Method for vector control of vertical incidence angle of laser in girth welding of inner wall of GIL (Gas Insulated Line) pipeline

Abstract

According to the method for controlling the vertical incidence angle of the laser through the GIL pipeline inner wall girth welding vector, a binocular camera is installed on a laser scanning welding head, the pipeline inner wall is pre-scanned, and image information is collected. The distance and angle between a laser head focus lens and the inner wall of the pipeline and the incident angle and the three-dimensional space position of a laser focusing beam are calculated through a specific formula. And the position and angle of a welding head are automatically adjusted during girth welding, so that vertical incidence and constant focal length of laser are ensured. And continuous monitoring and adjustment are achieved in the welding process, and the welding quality and efficiency are guaranteed. The method has the advantages of being accurate in control, high in automation degree, high in reliability, good in flexibility and the like, and the GIL pipeline inner wall girth welding quality can be effectively improved. According to the method, through accurate calculation and automatic adjustment, vertical incidence and constant focal length of the laser focusing light beam can be achieved during girth welding of the inner wall of the GIL pipeline, and therefore the welding quality and reliability are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of laser light path control or modulation, and in particular relates to a method for controlling the vertical incident angle of laser by vector for inner wall ring welding of a GIL pipeline. Background Art

[0002] GIL pipeline is a high voltage and high current power transmission equipment that uses SF6 gas or SF6 and N2 mixed gas for insulation, and the shell and conductor are arranged coaxially. The shell is connected by an aluminum-magnesium alloy tube ring welding. The conductor is coaxially placed in the center of the pipeline, which undertakes the function of transmitting electricity over a long distance and with a large capacity. During the inspection and maintenance process, the pipeline shell needs to be cut open to facilitate construction. However, aluminum is a highly reflective, easily oxidized, and difficult to weld material. The poor consistency of welding heat source and process during welding can easily cause defects such as pores and slag inclusions. GIL pipelines have extremely high requirements for welding quality. If there are welding burrs, pores, slag inclusions and other defects on the inner wall of the pipeline, it will be broken down by high voltage and high current during operation, causing circuit paralysis, which seriously threatens the safety of power transmission. Therefore, stable welding of the aluminum-magnesium alloy shell of the GIL pipeline is very important. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method for vector controlling the vertical incident angle of laser during the ring welding of the inner wall of GIL pipeline. By installing a binocular camera, precise control of the vertical incident angle of laser during the ring welding of the inner wall of GIL pipeline can be achieved, and the focusing focal length of the laser beam can be ensured to be constant, thereby improving the welding quality and reliability and making the welding process more precise and automated.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A method for vector-controlled laser vertical incident angle for inner wall ring welding of a GIL pipeline, comprising the following steps: Step 1. Install the binocular camera: Install the binocular camera firmly on the laser scanning welding head to ensure that the camera can clearly and accurately capture the surface of the inner wall of the GIL pipe; Step 2, pre-scan: the binocular camera scans the inner wall of the GIL pipe in segments with a spacing of , and fully collects the image information of the inner wall of the pipe; it is assumed that the inner wall of the pipe is evenly divided into n segments in the circumferential direction, and the spacing between each segment is h; Step 3: Based on the image information collected by the binocular camera, use the following formula to calculate the distance and angle information between the laser head focusing lens and the inner wall of the GIL pipe: , in is the distance between the laser head focusing lens and the inner wall of the pipe, is the distance between the binocular camera and the focusing lens, is the angle between the camera A of the binocular camera and the measured point, is the angle between the camera B of the binocular camera and the measured point; Step 4: Perform three-dimensional spatial positioning: Combine the spacing of the inner wall of the GIL pipe in the circumferential direction , the corresponding angle And the focusing focal length of the laser focusing mirror , accurately calculate the incident angle of the laser focused beam and three-dimensional spatial position; Step 5: When performing girth welding, the welding position and angle of the laser scanning welding head in the pipeline are automatically adjusted according to the above calculation results to ensure that the laser focusing beam is always perpendicular to the inner wall surface when performing girth welding along the circumference of the inner wall of the GIL pipeline, and the laser beam focusing working focal length remains constant; Step 6: During the entire welding process, the position and angle of the laser welding head are continuously monitored and adjusted to ensure welding quality and efficiency.

