Welded pipe cutting remote monitoring system and method

Abstract

The invention provides a welded pipe cutting remote monitoring system and method, and the system comprises a monitoring data obtaining subsystem which is used for obtaining multi-dimensional monitoring data in the cutting process of a welded pipe cutting machine tool; the interpolation effectiveness analysis subsystem is used for performing interpolation effectiveness analysis on the welding pipe cutting moving track according to the multi-dimensional monitoring data to obtain an interpolation effectiveness analysis result; and the early warning subsystem is used for determining an abnormal result in the interpolation validity analysis result and performing early warning. According to the welded pipe cutting remote monitoring system and method, multi-dimensional monitoring data in the cutting process of the welded pipe cutting machine tool are introduced to carry out welded pipe cutting running track interpolation effectiveness analysis, the interpolation effectiveness analysis result is obtained, an abnormal result in the interpolation effectiveness analysis result is determined to carry out early warning, and the welded pipe cutting precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated metal cutting, and in particular to a remote monitoring system and method for welding pipe cutting. Background Art

[0002] Pipe cutting is an operation in metal processing, which involves cutting welded steel pipes (welded pipes) into specific lengths or shapes as required, and is used in many industries such as construction, manufacturing, oil and gas pipelines, automobile manufacturing, furniture making, etc. In response to the demand for automated control in existing pipe processing, there are existing technologies to achieve automated cutting control of welded pipes.

[0003] The invention patent with application number: CN202410519614.4 discloses an automatic cutting processing method for high-frequency welded pipes, including a base, an adjusting mechanism for fixing the high-frequency welded pipe is arranged on the left side of the upper surface of the base, an auxiliary mechanism for assisting the cutting of the high-frequency welded pipe, the auxiliary mechanism is arranged on the adjusting mechanism, a cutting mechanism for cutting the high-frequency welded pipe, the cutting mechanism is arranged on the base, and a conveying mechanism for transporting the cut high-frequency welded pipe is arranged on the right side of the upper surface of the base. After the high-frequency welded pipe is cut, the cutting mechanism cooperates with the double station of the adjusting mechanism to separate the uncut high-frequency welded pipe and the cut high-frequency welded pipe, and the two cutting surfaces are polished synchronously, so that the cutting and polishing processes of the high-frequency welded pipe can be integrated, thereby improving the processing efficiency of the high-frequency welded pipe.

[0004] However, the above-mentioned prior art does not verify the difference between the actual cutting trajectory and the required trajectory before cutting the welded pipe. When the planned cutting trajectory is unreasonable or there is a relative position offset between the cutting piece and the cutting execution body, cutting deviation is likely to occur, thereby reducing the cutting accuracy.

[0005] In view of this, there is an urgent need for a remote monitoring system and method for welded pipe cutting to at least solve the above-mentioned deficiencies. Summary of the invention

[0006] One of the purposes of the present invention is to provide a remote monitoring system and method for welded pipe cutting, introduce multi-dimensional monitoring data during the cutting process of a welded pipe cutting machine tool to perform interpolation effectiveness analysis on the welded pipe cutting operation trajectory, obtain interpolation effectiveness analysis results, determine abnormal results in the interpolation effectiveness analysis results for early warning, and improve the accuracy of welded pipe cutting.

[0007] An embodiment of the present invention provides a remote monitoring system for welded pipe cutting, comprising: Monitoring data acquisition subsystem, used to obtain multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine; The interpolation validity analysis subsystem is used to perform interpolation validity analysis on the welding pipe cutting operation trajectory based on multi-dimensional monitoring data and obtain the interpolation validity analysis results; The early warning subsystem is used to identify abnormal results in the interpolation validity analysis results and issue early warnings.

[0008] Preferably, the monitoring data acquisition subsystem acquires multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine, including: Obtain equipment status information, cutting process images and cutting quality inspection data during the cutting process of the welded pipe cutting machine; The equipment status information, cutting process images and cutting quality inspection data are used together as multi-dimensional monitoring data; Among them, the equipment status information includes: CNC system configuration data.

[0009] Preferably, the interpolation effectiveness analysis subsystem performs interpolation effectiveness analysis on the welded pipe cutting operation trajectory according to the multi-dimensional monitoring data, and obtains the interpolation effectiveness analysis results, including: Simulate the cutting of the welded pipe cutting machine tool according to the multi-dimensional monitoring data to obtain the three-dimensional model of the welded pipe cutting; Obtain the simulated interpolation running trajectory in the three-dimensional model of welded pipe cutting; Perform interpolation effectiveness analysis based on the simulated interpolation operation trajectory to obtain the interpolation effectiveness analysis results.

