Method for controlling laser vertical incidence angle of GIL pipe inner wall circumferential welding vector

Abstract

A method for controlling the vertical incidence angle of a GIL pipeline inner wall girth welding vector laser, by installing a binocular camera on the laser scanning welding head, pre-scanning the pipeline inner wall and collecting image information. The distance between the laser head focusing mirror and the pipeline inner wall, the angle, and the laser focusing beam incidence angle and three-dimensional space position are calculated using a specific formula. The welding head position and angle are automatically adjusted during girth welding to ensure perpendicular incidence and constant focal length of the laser. The welding process is continuously monitored and adjusted to ensure welding quality and efficiency. This method has the advantages of precise control, high automation, strong reliability, good flexibility, etc., and can effectively improve the quality of GIL pipeline inner wall girth welding. Through precise calculation and automatic adjustment, this method can achieve perpendicular incidence and constant focal length of the laser focusing beam during GIL pipeline inner wall girth welding, thereby significantly improving the quality and reliability of the welding.

Description

Technical Field

[0001] This invention belongs to the field of laser optical path control or modulation technology, and specifically relates to a method for controlling the vertical incident angle of laser by vector control of the inner wall circumferential welding of GIL pipe. Background Technology

[0002] GIL (Gas Insulation Line) pipelines are high-voltage, high-current power transmission equipment insulated with SF6 gas or a mixture of SF6 and N2 gas, with the outer shell and conductor arranged coaxially. The outer shell is made of aluminum-magnesium alloy tubing connected by circumferential welding. The conductor is placed coaxially in the center of the pipeline, undertaking the function of transmitting power over long distances and with large capacity. During maintenance, the pipeline shell needs to be cut open for construction. However, aluminum is a highly reactive, easily oxidized, and difficult-to-weld material. Poor consistency in welding heat source and process can easily lead to defects such as porosity and slag inclusions. GIL pipelines have extremely high requirements for welding quality. If there are defects such as weld burrs, porosity, or slag inclusions on the inner wall of the pipeline, they can be broken down by high voltage and high current during operation, causing circuit paralysis and seriously threatening power transmission safety. Therefore, stable welding of the aluminum-magnesium alloy outer shell of GIL pipelines 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 control of the vertical incident angle of laser during circumferential welding of the inner wall of GIL pipe. By installing a binocular camera, the vertical incident angle of laser during the circumferential welding of the inner wall of GIL pipe can be precisely controlled, and the focal length of the laser beam can be kept constant, thereby improving the welding quality and reliability and making the welding process more precise and automated.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A method for vector-controlled laser vertical incident angle in GIL pipe inner wall circumferential welding, comprising the following steps:

[0006] Step 1: Install the binocular camera: Securely mount the binocular camera on the laser scanning welding head to ensure that the camera can clearly and accurately capture images of the surface of the inner wall of the GIL pipe;

[0007] Step 2: Perform pre-scan: The binocular camera scans along the circumferential direction of the inner wall of the GIL pipe at intervals of [missing information]. Segmented scanning is performed to comprehensively acquire image information of the pipe's inner wall; assuming the pipe's inner wall is uniformly divided into n segments along its circumference, with each segment spaced apart by a distance of 1 / 2... ;

[0008] Step 3: Based on the image information acquired by the binocular camera, calculate the distance and angle between the laser head focusing lens and the inner wall of the GIL pipe using the following formula: ,

[0009] in This refers to the distance between the laser head focusing lens and the inner wall of the pipe. It is the distance between the binocular camera and the focusing lens. It is the angle between camera A of the binocular camera and the point being measured. It is the angle between camera B of the binocular camera and the point being measured;

[0010] Step 4: Perform three-dimensional spatial positioning: Combine the spacing of the inner wall circumferential direction of the GIL pipe. The corresponding included angle and the focusing focal length of the laser focusing lens The incident angle of the focused laser beam is accurately calculated. and three-dimensional spatial position;

[0011] Step 5: During circumferential welding, based on the above calculation results, automatically adjust the welding position and angle of the laser scanning welding head inside the pipe to ensure that the laser focused beam is always perpendicular to the inner wall surface when performing circumferential welding on the inner wall of the GIL pipe, and that the working focal length of the laser beam remains constant.

[0012] Step 6: Throughout the welding process, continuously monitor and adjust the position and angle of the laser welding head to ensure welding quality and efficiency.