[0005] Preferably, the sub-steps of step 1 are: Step 1.1, determine the structural characteristics of the laser scanning welding head, find a stable position that does not affect the welding operation to install the binocular camera; consider the field of view of the camera to ensure that it can cover most areas of the inner wall of the GIL pipe.

[0006] Step 1.2: Use a special fixture or screws to firmly fix the binocular camera at the selected position; check the stability of the fixation to avoid camera shaking or displacement during welding; Step 1.3: Fine-tune the angle of the binocular camera so that it is perpendicular to the surface of the inner wall of the GIL pipe to obtain the clearest image. Use tools such as a level to ensure that the camera is installed at the correct angle; Step 1.4: Connect the binocular camera to the welding control system via a data cable or wireless connection; ensure a stable connection and smooth data transmission.

[0007] Preferably, the sub-steps of step 2 are: step 2.1, determining the segment spacing of the binocular camera along the circumferential direction of the inner wall of the GIL pipeline; calculating the number of segments required according to the size and requirements of the pipeline; setting the scanning speed and resolution of the camera to ensure that the collected image information is clear and comprehensive; Step 2.2, control the binocular camera to start segmented scanning along the circumferential direction of the inner wall of the pipe; ensure that the camera stays at each scanning point for a sufficient time to obtain a clear image; Step 2.3, the binocular camera collects image information of the inner wall of the pipeline at each scanning point; the collected image data is transmitted to the control system in real time for storage for subsequent processing; Step 2.4: During the scanning process, monitor the working status of the camera in real time to ensure that no scanning points are missed; if an incomplete scan is found, adjust the camera position or rescan in time.

[0008] Preferably, the sub-steps of step 3 are: Step 3.1, image analysis: read the image information collected by the binocular camera from the control system; use image analysis software to process the image and extract key feature points and angle information; Step 3.2, angle calculation: determine the angle between camera A of the binocular camera and the measured point, and the angle between camera B and the measured point; According to the formula , calculate the distance and angle information; Step 3.3, data verification: verify the calculated distance and angle information to check its rationality and accuracy; verify the reliability of the data by multiple measurements or comparison with known standard values; Step 3.4, data storage and transmission: The processed data is stored in the control system for use in subsequent three-dimensional spatial positioning and automatic adjustment steps.

[0009] Preferably, the sub-steps of step 4 are: Step 4.1. Calculate the angle in the circumferential direction: Determine the radius of the GIL pipe According to the formula , calculate the angle in the circumferential direction ;in is the segment spacing of the binocular camera along the circumference of the inner wall of the pipe, Step 4.2: Calculate the incident angle of the laser focusing beam: Determine the focusing focal length of the laser focusing mirror ; Using known distance The angle between the circumference and , through the formula Calculate the incident angle of the laser focused beam ; Step 4.3, calculate the position of the laser head in three-dimensional space: Assume that the initial position of the laser head on the central axis of the GIL pipe is ; For the first Scan points and calculate their angles in the circumferential direction ; Determine the angle of the laser head in the direction of the pipeline axis , which can be determined by other sensors or known conditions; According to the formula, , , Calculate the position of the laser head in three-dimensional space .

[0010] Preferably, the sub-steps of step 5 are: Step 5.1, read the calculation results: read the incident angle of the laser focus beam and the position information of the laser head in the three-dimensional space calculated in the three-dimensional space positioning step from the control system; Step 5.2, adjust welding position and angle: according to the calculation results, automatically adjust the welding position of the laser scanning welding head in the pipeline to match the calculated three-dimensional spatial position; adjust the angle of the welding head to ensure that the laser focusing beam is always perpendicular to the inner wall surface when welding along the circumference of the inner wall of the GIL pipeline; Step 5.3, keep the laser beam focusing focal length constant: monitor the focusing focal length of the laser focusing mirror in real time, and make fine adjustments as needed to keep the focal length constant; adjust the focal length by adjusting the output power of the laser source or the position of the focusing mirror; Step 5.4, check the adjustment effect: After adjustment, measure and verify again to ensure that the incident angle and focal length of the laser focused beam meet the requirements.

