 ),…(x i ,k′ i ),…(x N360 ,k′ 360 )}.

[0070] In S3, more specifically, according to the intersection line characteristics of the two-pipe intersection model, the parametric equation of any point Q on the theoretical intersection line with respect to the branch pipe circumferential angle θ is obtained:

[0071]

[0072] Among them, R is the outer radius of the main pipe, r is the outer radius of the branch pipe, e is the eccentricity of the branch pipe (positive or negative), and α is the oblique angle of the main pipe and the branch pipe.

[0073] For the orthogonal intersection model, the oblique intersection angle α = 90°, then:

[0074]

[0075] For the orthogonal intersection model, the projection of the intersection line on the XY plane is the cross-sectional circle of the branch pipe. Therefore, for a certain circular angle θ, there is a corresponding point on the intersection line. As long as θ is the same, the x and y coordinates of the points corresponding to the ideal model and the actual model are the same. At this time, the error only comes from the z direction. The deviation in the z direction is:

[0076] Δk i =k i -k′ i (6)

[0077] The comprehensive formula (1)(2)(3) is:

[0078]

[0079] There are also:

[0080] Q x =x i -r+e(8)

[0081] Combining formula (5), we get:

[0082] x i =r(1+sinθ i )(9)

[0083] Therefore, the coherence model can be modified as follows:

[0084]

[0085] Embodiment 2:

[0086] Embodiment 2 of the present invention provides a system for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes, comprising:

[0087] The data acquisition module is configured to: acquire the distance from the ranging device to each selected point obtained by scanning the upper wall of the main pipe by the ranging device; wherein the ranging device moves on a straight line parallel to the X-axis direction at a set height above the intersecting pipe and scans vertically downward, and the X-axis is a horizontal axis perpendicular to the axis of the main pipe;

[0088] The distance calculation module under the ideal model is configured to: calculate the distance from the distance measuring device to each selected point on the ideal intersecting model;

[0089] The intersection line correction module is configured to obtain the deviation of each selected point in the Z-axis direction according to the distance from the distance measuring device of the ideal intersection model to each selected point, and correct the intersection line according to the deviation of each selected point; wherein the Z-axis is a vertical axis perpendicular to the X-axis and the main axis.

[0090] The working method of the system is the same as the method for compensating for the intersection line of the roundness deviation of the main pipes of orthogonal intersecting pipes provided in Example 1, and will not be described in detail here.

[0091] Embodiment 3:

[0092] Embodiment 3 of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes as described in Embodiment 1 of the present invention.

[0093] Embodiment 4:

[0094] Embodiment 4 of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes as described in Embodiment 1 of the present invention are implemented.

[0095] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0099] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for compensating the intersecting line of the roundness deviation of the main pipes of orthogonal intersecting pipes. It is characterized in that The process includes: The distance from the ranging device to each selected point is obtained by scanning the upper wall of the main pipe with the ranging device; wherein the ranging device moves on a straight line parallel to the X-axis direction at a set height above the intersecting pipe and scans vertically downward, and the X-axis is a horizontal axis perpendicular to the axis of the main pipe; Calculate the distance from the distance measuring device to each selected point on the ideal intersecting model; According to the distance from the distance measuring device of the ideal intersection model to each selected point, the deviation of each selected point in the Z-axis direction is obtained, and the intersection line is corrected according to the deviation of each selected point; wherein the Z-axis is a vertical axis perpendicular to the X-axis and the main pipe axis.

2. The method for compensating the roundness deviation of the main pipes of orthogonal intersecting pipes according to claim 1, It is characterized in that Use the length measuring tool to find a diameter of 2R on the outer circle of the main pipe section, and take its midpoint as the theoretical center C, where R is the radius of the main pipe circle of the ideal model; The distance measured by the ranging device vertically downward to the theoretical center C is h0, and it always moves at this height. The ranging device moves on a straight line parallel to the X-axis, and the scanning range is between t1 and t2. Record x i The distance k measured by the rangefinder at i , get the data of N groups of points {(x 1 ,k 1 ),…(x i ,k i ),…(x N ,k N )}; Among them, point t1 is a point on a horizontal straight line passing through the leftmost point on the intersection line and parallel to the main pipe axis, point t2 is a point on a horizontal straight line passing through the rightmost point on the intersection line and parallel to the main pipe axis, and x i It is the distance in the X-axis direction from point t1 to the i-th point scanned.