[0013] Preferably, the sub-step of step 1 is as follows:

[0014] Step 1.1: Determine the structural characteristics of the laser scanning welding head and find a stable location that does not affect the welding operation to install the binocular camera; consider the camera's field of view to ensure that it can cover most of the inner wall of the GIL pipe.

[0015] Step 1.2: Securely fix the binocular camera in the selected position using a dedicated fixing clamp or screws; check the stability of the fixation to prevent the camera from shaking or shifting during the welding process;

[0016] 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's installation angle is accurate;

[0017] Step 1.4: Connect the binocular camera to the welding control system via data cable or wireless connection; ensure a stable connection and smooth data transmission.

[0018] Preferably, the sub-step of step 2 is as follows:

[0019] Step 2.1: Determine the segment spacing of the binocular camera along the circumferential direction of the inner wall of the GIL pipe; calculate the number of segments to be divided according to the size and requirements of the pipe; set the scanning speed and resolution of the camera to ensure that the acquired image information is clear and comprehensive.

[0020] Step 2.2: Control the binocular camera to begin segmented scanning along the circumference of the inner wall of the pipe; ensure that the camera stays at each scanning point for a sufficient amount of time to obtain a clear image;

[0021] Step 2.3: The binocular camera acquires image information of the inner wall of the pipe at each scanning point; the acquired image data is transmitted to the control system in real time for storage, so as to facilitate subsequent processing;

[0022] Step 2.4: During the scanning process, monitor the camera's working status in real time to ensure that no scanning points are missed; if an incomplete scan is found, adjust the camera position or rescan in a timely manner.

[0023] Preferably, the sub-step of step 3 is as follows:

[0024] Step 3.1, Image Analysis: Read the image information acquired by the binocular camera from the control system; process the image using image analysis software to extract key feature points and angle information;

[0025] Step 3.2, Angle Calculation: Determine the angle between camera A of the binocular camera and the point being measured, and the angle between camera B and the point being measured;

[0026] According to the formula Calculate the distance and angle information;

[0027] Step 3.3, Data Validation: Validate the calculated distance and angle information to check its rationality and accuracy; verify the reliability of the data through multiple measurements or comparison with known standard values.

[0028] 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.

[0029] Preferably, the sub-step of step 4 is as follows:

[0030] Step 4.1: Calculate the included angle in the circumferential direction: Determine the radius of the GIL pipe. According to the formula Calculate the included angle in the circumferential direction. ;in It refers to the segment spacing of the binocular camera along the circumference of the inner wall of the pipe.

[0031] Step 4.2: Calculate the incident angle of the laser focused beam: Determine the focusing focal length of the laser focusing lens. ; Utilizing known distances Angle with the circumferential direction Through formula Calculate the incident angle of the focused laser beam. ;

[0032] Step 4.3: Calculate the position of the laser head in three-dimensional space:

[0033] Assume the initial position of the laser head on the central axis of the GIL pipe is... ;

[0034] For the i-th Scan the point and calculate its included angle in the circumferential direction. ;

[0035] Determine the angle between the laser head and the pipe axis. It can be determined through other sensors or known conditions;

[0036] According to the formula, , , Calculate the position of the laser head in three-dimensional space .

[0037] Preferably, the sub-step of step 5 is:

[0038] Step 5.1: Read the calculation results: Read the incident angle of the laser focused beam and the position information of the laser head in three-dimensional space calculated in the three-dimensional spatial positioning step from the control system;

[0039] Step 5.2: Adjust the welding position and angle: Based on 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 focused beam is always perpendicular to the inner wall surface when performing circumferential welding on the inner wall of the GIL pipeline.

[0040] Step 5.3: Maintain a constant focal length for laser beam focusing: Monitor the focal length of the laser focusing lens in real time and make fine adjustments as needed to maintain a constant focal length; the focal length can be adjusted by adjusting the output power of the laser source or the position of the focusing lens.

[0041] 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 focusing beam meet the requirements.

[0042] Preferably, the sub-step of step 6 is as follows:

[0043] Step 6.1: Install monitoring equipment: Install appropriate monitoring equipment at the welding site, such as cameras and sensors, to monitor the position and angle of the laser welding head in real time.

[0044] Step 6.2, Data Acquisition and Transmission: The monitoring equipment acquires 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 acquired data in real time.