[0010] Preferably, the interpolation validity analysis subsystem simulates the cutting of the welded pipe cutting machine tool according to the multi-dimensional monitoring data to obtain the welded pipe cutting three-dimensional model, including: According to the multi-dimensional monitoring data, the experimental condition setting basis data is obtained; the experimental condition setting basis data includes: the material, size, cutting speed, cutting tool and CNC system configuration data of the welded pipe; Set the data type based on the experimental conditions and determine the data conversion template for the experimental conditions; According to the experimental condition setting, the data conversion template is set based on the data and the experimental condition setting data to determine the experimental condition setting data; The experimental conditions are set according to the experimental condition setting data. After the setting is completed, the three-dimensional model of the welded pipe cutting is obtained.

[0011] Preferably, the interpolation validity analysis subsystem performs interpolation validity analysis according to the simulated interpolation operation trajectory to obtain the interpolation validity analysis result, including: Obtain the ideal running trajectory in the 3D model of welded pipe cutting; Get the simulation interpolation type; simulation interpolation types include: one-time interpolation and real-time interpolation; According to the trajectory similarity calculation rule corresponding to the simulation interpolation type, the trajectory similarity between the simulation interpolation running trajectory and the ideal running trajectory is calculated; If the trajectory similarity is less than the preset trajectory similarity threshold, the interpolation validity analysis result is that the interpolation is invalid; If the trajectory similarity is greater than or equal to the preset trajectory similarity threshold, the interpolation validity analysis result is that the interpolation is valid.

[0012] Preferably, the interpolation validity analysis subsystem obtains an ideal running trajectory in the three-dimensional model of welded pipe cutting, including: Get the welding pipe cutting task; According to the welded pipe cutting task, the historical 3D data of the historical target model is obtained; According to the historical 3D data, the historical target 3D model is spliced ​​into the historical original 3D model to obtain the splicing trajectory; Determine the relative position relationship of the splicing trajectory with respect to the trajectory of the historical original three-dimensional model; According to the relative position relationship of the trajectory, determine the ideal running trajectory in the three-dimensional model of welded pipe cutting; According to the welded pipe cutting task, the historical 3D data of the historical target model is obtained, including: According to the welding pipe cutting task, the pre-selection extraction basis of the historical 3D data of the historical target model is obtained; Analyze the pre-selected extraction basis and determine the pre-selected value of the pre-selected extraction basis; The pre-selected extraction basis whose pre-selected value is greater than or equal to the preset pre-selected value threshold is used as the target extraction basis; According to the preset extraction strategy based on the target extraction, the historical three-dimensional data of the historical target model is extracted.

[0013] Preferably, the early warning subsystem determines abnormal results in the interpolation validity analysis results and issues an early warning, including: If the interpolation result is that the interpolation is invalid, the AC speed control system of the permanent magnet synchronous motor for welding pipe cutting using fuzzy adaptive PID vector control is modeled and simulated to obtain the intelligent control strategy; Determine whether the improvement effect of the intelligent control strategy meets the expected improvement; If the improvement effect of the intelligent control strategy reaches the expected improvement, the permanent magnet synchronous motor is controlled based on the intelligent control strategy; If the improvement effect of the intelligent control strategy does not meet the expected improvement, a corresponding warning will be issued.

[0014] A remote monitoring system for welded pipe cutting provided by an embodiment of the present invention further includes: The welded pipe automatic transfer subsystem is used to obtain the pre-input target use of the welded pipe cutting parts of the welded pipe cutting machine tool, and automatically transfer the welded pipe cutting parts according to the target use.

[0015] Preferably, the welded pipe automatic transfer subsystem obtains the target use of the welded pipe cutting parts of the welded pipe cutting machine tool input in advance, and automatically transfers the welded pipe cutting parts according to the target use, including: Control the first transfer queuing robot to clamp the welded pipe cut pieces; Acquire the gripping posture of the first transfer queuing robot and extract the posture features of the gripping posture; Constructing a three-dimensional model of the first target according to the posture characteristics; Determine the transfer point of the welded pipe cut parts according to the target use; Plan the transfer route based on the transfer point and current point; determining a second target three-dimensional model of the local space including the transfer path; Simulate the first target three-dimensional model to be transported in a simulated path corresponding to the transport path in the second target three-dimensional model, and determine the conflicting robot group; Determine whether the transfer points of the second transfer queuing robots in the same conflicting robot group are consistent. If they are consistent, the transfer tasks are aggregated. If they are inconsistent, the second transfer queuing robots are controlled to queue up and pass the conflicting positions in sequence according to the preset transfer priorities of the corresponding second transfer queuing robots from large to small.