[0011] Preferably, the sub-steps of step 6 are: Step 6.1, install monitoring equipment: install appropriate monitoring equipment at the welding site; such as cameras, sensors, etc., to monitor the position and angle of the laser welding head in real time.

[0012] Step 6.2, data collection and transmission: The monitoring equipment collects the position and angle information of the laser welding head in real time and transmits the data to the control system; the control system processes and analyzes the collected data in real time; Step 6.3, adjust welding parameters: According to the monitored position and angle information, the control system automatically adjusts the welding parameters, such as welding speed, power, etc., to ensure welding quality and efficiency. If the position or angle deviation is large, an alarm will be issued in time and manual adjustment will be made.

[0013] Step 6.4, continuous monitoring and optimization: During the entire welding process, the position and angle of the laser welding head are continuously monitored, and the adjustment strategy is continuously optimized to ensure that the welding quality is always in the best state.

[0014] A system for controlling the vertical incident angle of laser by vector during ring welding of inner wall of GIL pipeline adopts the method for controlling the vertical incident angle of laser by vector during ring welding of inner wall of GIL pipeline.

[0015] The present invention can achieve the following beneficial effects: 1. The present invention can accurately collect image information of the inner wall of the GIL pipeline by installing a binocular camera and performing pre-scanning, providing a reliable data basis for subsequent calculations. The distance and angle information between the laser head focusing lens and the inner wall of the pipeline, as well as the incident angle and three-dimensional spatial position of the laser focusing beam are calculated using a specific formula, realizing precise control of the vertical incident angle of the laser.

[0016] 2. The present invention can continuously adjust the position and angle of the laser scanning welding head according to the calculation results to ensure that the laser focusing beam is always perpendicular to the inner wall surface and the laser beam focusing working focal length remains constant. This precise control can improve welding quality and reduce the occurrence of welding defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a schematic diagram of the working of the present invention; Figure 2 It is a schematic diagram of the principle of the method of the present invention.

[0018] In the figure: 1-GIL pipe shell; 2-rotation axis; 3-moving base; 4-binocular camera; 5-laser scanning welding head; 6-universal joint; 7-laser; 8-transmission optical fiber. DETAILED DESCRIPTION

[0019] The preferred solution is Figure 1 to Figure 2 As shown, a method for vector-controlled laser vertical incident angle for ring welding of the inner wall of a GIL pipeline is provided, and the equipment used includes a laser scanning welding head 5, a binocular camera 4, a transmission optical fiber 8 and a laser 7. The laser scanning welding head 5 is connected to the rotating shaft 2 through the moving base 3 in the motion mechanism assembly to realize the circumferential and axial movement of the laser scanning welding head. The laser beam generated by the laser 7 enters the laser scanning welding head 5 through the transmission optical fiber 8, and the laser beam passes through the collimating optical mirror, the scanning mirror group and the f-Theta field mirror in the laser scanning welding head 5 in sequence, wherein the collimating optical mirror collimates the laser beam, the scanning mirror group reflects and transmits the laser beam through the deflection lens, and the f-Theta field mirror focuses and irradiates the incident laser beam at the set working focusing distance and forms a focused light spot with high energy density in the area to be welded on the inner wall of the GIL pipeline.