[0045] Step 6.3: Adjust welding parameters: Based on the monitored position and angle information, the control system automatically adjusts welding parameters, such as welding speed and power, to ensure welding quality and efficiency. If a large position or angle deviation is detected, an alarm is issued promptly and manual adjustments are made.

[0046] Step 6.4 Continuous Monitoring and Optimization: Throughout the welding process, the position and angle of the laser welding head are continuously monitored, and strategies are constantly optimized and adjusted to ensure that the welding quality is always at its best.

[0047] A system for controlling the vertical incident angle of a laser using vector control during circumferential welding of the inner wall of a GIL pipe, employing the aforementioned method for controlling the vertical incident angle of a laser using vector control during circumferential welding of the inner wall of a GIL pipe.

[0048] The present invention can achieve the following beneficial effects:

[0049] 1. This invention, by installing a binocular camera and performing pre-scanning, can accurately acquire image information of the inner wall of the GIL pipe, providing a reliable data foundation for subsequent calculations. Using specific formulas, the distance and angle between the laser head focusing lens and the inner wall of the pipe, as well as the incident angle and three-dimensional spatial position of the laser focused beam, are calculated, achieving precise control of the vertical incident angle of the laser.

[0050] 2. This invention can continuously adjust the position and angle of the laser scanning welding head based on calculation results, ensuring that the laser focused beam is always perpendicular to the inner wall surface and that the focal length of the laser beam remains constant. This precise control can improve welding quality and reduce the occurrence of welding defects. Attached Figure Description

[0051] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0052] Figure 1 This is a schematic diagram illustrating the operation of the present invention;

[0053] Figure 2 This is a schematic diagram illustrating the principle of the method of the present invention.

[0054] In the diagram: 1-GIL pipe housing; 2-rotating shaft; 3-moving base; 4-binocular camera; 5-laser scanning welding head; 6-universal joint; 7-laser; 8-transmission fiber optic cable. Detailed Implementation

[0055] Preferred solutions include Figures 1 to 2 As shown, a method for vector-controlled vertical incident angle of laser in circumferential welding of the inner wall of a GIL pipe is described. The equipment used includes a laser scanning welding head 5, a binocular camera 4, a transmission fiber 8, and a laser 7. The laser scanning welding head 5 is connected to the rotating shaft 2 via a movable base 3 in a motion mechanism assembly, enabling 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 fiber 8. Within the laser scanning welding head 5, the laser beam passes sequentially through a collimating optical lens, a scanning lens group, and an f-Theta field lens. The collimating optical lens collimates the laser beam, the scanning lens group reflects and transfers the laser beam through deflecting lenses, and the f-Theta field lens focuses the incident laser beam at a set working focusing distance, irradiating it and forming a focused spot with high energy density in the welding area of ​​the inner wall of the GIL pipe.

[0056] The area to be welded on the inner wall of the GIL pipe is the annular joint area formed by the circumferential butt joint of two pipe pieces (the pipe shell may not be a regular cylinder due to manufacturing factors, and the annular joint area may not be a regular ring). The welding method is circumferential welding. Before the circumferential welding process, a binocular camera first scans the inner wall of the GIL pipe at the welding position along the circumferential direction at intervals b. The camera collects information and calculates the angle and distance information between the laser head focusing lens and the inner wall of the GIL pipe. At the same time, combined with the corresponding relationship formula of the circumferential direction of the inner wall of the GIL pipe at intervals b, the inner wall of the GIL pipe and the laser scan are obtained. The system obtains the relative position information of the focusing lens of the laser scanning welding head in three-dimensional space, as well as the incident angle information between the laser focusing beam and the inner wall of the GIL pipe. During circumferential welding, based on the obtained three-dimensional spatial relative position information of the inner wall circumferential direction and the focusing lens of the laser scanning welding head, and the incident angle information between the laser focusing beam and the inner wall, the system guides and automatically adjusts the welding position and angle of the laser scanning welding head in the pipe. This ensures that the laser focusing beam remains perpendicular to the inner wall surface and that the working focal length of the laser beam is constant during circumferential welding of the GIL pipe, thereby ensuring a constant laser energy density during welding, guaranteeing the consistency of the circumferential welding quality of the inner wall of the GIL pipe, and avoiding welding defects.

[0057] The present invention includes the following embodiments:

[0058] Example 1:

[0059] Scenario description: Performing circumferential welding on the inner wall of a GIL pipe with a diameter of 800 mm.