[0016] Preferably, the welded pipe automated transfer subsystem simulates the first target three-dimensional model to transfer in a simulated path corresponding to the transfer path in the second target three-dimensional model, and determines the conflicting robot group, including: Acquire local model information of the first target three-dimensional model; the local model information includes: a one-to-one corresponding three-dimensional model point set and a prediction time; The predicted time of the first transfer queue robot in all transfer operations is time-aligned, and after alignment, it is determined whether there is overlap in the three-dimensional model point set at the same time alignment moment; If it exists, the corresponding first transfer queue robot will be used as the second transfer queue robot; The conflicting robot group is determined according to the overlap of the three-dimensional model point sets at the same time alignment moment between the second transfer queuing robots.

[0017] An embodiment of the present invention provides a remote monitoring method for welded pipe cutting, comprising: Obtain multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine; According to the multi-dimensional monitoring data, the interpolation effectiveness analysis of the welding pipe cutting operation trajectory is carried out to obtain the interpolation effectiveness analysis results; Identify anomalous results in interpolation validity analysis results and issue early warnings.

[0018] The beneficial effects of the present invention are: The present invention introduces multi-dimensional monitoring data in the cutting process of the welded pipe cutting machine to perform interpolation effectiveness analysis on the welded pipe cutting operation trajectory, obtains the interpolation effectiveness analysis result, determines the abnormal result in the interpolation effectiveness analysis result for early warning, and improves the accuracy of welded pipe cutting.

[0019] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in the present application documents.

[0020] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 Schematic diagram of a remote monitoring system for welded pipe cutting according to an embodiment of the present invention; Figure 2 Schematic diagram of a remote monitoring method for welded pipe cutting in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0023] The embodiment of the present invention provides a remote monitoring system for welding pipe cutting, such as Figure 1 As shown, including: The monitoring data acquisition subsystem 1 is used to acquire multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine; wherein the multi-dimensional monitoring data includes: equipment status information during the cutting process of the welded pipe cutting machine (for example, configuration data of the numerical control system (control system of the permanent magnet synchronous motor), including: number of pole pairs, stator phase resistance, stator d-axis and q-axis inductance, permanent magnet flux linkage constant, inertia, electromotive force, viscous damping, mechanical input, sampling time and static friction, etc.), cutting process images (cutting process images are acquired through a camera device provided on the cutting machine) and cutting quality inspection data (cutting quality inspection data is the trajectory difference data between the ideal cutting trajectory and the actual cutting trajectory sampled and inspected during the cutting process); The interpolation validity analysis subsystem 2 is used to perform interpolation validity analysis on the welded pipe cutting operation trajectory according to the multi-dimensional monitoring data, and obtain the interpolation validity analysis results; wherein, the interpolation validity analysis on the welded pipe cutting operation trajectory is: calculation and analysis of the trajectory difference between the actual cutting operation trajectory and the ideal cutting operation trajectory of the machine tool during the cutting process; Early warning subsystem 3 is used to determine abnormal results in the interpolation validity analysis results and issue an early warning. Among them, the abnormal result is: the difference between the actual cutting operation trajectory and the ideal cutting operation trajectory exceeds the preset difference threshold; the early warning is: the AC speed control system of the permanent magnet synchronous motor for welding pipe cutting is modeled and simulated using fuzzy adaptive PID vector control to obtain the intelligent control strategy. When the improvement effect of the intelligent control strategy does not meet the improvement expectations, the early warning information is sent to the staff for manual calibration; when judging whether the improvement effect of the intelligent control strategy meets the improvement expectations, the intelligent control strategy is applied to the cutting process of the welding pipe cutting machine and the interpolation validity analysis is performed again. When the analysis results of the interpolation validity analysis are passed, the improvement effect meets the improvement expectations, otherwise it does not meet the expectations.