3. The method for compensating the roundness deviation of the main pipes of orthogonal intersecting pipes according to claim 2, It is characterized in that For any point (x i ,k i ), P of the actual coherence model and the ideal coherence model i Deviations in the Z-axis direction include: Among them, R is the outer radius of the main pipe, r is the outer radius of the branch pipe, and e is the eccentricity of the branch pipe.

4. The method for compensating the roundness deviation of the main pipes of orthogonal intersecting pipes according to claim 3, It is characterized in that The corrected parametric equation for any point Q on the intersection line with respect to the branch pipe circumferential angle θ includes: Q ix =sinθ i +e Q iy =-rcosθ i Among them, θ i is the circular angle corresponding to the i-th point.

5. A system for compensating the roundness deviation of the main pipes of orthogonal intersecting pipes. It is characterized in that include: The data acquisition module is configured to: acquire the distance from the ranging device to each selected point obtained by scanning the upper wall of the main pipe by the ranging device; wherein the ranging device moves on a straight line parallel to the X-axis direction at a set height above the intersecting pipe and scans vertically downward, and the X-axis is a horizontal axis perpendicular to the axis of the main pipe; The distance calculation module under the ideal model is configured to: calculate the distance from the distance measuring device to each selected point on the ideal intersecting model; The intersection line correction module is configured to obtain the deviation of each selected point in the Z-axis direction according to the distance from the distance measuring device of the ideal intersection model to each selected point, and correct the intersection line according to the deviation of each selected point; wherein the Z-axis is a vertical axis perpendicular to the X-axis and the main axis.

6. The orthogonal intersecting pipe main pipe roundness deviation intersection line compensation system as claimed in claim 5, It is characterized in that The data acquisition module includes: Use the length measuring tool to find a diameter of 2R on the outer circle of the main pipe section, and take its midpoint as the theoretical center C, where R is the radius of the main pipe circle of the ideal model; The distance measured by the ranging device vertically downward to the theoretical center C is h0, and it always moves at this height, so that the ranging device moves on a straight line parallel to the X-axis, and the scanning range is between t1 and t2, and x is recorded. i The distance k measured by the rangefinder at i , get the data of N groups of points {(x 1 ,k 1 ),…(x i ,k i ),…(x N ,k N )}; Among them, point t1 is a point on a horizontal straight line passing through the leftmost point on the intersection line and parallel to the main axis, point t2 is a point on a horizontal straight line passing through the rightmost point on the intersection line and parallel to the main axis, and x i is the horizontal distance from point t1 to the i-th point scanned.

7. The orthogonal intersecting pipe main pipe roundness deviation intersection line compensation system as claimed in claim 6, It is characterized in that In the intersection line correction module, any point (x i ,k i ), P of the actual coherence model and the ideal coherence model i Deviations in the Z-axis direction include: Among them, R is the outer radius of the main pipe, r is the outer radius of the branch pipe, and e is the eccentricity of the branch pipe.

8. The orthogonal intersecting pipe main pipe roundness deviation intersection line compensation system as claimed in claim 7, It is characterized in that In the intersection line correction module, the corrected parametric equation of any point Q on the intersection line with respect to the branch pipe circumferential angle θ includes: Q ix =rsinθ i +e Q iy =-rcosθ i Among them, θ i is the circular angle corresponding to the i-th point.

9. A computer-readable storage medium having a program stored thereon, It is characterized in that When the program is executed by a processor, the steps of the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes according to any one of claims 1 to 4 are implemented.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, It is characterized in that When the processor executes the program, the steps in the method for compensating for the roundness deviation of the main pipes of orthogonal intersecting pipes according to any one of claims 1 to 4 are implemented.

Images