[0060] 1. Install a stereo camera:

[0061] Step 1.1: Observing the structure of the laser scanning welding head, a flat area on its side was found suitable for installing a binocular camera. Considering the camera's field of view, the binocular camera was installed here, and testing showed that it could cover approximately 85% of the inner wall of the pipe.

[0062] Step 1.2: Use a custom metal clamp to fix the binocular camera to the welding head, tighten the screws and perform a slight shaking test. The camera did not move significantly.

[0063] 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°.

[0064] Step 1.4: Connect the binocular camera to the welding control system via a data cable. Data transmission is stable with no packet loss.

[0065] 2. Perform a pre-scan:

[0066] Step 2.1: Based on the pipe dimensions and accuracy requirements, the segment spacing is determined to be 20 mm. This calculates to approximately 126 segments along the inner circumference of the pipe. The camera scanning speed is set to 5 segments per second, with a resolution of 1920×1080.

[0067] Step 2.2: Start the binocular camera to scan, pausing at each scan point for about 0.2 seconds to ensure image clarity.

[0068] Step 2.3: After the camera acquires an image at each scanning point, it immediately transmits the image data to the control system for storage via a data cable.

[0069] Step 2.4: During the scanning process, the camera's working status was monitored in real time through the control system's monitoring interface, and no missed scanning points were found.

[0070] 3. Data processing:

[0071] Step 3.1: Read image information from the control system, process the image using professional image analysis software, and extract key feature points and angle information.

[0072] Step 3.2: The angle between camera A of the binocular camera and the measured point is 30°, and the angle between camera B and the measured point is 40°. Given that the distance between the binocular camera and the focusing lens is 50 mm, substitute the values ​​into the formula to calculate the distance and angle between the laser head focusing lens and the inner wall of the pipe.

[0073] Step 3.3: Multiple measurements were performed, and the deviation was within ±1 mm, verifying the reliability of the data.

[0074] Step 3.4: Store the processed data in the control system to prepare for subsequent steps.

[0075] 4. Three-dimensional spatial positioning:

[0076] Step 4.1: Given that the pipe radius is 400 mm, calculate the included angle in the circumferential direction based on the segment spacing.

[0077] Step 4.2: Determine the focusing focal length of the laser focusing lens to be 150 mm. Combine the calculated distance and angle to calculate the incident angle of the laser focusing beam.

[0078] Step 4.3: Assuming the initial position of the laser head on the central axis of the pipe is (0,0,0), for the 10th scanning point, calculate its included angle in the circumferential direction, and determine the included angle of the laser head in the direction of the pipe axis as 15° according to the known conditions. Substitute it into the formula to calculate the position of the laser head in three-dimensional space at this scanning point.

[0079] 5. Automatic adjustment:

[0080] Step 5.1: Read the three-dimensional spatial positioning results from the control system.

[0081] Step 5.2: Automatically adjust the position and angle of the welding head to match the calculated three-dimensional spatial position, and ensure that the laser focused beam is perpendicular to the inner wall surface.

[0082] Step 5.3: Monitor the working focal length of the laser focusing lens in real time and maintain a constant focal length by fine-tuning the output power of the laser source.

[0083] Step 5.4: After adjustment, measure again. The incident angle and focal length meet the requirements.

[0084] 6. Real-time monitoring:

[0085] 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.

[0086] Step 6.2: The monitoring equipment collects data in real time and transmits it to the control system, which then processes and analyzes the data quickly.

[0087] Step 6.3: Based on the monitoring information, the control system automatically adjusted the welding speed to 10 cm per minute and the power to 2000 watts. No significant positional or angular deviations were detected.

[0088] Step 6.4: The welding process was continuously monitored, and the welding quality was good.

[0089] Example 2:

[0090] Scenario description: Performing circumferential welding on the inner wall of a GIL pipe with a diameter of 1200 mm.

[0091] 1. Install a stereo camera:

[0092] Step 1.1: After analyzing the structure of the laser scanning welding head, a binocular camera is installed on its top, which can cover about 90% of the inner wall of the pipe.

[0093] Step 1.2: Secure the binocular camera with strong screws. After securing, perform a vibration test. The camera should remain stable without any displacement.

[0094] Step 1.3: Carefully adjust the camera angle using a high-precision level to ensure that the vertical deviation from the inner wall surface of the pipe is within ±0.3°.