[0024] The working principle and beneficial effects of the above technical solution are: The overall architecture design of the welding pipe cutting system control selects the ARM architecture processor as the hardware platform of the upper computer of the welding pipe cutting CNC system; the DSP development board TMS320F2833 is selected as the control execution part of the lower computer of the welding pipe cutting servo system; the upper and lower computers are connected through a bus controller, and the motion control bus realizes real-time information communication between the servo unit, I / O unit, etc. controlled by the upper and lower computers.

[0025] The hardware design of the lower computer of the welding pipe cutting servo system uses the DSP development board TMS320F2833 as the welding pipe cutting motion controller and the permanent magnet synchronous motor (PMSM) as the cutting actuator; the study uses the fuzzy adaptive PID intelligent control algorithm to model and simulate the vector controlled permanent magnet synchronous motor AC speed regulation system.

[0026] The upper computer software platform design of the welded pipe cutting CNC system selects EMC2 as the upper computer software platform, and performs hardware configuration on it, simulates the operating environment of the cutting machine, performs simulation analysis on the three-dimensional model of welded pipe cutting, and verifies the effectiveness of EMC2 in interpolating the running trajectory of welded pipe cutting.

[0027] The host computer is connected through the Internet, and the remote operation and monitoring of the welding pipe cutting machine is realized through the remote computer. The remote monitoring design of the host computer ARM development board adopts the VNC remote monitoring interface.

[0028] The present invention introduces multi-dimensional monitoring data in the cutting process of the welded pipe cutting machine to perform interpolation effectiveness analysis on the welded pipe cutting operation trajectory, obtains the interpolation effectiveness analysis result, determines the abnormal result in the interpolation effectiveness analysis result for early warning, and improves the accuracy of welded pipe cutting.

[0029] In one embodiment, the interpolation effectiveness analysis subsystem performs interpolation effectiveness analysis on the welded pipe cutting operation trajectory according to the multi-dimensional monitoring data, and obtains the interpolation effectiveness analysis results, including: Simulate the cutting of the welded pipe cutting machine tool according to the multi-dimensional monitoring data to obtain the three-dimensional model of the welded pipe cutting; Among them, the cutting of the welded pipe cutting machine is simulated according to the multi-dimensional monitoring data to obtain the three-dimensional model of the welded pipe cutting, including: According to the multi-dimensional monitoring data, the experimental condition setting basis data is obtained; the experimental condition setting basis data includes: what material the welded pipe is made of, what is the size of the welded pipe, what is the cutting speed, etc.; According to the data type of the experimental condition setting data, determine the experimental condition setting data conversion template; wherein the data type is: the data type of the experimental condition setting data, such as: welding pipe material, welding pipe size; According to the experimental condition setting basis data and the experimental condition setting data conversion template, the experimental condition setting data is determined; wherein the experimental condition setting data conversion template is: a template for generating experimental condition setting data by comparing the experimental condition setting basis data, for example: how to generate the corresponding simulation data in the three-dimensional model according to the welded pipe material; The experimental conditions are set according to the experimental condition setting data. After the setting is completed, a three-dimensional model of the welded pipe cutting is obtained; Obtain the simulated interpolation running trajectory in the three-dimensional model of welded pipe cutting; Perform interpolation effectiveness analysis based on the simulated interpolation operation trajectory and obtain the interpolation effectiveness analysis results; Among them, the interpolation effectiveness analysis is performed according to the simulated interpolation operation trajectory, and the interpolation effectiveness analysis results are obtained, including: Obtaining an ideal running trajectory in the three-dimensional model of welded pipe cutting; wherein the ideal running trajectory is: a theoretical cutting running trajectory simulated in the three-dimensional model of welded pipe cutting corresponding to when the welded pipe cutting task is completed; Get the simulation interpolation type; simulation interpolation types include: one-time interpolation and real-time interpolation; one-time interpolation means that before cutting starts, the control system calculates all the intermediate points of the entire cutting path at one time, and then cuts according to this path; real-time interpolation means that the control system dynamically calculates and adjusts the cutting path according to real-time feedback (such as cutting quality, tool wear, etc.) during the cutting process; According to the trajectory similarity calculation rule corresponding to the simulation interpolation type, the trajectory similarity between the simulation interpolation running trajectory and the ideal running trajectory is calculated; wherein the trajectory similarity calculation rule corresponding to the simulation interpolation type is preset manually, for example: when the simulation interpolation type is one-time interpolation, the overall trajectory similarity calculation can be directly performed based on the ideal running trajectory and the simulation interpolation running trajectory; when the simulation interpolation type is real-time interpolation, the trajectory similarity calculation is performed based on the most recent real-time interpolation simulation interpolation trajectory without trajectory analysis and the local trajectory of the real-time interpolation simulation interpolation trajectory corresponding to the ideal running trajectory; If the trajectory similarity is less than a preset trajectory similarity threshold, the interpolation validity analysis result is that the interpolation is invalid; wherein the preset trajectory similarity threshold is manually preset; If the trajectory similarity is greater than or equal to the preset trajectory similarity threshold, the interpolation validity analysis result is that the interpolation is valid.