[0020] The area to be welded on the inner wall of the GIL pipeline is the annular butt joint area formed by the circumferential butt joint of the two pipelines (the pipeline shell is not necessarily a regular cylinder due to manufacturing factors, and the annular butt joint area is not necessarily a regular ring). The welding method is circumferential welding. Before the circumferential welding process, the binocular camera first scans the inner wall of the GIL pipeline in sections at a spacing of b along the circumferential direction of the inner wall at the welding position of the inner wall of the GIL pipeline. The camera collects information feedback and converts the angle information and distance information between the laser head focusing lens and the inner wall of the GIL pipeline. At the same time, combined with the corresponding relationship between the circumferential direction of the inner wall of the GIL pipeline and the spacing b as a unit, the distance between the inner wall of the GIL pipeline and the laser scanning is obtained. The system scans the relative position information of the focusing mirror of the welding head in three-dimensional space, as well as the incident angle information of the laser focusing beam and the inner wall of the GIL pipe. During the girth welding, based on the obtained three-dimensional relative position information of the circumferential direction of the inner wall and the focusing mirror of the laser scanning welding head, as well as the incident angle information of the laser focusing beam and the inner wall, the welding position and angle of the laser scanning welding head in the pipe are guided and automatically adjusted, so as to keep the incident angle of the laser focusing beam perpendicular to the inner wall surface and the focusing focal length of the laser beam constant during the girth welding along the circumference of the inner wall of the GIL pipe, so as to ensure the constant laser energy density during welding, ensure the consistency of the girth welding quality of the inner wall of the GIL pipe, and avoid welding defects.

[0021] The present invention includes the following embodiments: Embodiment 1: Scenario description: Perform inner wall girth welding on a GIL pipe with a diameter of 800 mm.

[0022] 1. Install the binocular camera: Step 1.1: Observe the laser scanning welding head structure and find that there is a flat area on its side suitable for installing a binocular camera. Considering the camera field of view, the binocular camera is installed here. After testing, it can cover about 85% of the inner wall of the pipe.

[0023] Step 1.2: Use a customized metal fixture to fix the binocular camera on the welding head. After tightening the screws, perform a slight shaking test. The camera has no obvious displacement.

[0024] Step 1.3: Use a level to adjust the camera angle so that its vertical deviation from the inner wall surface of the pipe is within ±0.5°.

[0025] Step 1.4: Connect the binocular camera to the welding control system via a data cable. The data transmission is stable and there is no packet loss.

[0026] 2. Perform a pre-scan: Step 2.1: According to the pipe size and accuracy requirements, the segment spacing is determined to be 20 mm. It is calculated that the inner wall of the pipe needs to be divided into about 126 segments. The camera scanning speed is set to 5 segments per second, and the resolution is 1920×1080.

[0027] Step 2.2: Start the binocular camera to scan and stay at each scanning point for about 0.2 seconds to ensure a clear image.

[0028] Step 2.3: After the camera captures the image at each scanning point, it immediately transmits the image data to the control system for storage via the data line.

[0029] Step 2.4: During the scanning process, the camera working status was checked in real time through the monitoring interface of the control system, and no scanning omissions were found.

[0030] 3. Data processing: Step 3.1: Read image information from the control system, use professional image analysis software to process the image, and extract key feature points and angle information.

[0031] Step 3.2: The angle between the binocular camera A and the measured point is 30°, and the angle between the camera B and the measured point is 40°. The distance between the binocular camera and the focusing lens is 50 mm. Substitute the distance and angle information between the laser head focusing lens and the inner wall of the pipe into the formula.

[0032] Step 3.3: Multiple measurements were performed and the result deviation was within ±1 mm, verifying the reliability of the data.

[0033] Step 3.4: Store the processed data in the control system in preparation for the next steps.

[0034] 4. Three-dimensional spatial positioning: Step 4.1: Given that the pipe radius is 400 mm, calculate the circumferential angle based on the segment spacing.

[0035] Step 4.2: Determine the focusing focal length of the laser focusing mirror to be 150 mm, and calculate the incident angle of the laser focusing beam based on the calculated distance and angle.

[0036] Step 4.3: Assume that the initial position of the laser head on the central axis of the pipeline is (0,0,0). For the 10th scanning point, calculate its angle in the circumferential direction, and determine that the angle of the laser head in the pipeline axis direction is 15° based on known conditions. Substitute it into the formula to calculate the position of the laser head at this scanning point in three-dimensional space.