[0095] Step 1.4: Connect the binocular camera to the welding control system wirelessly. The signal is stable and the transmission delay is low.

[0096] 2. Perform a pre-scan:

[0097] Step 2.1: Determine the segment spacing as 30 mm, and calculate that the inner circumference of the pipe needs to be divided into approximately 126 segments. Set the camera scanning speed to 4 segments per second and the resolution to 2560×1440.

[0098] 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.

[0099] Step 2.3: The image information is transmitted to the control system for storage in real time for subsequent processing.

[0100] Step 2.4: The entire scanning process was monitored, and no incomplete scans were found.

[0101] 3. Data processing:

[0102] Step 3.1: Read image information from the control system and extract key features and angle information using advanced image analysis algorithms.

[0103] 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 values ​​into the formula to calculate the relevant data.

[0104] Step 3.3: Multiple comparative measurements were performed, and the data deviation was within a reasonable range, verifying the accuracy of the data.

[0105] Step 3.4: Store the processed data in the control system.

[0106] 4. Three-dimensional spatial positioning:

[0107] Step 4.1: Given that the pipe radius is 600 mm, calculate the included angle in the circumferential direction.

[0108] Step 4.2: Determine the focusing focal length of the laser focusing lens to be 200 mm, and calculate the incident angle of the laser focusing beam.

[0109] Step 4.3: Assuming the initial position of the laser head on the central axis of the pipe is (0,0,0), for the 15th scanning point, calculate its included angle in the circumferential direction, and determine the included angle of the laser head in the direction of the pipe axis as 20° according to the sensor, and calculate the position of the laser head in three-dimensional space at this scanning point.

[0110] 5. Automatic adjustment:

[0111] Step 5.1: Read the three-dimensional spatial positioning results.

[0112] Step 5.2: Automatically adjust the position and angle of the welding head to ensure that the laser focused beam is perpendicular to the inner wall surface.

[0113] Step 5.3: Maintain a constant focal length for laser beam focusing by adjusting the position of the focusing lens.

[0114] Step 5.4: After adjustment, verify that all parameters meet the requirements.

[0115] 6. Real-time monitoring:

[0116] Step 6.1: Install multiple high-definition cameras and high-precision sensors to monitor the position and angle of the laser welding head from all angles.

[0117] Step 6.2: The monitoring equipment collects data in real time and transmits it to the control system for processing and analysis.

[0118] Step 6.3: The welding parameters are automatically adjusted based on the monitoring information, and the welding process is stable.

[0119] Step 6.4: Continuous monitoring and optimization ensure high welding quality.

[0120] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for vector-controlled laser vertical incident angle in GIL pipe inner wall circumferential welding, characterized in that... Includes the following steps: Step 1: Install the binocular camera: Securely mount the binocular camera on the laser scanning welding head to ensure that the camera can clearly and accurately capture images of the surface of the inner wall of the GIL pipe; Step 2: Perform pre-scan: The binocular camera scans along the circumferential direction of the inner wall of the GIL pipe at intervals of [missing information]. Segmented scanning is performed to comprehensively acquire image information of the pipe's inner wall; assuming the pipe's inner wall is uniformly divided into n segments along its circumference, with each segment spaced apart by a distance of 1 / 2... ; Step 3: Based on the image information acquired by the binocular camera, calculate the distance and angle between the laser head focusing lens and the inner wall of the GIL pipe using the following formula: , in This refers to the distance between the laser head focusing lens and the inner wall of the pipe. It is the distance between the binocular camera and the focusing lens. It is the angle between camera A of the binocular camera and the point being measured. It is the angle between camera B of the binocular camera and the point being measured; Step 4: Perform three-dimensional spatial positioning: Combine the spacing of the inner wall circumferential direction of the GIL pipe. The corresponding included angle and the focusing focal length of the laser focusing lens The incident angle of the focused laser beam is accurately calculated. and three-dimensional spatial position; Step 5: During circumferential welding, based on the above calculation results, automatically adjust the welding position and angle of the laser scanning welding head inside the pipe to ensure that the laser focused beam is always perpendicular to the inner wall surface when performing circumferential welding on the inner wall of the GIL pipe, and that the working focal length of the laser beam remains constant. Step 6: Throughout the welding process, continuously monitor and adjust the position and angle of the laser welding head to ensure welding quality and efficiency; The sub-steps of step 4 are as follows: Step 4.1: Calculate the included angle in the circumferential direction: Determine the radius of the GIL pipe. According to the formula Calculate the included angle in the circumferential direction. ;in It refers to 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 focused beam: Determine the focusing focal length of the laser focusing lens. ; Utilizing known distances Angle with the circumferential direction Through formula Calculate the incident angle of the focused laser beam. ; Step 4.3: Calculate the position of the laser head in three-dimensional space: Assume the initial position of the laser head on the central axis of the GIL pipe is... ; For the i-th Scan the point and calculate its included angle in the circumferential direction. ; Determine the angle between the laser head and the pipe axis. It can be determined through other sensors or known conditions; According to the formula, , , Calculate the position of the laser head in three-dimensional space .