[0030] The working principle and beneficial effects of the above technical solution are: The present invention analyzes multi-dimensional monitoring data, obtains the material, size, cutting speed, cutting tool and numerical control system configuration data of the welded pipe, obtains the experimental condition setting data conversion template corresponding to the data type of the experimental condition setting basis data, determines the experimental condition setting data according to the experimental condition setting basis data and the experimental condition setting data conversion template, sets the experimental conditions according to the experimental condition setting data, and obtains the welded pipe cutting three-dimensional model after all the experimental conditions are set. The setting accuracy of the welded pipe cutting three-dimensional model is higher; the simulated interpolation running trajectory in the welded pipe cutting three-dimensional model is obtained, and at the same time, the ideal running trajectory in the welded pipe cutting three-dimensional model is determined according to the obtained welded pipe cutting task, and the simulated interpolation type is introduced. When the simulated interpolation type is one-time interpolation, the simulated interpolation running trajectory is all the simulated interpolation running trajectories, and when the simulated interpolation type is real-time interpolation, the simulated interpolation running trajectory is the most recent real-time interpolation simulated interpolation trajectory without trajectory analysis, and the trajectory similarity calculation rules are selected according to different simulated interpolation types to calculate the trajectory similarity between the simulated interpolation running trajectory and the ideal running trajectory, thereby improving the calculation efficiency and calculation accuracy.

[0031] In one embodiment, the interpolation validity analysis subsystem obtains an ideal running trajectory in the three-dimensional model of welded pipe cutting, including: Obtain a welded pipe cutting task; wherein the welded pipe cutting task is: shape information of the welded pipe to be cut; According to the welded pipe cutting task, the historical three-dimensional data of the historical target model is obtained; wherein the historical target model is: the three-dimensional model of the entity after the welded pipe is cut in the task that is consistent with the welded pipe cutting task in history; the historical three-dimensional data is the three-dimensional data of the historical target model corresponding to the same historical welded pipe cutting task; According to the historical three-dimensional data, the historical target three-dimensional model is spliced ​​into a historical original three-dimensional model to obtain a splicing trajectory; wherein the historical original three-dimensional model is a three-dimensional model of the historical target three-dimensional model before the corresponding entity is cut; Determine the relative position relationship of the splicing trajectory with respect to the trajectory of the historical original three-dimensional model; According to the relative position relationship of the trajectory, determine the ideal running trajectory in the three-dimensional model of welded pipe cutting; Among them, according to the welded pipe cutting task, the historical three-dimensional data of the historical target model is obtained, including: According to the welded pipe cutting task, a pre-selected extraction basis of the historical three-dimensional data of the historical target model is obtained; wherein the pre-selected extraction basis is: an extraction basis for extracting the historical three-dimensional data, such as: a historical manual cutting task; Analyze the pre-selected extraction basis and determine the pre-selected value of the pre-selected extraction basis; the method for determining the pre-selected value is determined by the type of basis of the pre-selected extraction basis, for example: the pre-selected extraction basis is a historical manual cutting task, and the pre-selected value is determined by the operating experience value of the operator who performs cutting in the task and the historical cutting method information in the task (for example: laser configuration parameters for laser cutting), and the operating experience value is the number of years of performing the corresponding special operation (for example: cutting operation years), and then calculate the cutting method similarity value of the historical cutting tool information and the cutting method information in this system, and cumulatively calculate the operating experience value and the cutting method similarity value corresponding to the pre-selected extraction basis to obtain the pre-selected value; The pre-selected extraction basis whose pre-selected value is greater than or equal to the preset pre-selected value threshold is used as the target extraction basis; wherein the preset pre-selected value threshold is manually pre-set; According to the extraction strategy preset according to the target extraction basis, the historical three-dimensional data of the historical target model is extracted. The extraction strategy is: how to extract the historical three-dimensional data according to the target extraction basis, for example: how to obtain the three-dimensional model of the entity after the welding pipe is cut in the historical manual cutting task according to the historical manual cutting task.