[0037] 5. Automatic adjustment: Step 5.1: Read the three-dimensional spatial positioning results from the control system.

[0038] Step 5.2: Automatically adjust the welding head position and angle to match the calculated three-dimensional spatial position and ensure that the laser focus beam is perpendicular to the inner wall surface.

[0039] Step 5.3: Monitor the working focal length of the laser focusing mirror in real time and keep the focal length constant by fine-tuning the output power of the laser source.

[0040] Step 5.4: Measure again after adjustment. The incident angle and focal length meet the requirements.

[0041] 6. Real-time monitoring: Step 6.1: Install a high-definition camera and angle sensor at the welding site to monitor the position and angle of the laser welding head.

[0042] Step 6.2: The monitoring equipment collects data in real time and transmits it to the control system, which processes and analyzes the data quickly.

[0043] Step 6.3: Based on the monitoring information, the control system automatically adjusts the welding speed to 10 cm / min and the power to 2000 W. No large position or angle deviations were found.

[0044] Step 6.4: Continuously monitor the entire welding process and ensure good welding quality.

[0045] Embodiment 2: Scenario description: Perform inner wall girth welding on a GIL pipe with a diameter of 1200 mm.

[0046] 1. Install the binocular camera: Step 1.1: After analyzing the structure of the laser scanning welding head, a binocular camera was installed on its top, which can cover about 90% of the inner wall of the pipe.

[0047] Step 1.2: Use strong screws to fix the binocular camera. After fixation, perform a vibration test. The camera is stable and has no displacement.

[0048] Step 1.3: Use a high-precision level to carefully adjust the camera angle to ensure that the vertical deviation from the inner wall surface of the pipe is within ±0.3°.

[0049] Step 1.4: Use wireless connection to connect the binocular camera to the welding control system, with stable signal and low transmission delay.

[0050] 2. Perform a pre-scan: Step 2.1: Determine the segment spacing as 30 mm, and calculate that the inner wall of the pipe needs to be divided into approximately 126 segments. The camera scanning speed is set to 4 segments per second, and the resolution is 2560×1440.

[0051] Step 2.2: Start the binocular camera to scan along the circumference of the inner wall of the pipe, and stay at each scanning point for about 0.25 seconds.

[0052] Step 2.3: The image information is transmitted to the control system in real time for storage and subsequent processing.

[0053] Step 2.4: The scanning process was monitored throughout and no incomplete scanning was found.

[0054] 3. Data processing: Step 3.1: Read image information from the control system and use advanced image analysis algorithms to extract key features and angle information.

[0055] Step 3.2: The angle between camera A and the measured point is 25°, the angle between camera B and the measured point is 35°, and the distance between the binocular camera and the focusing lens is 60 mm. Substitute these into the formula to calculate the relevant data.

[0056] Step 3.3: Perform multiple comparative measurements and the data deviation is within a reasonable range, verifying the data accuracy.

[0057] Step 3.4: Store the processed data in the control system.

[0058] 4. Three-dimensional spatial positioning: Step 4.1: Given that the pipe radius is 600 mm, calculate the angle in the circumferential direction.

[0059] Step 4.2: Determine the focusing focal length of the laser focusing mirror to be 200 mm and calculate the incident angle of the laser focusing beam.

[0060] Step 4.3: Assume that the initial position of the laser head on the central axis of the pipeline is (0,0,0). For the 15th scanning point, calculate its angle in the circumferential direction. According to the sensor, determine that the angle of the laser head in the pipeline axis direction is 20°. Calculate the position of the laser head at this scanning point in three-dimensional space.

[0061] 5. Automatic adjustment: Step 5.1: Read the three-dimensional spatial positioning result.

[0062] Step 5.2: Automatically adjust the welding head position and angle to ensure that the laser focus beam is perpendicular to the inner wall surface.

[0063] Step 5.3: Keep the laser beam focusing working focal length constant by adjusting the focusing mirror position.