2. The method for vector control of laser vertical incident angle in GIL pipe inner wall circumferential welding 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 and find a stable location that does not affect the welding operation to install the binocular camera; consider the camera's field of view to ensure that it can cover most of the inner wall of the GIL pipe; Step 1.2: Securely fix the binocular camera in the selected position using a dedicated fixing clamp or screws; check the stability of the fixation to prevent the camera from shaking or shifting during the welding process; 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 a level tool to ensure that the camera's installation angle is accurate. Step 1.4: Connect the binocular camera to the welding control system via data cable or wireless connection; ensure a stable connection and smooth data transmission.

3. The method for vector control of laser vertical incident angle in GIL pipe inner wall circumferential welding 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 pipe; calculate the number of segments to be divided according to the size and requirements of the pipe; set the scanning speed and resolution of the camera to ensure that the acquired image information is clear and comprehensive. Step 2.2: Control the binocular camera to begin segmented scanning along the circumference of the inner wall of the pipe; ensure that the camera stays at each scanning point for a sufficient amount of time to obtain a clear image; Step 2.3: The binocular camera acquires image information of the inner wall of the pipe at each scanning point; the acquired image data is transmitted to the control system in real time for storage, so as to facilitate subsequent processing; Step 2.4: During the scanning process, monitor the camera's working status in real time to ensure that no scanning points are missed; if an incomplete scan is found, adjust the camera position or rescan in a timely manner.

4. The method for vector control of laser vertical incident angle in GIL pipe inner wall circumferential welding according to claim 1, characterized in that: The sub-steps of step 3 are as follows: Step 3.1, Image Analysis: Read the image information acquired by the binocular camera from the control system; process the image using image analysis software to extract key feature points and angle information; Step 3.2, Angle Calculation: Determine the angle between camera A of the binocular camera and the point being measured, and the angle between camera B and the point being measured; According to the formula Calculate the distance and angle information; Step 3.3, Data Validation: Validate the calculated distance and angle information to check its rationality and accuracy; verify the reliability of the data through 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 control of laser vertical incident angle in GIL pipe inner wall circumferential welding 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 focused beam and the position information of the laser head in three-dimensional space calculated in the three-dimensional spatial positioning step from the control system; Step 5.2: Adjust the welding position and angle: Based on 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 focused beam is always perpendicular to the inner wall surface when performing circumferential welding on the inner wall of the GIL pipeline. Step 5.3: Maintain a constant focal length for laser beam focusing: Monitor the focal length of the laser focusing lens in real time and make fine adjustments as needed to maintain a constant focal length; the focal length can be adjusted by adjusting the output power of the laser source or the position of the focusing lens. 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 focusing beam meet the requirements.

6. The method for vector control of the vertical incident angle of laser during circumferential welding of the inner wall of a GIL pipe according to claim 1, characterized in that: The sub-steps of step 6 are as follows: Step 6.1: Install monitoring equipment: Install suitable monitoring equipment at the welding site; Step 6.2, Data Acquisition and Transmission: The monitoring equipment acquires 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 acquired data in real time. Step 6.3: Adjust welding parameters: Based on the monitored position and angle information, the control system automatically adjusts the welding parameters. If a large position or angle deviation is detected, an alarm is issued in time and manual adjustment is performed. Step 6.4 Continuous Monitoring and Optimization: Throughout the welding process, the position and angle of the laser welding head are continuously monitored, and strategies are constantly optimized and adjusted to ensure that the welding quality is always at its best.

7. A system for vector-controlled laser vertical incident angle in GIL pipe inner wall circumferential welding, characterized in that: The method for controlling the vertical incident angle of laser in the circumferential welding of the inner wall of a GIL pipe, as described in any one of claims 1-6, was adopted.

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