[0032] The working principle and beneficial effects of the above technical solution are: The present invention determines the historical three-dimensional data of the historical target model corresponding to the entity manually cut in history according to the welded pipe cutting task; when determining the historical three-dimensional data, obtains the extraction basis of the pre-selected historical three-dimensional data, and determines its pre-selected value; when the pre-selected value is greater than the pre-selected value threshold, extracts the corresponding historical three-dimensional data according to the extraction strategy preset according to the target extraction basis, and the historical three-dimensional data is more accurate, further improving the accuracy of the subsequent ideal operation trajectory.

[0033] The historical target 3D model is spliced ​​into the historical original 3D model, the relative position relationship of the spliced ​​trajectory with respect to the historical original 3D model is determined, and the ideal running trajectory in the welded pipe cutting 3D model is determined based on the trajectory relative position relationship, so that the extraction process of the ideal running trajectory is more reasonable.

[0034] The embodiment of the present invention provides a remote monitoring system for welding pipe cutting, further comprising: The welded pipe automatic transfer subsystem is used to obtain the pre-input target use of the welded pipe cutting parts of the welded pipe cutting machine, and automatically transfer the welded pipe cutting parts according to the target use; wherein the welded pipe cutting parts are: the finished welded pipe cutting products of the welded pipe cutting machine; the target use is: the subsequent use of the welded pipe cutting parts, such as: what kind of components are used for welding; The method includes obtaining the pre-input target use of the welded pipe cutting parts of the welded pipe cutting machine and automatically transferring the welded pipe cutting parts according to the target use, including: Controlling the first transfer queuing robot to clamp the welded pipe cut piece; wherein the first transfer queuing robot is: a transfer robot queuing near the welded pipe cutting machine tool and waiting to automatically clamp the welded pipe cut piece; The clamping posture of the first transfer queuing robot is obtained, and the posture features of the clamping posture are extracted; wherein the posture features are: the three-dimensional point cloud data after the first transfer queuing robot stably clamps the welded pipe cutting piece, which is obtained based on the three-dimensional scanning device preset next to the welded pipe cutting machine; stable clamping refers to the state when the clamping component of the first transfer queuing robot stops relative movement with the main body of the first transfer queuing robot after the first transfer queuing robot clamps the welded pipe cutting piece; Constructing a first target three-dimensional model according to the posture features; wherein the first target three-dimensional model is constructed according to three-dimensional reconstruction technology; Determine the transfer point of the welded pipe cutting parts according to the target use; wherein the determination relationship of the transfer point according to the target use is preset manually, for example: if the target use is for welding a certain component, then the transfer point is the welding workshop; Plan the transfer route according to the transfer point and the current point; the transfer route is based on the path planning technology and the on-site map acquisition; Determine a second target three-dimensional model of the local space including the transfer path; wherein the second target three-dimensional model is: a three-dimensional model of the space including the transfer path; Simulate the first target three-dimensional model to be transported in a simulated path corresponding to the transport path in the second target three-dimensional model, and determine the conflicting robot group; Determine whether the transfer points of the second transfer queue robots in the same conflicting robot group are consistent. If they are consistent, collect the transfer tasks. If they are inconsistent, control the second transfer queue robots to queue up and pass the conflicting positions in sequence according to the preset transfer priorities of the corresponding second transfer queue robots from large to small; wherein, the collection transfer task is to collect the clamped welded pipe cutting parts at the same transfer point to the same second transfer queue robot for transfer; the preset transfer priority represents the priority of the transfer task; The step of simulating the first target three-dimensional model to be transported in a simulated path corresponding to the transport path in the second target three-dimensional model to determine the conflicting robot group includes: Acquire local model information of the first target three-dimensional model; the local model information includes: a one-to-one corresponding three-dimensional model point set and a prediction time; The predicted time of the first transfer queue robot in all transfer operations is time-aligned, and after alignment, it is determined whether there is overlap in the three-dimensional model point set at the same time alignment moment; If it exists, the corresponding first transfer queue robot will be used as the second transfer queue robot; The conflicting robot group is determined according to the overlap of the three-dimensional model point sets at the same time alignment moment between the second transfer queue robots. The overlap situation refers to which second transfer queue robots have overlapped three-dimensional model point sets at the same time alignment moment. When determining the conflicting robot group, if the three-dimensional model point sets of the second transfer queue robots at a certain time alignment moment overlap, the corresponding second transfer queue robots are classified into the same conflicting robot group.