[0064] Step 5.4: Verify after adjustment and ensure that all parameters meet the requirements.

[0065] 6. Real-time monitoring: Step 6.1: Install multiple high-definition cameras and high-precision sensors to monitor the position and angle of the laser welding head in all directions.

[0066] Step 6.2: The monitoring equipment collects data in real time and transmits it to the control system for processing and analysis.

[0067] Step 6.3: Automatically adjust welding parameters according to monitoring information, and the welding process is stable.

[0068] Step 6.4: Continuous monitoring and optimization to ensure high welding quality.

[0069] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A method for vector-controlled laser vertical incident angle for inner wall ring welding of a GIL pipeline, characterized in that The following steps are involved: Step 1. Install the binocular camera: Install the binocular camera firmly on the laser scanning welding head to ensure that the camera can clearly and accurately capture the surface of the inner wall of the GIL pipe; Step 2, pre-scan: the binocular camera scans the inner wall of the GIL pipe in segments with a spacing of , and fully collects the image information of the inner wall of the pipe; it is assumed that the inner wall of the pipe is evenly divided into n segments in the circumferential direction, and the spacing between each segment is h; Step 3: Based on the image information collected by the binocular camera, use the following formula to calculate the distance and angle information between the laser head focusing lens and the inner wall of the GIL pipe: , in is the distance between the laser head focusing lens and the inner wall of the pipe, is the distance between the binocular camera and the focusing lens, is the angle between the camera A of the binocular camera and the measured point, is the angle between the camera B of the binocular camera and the measured point; Step 4: Perform three-dimensional spatial positioning: Combine the spacing of the inner wall of the GIL pipe in the circumferential direction , the corresponding angle And the focusing focal length of the laser focusing mirror , accurately calculate the incident angle of the laser focused beam and three-dimensional spatial position; Step 5: When performing girth welding, the welding position and angle of the laser scanning welding head in the pipeline are automatically adjusted according to the above calculation results to ensure that the laser focusing beam is always perpendicular to the inner wall surface when performing girth welding along the circumference of the inner wall of the GIL pipeline, and the laser beam focusing working focal length remains constant; Step 6: During the entire welding process, the position and angle of the laser welding head are continuously monitored and adjusted to ensure welding quality and efficiency.

2. The method for vector-controlled laser vertical incident angle for inner wall ring welding of a GIL pipeline according to claim 1, characterized in that: The sub-steps of step 1 are: Step 1.1, determine the structural characteristics of the laser scanning welding head, find a stable position that does not affect the welding operation to install the binocular camera; consider the field of view of the camera to ensure that it can cover most areas of the inner wall of the GIL pipe; Step 1.2: Use a special fixture or screws to firmly fix the binocular camera at the selected position; check the stability of the fixation to avoid camera shaking or displacement during welding; Step 1.3: Fine-tune the angle of the binocular camera so that it is perpendicular to the surface of the inner wall of the GIL pipe to obtain the clearest image; use tools such as a level to ensure that the camera is installed at an accurate angle; Step 1.4: Connect the binocular camera to the welding control system via a data cable or wireless connection; ensure a stable connection and smooth data transmission.

3. The method for vector-controlled laser vertical incident angle for inner wall ring welding of a GIL pipeline according to claim 1, characterized in that: The sub-steps of step 2 are as follows: Step 2.1, determine the segment spacing of the binocular camera along the circumferential direction of the inner wall of the GIL pipeline; calculate the number of segments required according to the size and requirements of the pipeline; set the scanning speed and resolution of the camera to ensure that the collected image information is clear and comprehensive; Step 2.2, control the binocular camera to start segmented scanning along the circumferential direction of the inner wall of the pipe; ensure that the camera stays at each scanning point for a sufficient time to obtain a clear image; Step 2.3, the binocular camera collects image information of the inner wall of the pipeline at each scanning point; the collected image data is transmitted to the control system in real time for storage for subsequent processing; Step 2.4: During the scanning process, monitor the working status of the camera in real time to ensure that no scanning points are missed; if an incomplete scan is found, adjust the camera position or rescan in time.