[0035] The working principle and beneficial effects of the above technical solution are: After the welding pipe is cut, it needs to be subsequently transported according to its purpose. In the embodiment of the present invention, the first transport queuing robot is set to wait at the welding pipe cutting machine. When the qualified welding pipe cutting parts are cut, the cutting purpose (target purpose) pre-input before the welding pipe cutting parts are cut is determined, and the subsequent transport point is determined according to the cutting purpose. The clamping posture of the first transport robot is obtained and the posture features are extracted. The first target three-dimensional model is constructed based on the posture features, and the second target three-dimensional model including the transport path between the current point and the transport point is determined. The first target three-dimensional model is simulated and transported in the simulated path corresponding to the transport path in the second target three-dimensional model.

[0036] During simulation, the three-dimensional model point set simulated and the predicted time corresponding to the simulated elapsed time are determined and associated, the predicted time of the first transfer queuing robot is aligned in time, and it is determined whether there is overlap in the three-dimensional model point set at the same time alignment moment. If so, the corresponding first transfer queuing robot is classified into the conflicting robot group.

[0037] Determine whether the transfer points of the second transfer queuing robots in the same conflicting robot group are consistent. If they are consistent, the welded pipe cutting parts are collected according to the transportation surplus of the second transfer queuing robots, and the second transfer queuing robots that have no welded pipe cutting parts that need to be transferred after collection are released for subsequent transfer operations, thereby improving the robot transfer efficiency; if the transfer points are inconsistent, the corresponding actual positions (conflict positions) where the three-dimensional model point set overlaps are queued in order according to the order of priority of the transferred welded pipe cutting parts, thereby improving the rationality of transfer conflict handling.

[0038] The embodiment of the present invention provides a remote monitoring method for welding pipe cutting, such as Figure 2 As shown, including: Step 1: Obtain multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine; Step 2: Based on the multi-dimensional monitoring data, perform interpolation effectiveness analysis on the welded pipe cutting operation trajectory and obtain the interpolation effectiveness analysis results; Step 3: Identify abnormal results in the interpolation validity analysis results and issue warnings.

[0039] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A remote monitoring system for welded pipe cutting, characterized in that: include: Monitoring data acquisition subsystem, used to obtain multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine; The interpolation validity analysis subsystem is used to perform interpolation validity analysis on the welding pipe cutting operation trajectory based on multi-dimensional monitoring data and obtain the interpolation validity analysis results; The early warning subsystem is used to identify abnormal results in the interpolation validity analysis results and issue early warnings.

2. A remote monitoring system for welded pipe cutting as claimed in claim 1, characterized in that: The monitoring data acquisition subsystem acquires multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine, including: Obtain equipment status information, cutting process images and cutting quality inspection data during the cutting process of the welded pipe cutting machine; The equipment status information, cutting process images and cutting quality inspection data are used together as multi-dimensional monitoring data; Among them, the equipment status information includes: CNC system configuration data.

3. A remote monitoring system for welded pipe cutting as claimed in claim 1, characterized in that: The interpolation effectiveness analysis subsystem performs interpolation effectiveness analysis on the welded pipe cutting operation trajectory based on multi-dimensional monitoring data and obtains interpolation effectiveness analysis results, including: Simulate the cutting of the welded pipe cutting machine tool according to the multi-dimensional monitoring data to obtain the three-dimensional model of the welded pipe cutting; Obtain the simulated interpolation running trajectory in the three-dimensional model of welded pipe cutting; Perform interpolation effectiveness analysis based on the simulated interpolation operation trajectory to obtain the interpolation effectiveness analysis results.

4. A remote monitoring system for welded pipe cutting as claimed in claim 3, characterized in that: The interpolation validity analysis subsystem simulates the cutting of the welded pipe cutting machine according to the multi-dimensional monitoring data and obtains the three-dimensional model of the welded pipe cutting, including: According to the multi-dimensional monitoring data, the experimental condition setting basis data is obtained; the experimental condition setting basis data includes: the material, size, cutting speed, cutting tool and CNC system configuration data of the welded pipe; Set the data type based on the experimental conditions and determine the data conversion template for the experimental conditions; According to the experimental condition setting, the data conversion template is set based on the data and the experimental condition setting data to determine the experimental condition setting data; The experimental conditions are set according to the experimental condition setting data. After the setting is completed, the three-dimensional model of the welded pipe cutting is obtained.

5. A remote monitoring system for welded pipe cutting as claimed in claim 3, characterized in that: The interpolation validity analysis subsystem performs interpolation validity analysis based on the simulated interpolation operation trajectory and obtains the interpolation validity analysis results, including: Obtain the ideal running trajectory in the 3D model of welded pipe cutting; Get the simulation interpolation type; simulation interpolation types include: one-time interpolation and real-time interpolation; According to the trajectory similarity calculation rule corresponding to the simulation interpolation type, the trajectory similarity between the simulation interpolation running trajectory and the ideal running trajectory is calculated; If the trajectory similarity is less than the preset trajectory similarity threshold, the interpolation validity analysis result is that the interpolation is invalid; If the trajectory similarity is greater than or equal to the preset trajectory similarity threshold, the interpolation validity analysis result is that the interpolation is valid.

6. A remote monitoring system for welded pipe cutting as claimed in claim 1, characterized in that: The early warning subsystem identifies abnormal results in the interpolation validity analysis results and issues early warnings, including: If the interpolation result is that the interpolation is invalid, the AC speed control system of the permanent magnet synchronous motor for welding pipe cutting using fuzzy adaptive PID vector control is modeled and simulated to obtain the intelligent control strategy; Determine whether the improvement effect of the intelligent control strategy meets the expected improvement; If the improvement effect of the intelligent control strategy reaches the expected improvement, the permanent magnet synchronous motor is controlled based on the intelligent control strategy; If the improvement effect of the intelligent control strategy does not meet the expected improvement, a corresponding warning will be issued.

7. A remote monitoring system for welded pipe cutting as claimed in claim 1, characterized in that: Also includes: The welded pipe automatic transfer subsystem is used to obtain the pre-input target use of the welded pipe cutting parts of the welded pipe cutting machine tool, and automatically transfer the welded pipe cutting parts according to the target use.

8. A remote monitoring system for welded pipe cutting as claimed in claim 7, characterized in that: The welded pipe automatic transfer subsystem obtains the target use of the welded pipe cutting parts pre-entered by the welded pipe cutting machine, and automatically transfers the welded pipe cutting parts according to the target use, including: Control the first transfer queuing robot to clamp the welded pipe cut pieces; Acquire the gripping posture of the first transfer queuing robot and extract the posture features of the gripping posture; Constructing a three-dimensional model of the first target according to the posture characteristics; Determine the transfer point of the welded pipe cut parts according to the target use; Plan the transfer route based on the transfer point and current point; determining a second target three-dimensional model of the local space including the transfer path; Simulate the first target three-dimensional model to be transported in a simulated path corresponding to the transport path in the second target three-dimensional model, and determine the conflicting robot group; Determine whether the transfer points of the second transfer queuing robots in the same conflicting robot group are consistent. If they are consistent, the transfer tasks are aggregated. If they are inconsistent, the second transfer queuing robots are controlled to queue up and pass the conflicting positions in sequence according to the preset transfer priorities of the corresponding second transfer queuing robots from large to small.

9. A remote monitoring system for welded pipe cutting as claimed in claim 8, characterized in that: The welded pipe automated transfer subsystem simulates the first target three-dimensional model to transfer in a simulated path corresponding to the transfer path in the second target three-dimensional model, and determines the conflicting robot group, including: Acquire local model information of the first target three-dimensional model; the local model information includes: a one-to-one corresponding three-dimensional model point set and a prediction time; The predicted time of the first transfer queue robot in all transfer operations is time-aligned, and after alignment, it is determined whether there is overlap in the three-dimensional model point set at the same time alignment moment; If it exists, the corresponding first transfer queue robot will be used as the second transfer queue robot; The conflicting robot group is determined according to the overlap of the three-dimensional model point sets at the same time alignment moment between the second transfer queuing robots.

10. A remote monitoring method for welded pipe cutting, characterized in that: include: Obtain multi-dimensional monitoring data during the cutting process of the welded pipe cutting machine; According to the multi-dimensional monitoring data, the interpolation effectiveness analysis of the welding pipe cutting operation trajectory is carried out to obtain the interpolation effectiveness analysis results; Identify anomalous results in interpolation validity analysis results and issue early warnings.

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