4. The method for vector-controlled laser vertical incident angle for GIL pipeline inner wall ring welding according to claim 1, characterized in that: The sub-steps of step 3 are: Step 3.1, image analysis: read the image information collected by the binocular camera from the control system; use image analysis software to process the image and extract key feature points and angle information; Step 3.2, angle calculation: determine the angle between camera A of the binocular camera and the measured point, and the angle between camera B and the measured point; According to the formula , calculate the distance and angle information; Step 3.3, data verification: verify the calculated distance and angle information to check its rationality and accuracy; verify the reliability of the data by multiple measurements or comparison with known standard values; Step 3.4, data storage and transmission: The processed data is stored in the control system for use in subsequent three-dimensional spatial positioning and automatic adjustment steps.

5. The method for vector-controlled laser vertical incident angle for GIL pipeline inner wall ring welding according to claim 1, characterized in that: The sub-steps of step 4 are: Step 4.

1. Calculate the angle in the circumferential direction: Determine the radius of the GIL pipe According to the formula , calculate the angle in the circumferential direction ;in is the segment spacing of the binocular camera along the circumference of the inner wall of the pipe, Step 4.2: Calculate the incident angle of the laser focusing beam: Determine the focusing focal length of the laser focusing mirror ; Using known distance The angle between the circumference and , through the formula Calculate the incident angle of the laser focused beam ; Step 4.3, calculate the position of the laser head in three-dimensional space: Assume that the initial position of the laser head on the central axis of the GIL pipe is ; For the first Scan points and calculate their angles in the circumferential direction ; Determine the angle of the laser head in the direction of the pipeline axis , which can be determined by other sensors or known conditions; According to the formula, , , Calculate the position of the laser head in three-dimensional space .

6. The method for vector-controlled laser vertical incident angle for inner wall ring welding of a GIL pipeline according to claim 1, characterized in that: Sub-steps of step 5: Step 5.1, read the calculation results: read the incident angle of the laser focus beam and the position information of the laser head in the three-dimensional space calculated in the three-dimensional space positioning step from the control system; Step 5.2, adjust welding position and angle: according to the calculation results, automatically adjust the welding position of the laser scanning welding head in the pipeline to match the calculated three-dimensional spatial position; adjust the angle of the welding head to ensure that the laser focusing beam is always perpendicular to the inner wall surface when welding along the circumference of the inner wall of the GIL pipeline; Step 5.3, keep the laser beam focusing focal length constant: monitor the focusing focal length of the laser focusing mirror in real time, and make fine adjustments as needed to keep the focal length constant; adjust the focal length by adjusting the output power of the laser source or the position of the focusing mirror; Step 5.4, check the adjustment effect: After adjustment, measure and verify again to ensure that the incident angle and focal length of the laser focused beam meet the requirements.

7. The method for vector-controlled laser vertical incident angle for GIL pipeline inner wall ring welding according to claim 1, characterized in that: The sub-steps of step 6 are: Step 6.1, Install monitoring equipment: Install appropriate monitoring equipment at the welding site; Step 6.2, data collection and transmission: The monitoring equipment collects the position and angle information of the laser welding head in real time and transmits the data to the control system; the control system processes and analyzes the collected data in real time; Step 6.3, adjust welding parameters: according to the monitored position and angle information, the control system automatically adjusts the welding parameters. If a large deviation in position or angle is found, an alarm is issued in time and manual adjustment is performed; Step 6.4, continuous monitoring and optimization: During the entire welding process, the position and angle of the laser welding head are continuously monitored, and the adjustment strategy is continuously optimized to ensure that the welding quality is always in the best state.

8. A system for vector-controlled laser vertical incident angle for inner wall ring welding of GIL pipeline, characterized in that: A method for controlling the vertical incident angle of laser by vector control for inner wall ring welding of a GIL pipeline according to any one of claims 1 to 7 is adopted.

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