Weld junction positioning method and system

Abstract

The invention discloses a welded junction positioning method and system, and relates to the technical field of automatic nondestructive testing. According to the method, the camera is used for collecting the outdoor monitoring video and the indoor monitoring video, the edge calculator is used for detecting the welded junction area in the outdoor monitoring video and the indoor monitoring video, and whether the welded junction area reaches the judgment area or not is judged; a speed reduction instruction and a pipe feeding stopping and pipe clamping starting instruction are generated and sent to the controller according to the judgment result, the controller controls the pipe conveying driving part to reduce the speed according to the speed reduction instruction, controls the pipe conveying driving part to stop pipe feeding according to the pipe feeding stopping and pipe clamping starting instruction, and controls the pipe clamping driving part to clamp the small-diameter pipe; weld junction positioning of a conveyed workpiece can be efficiently and rapidly achieved, the problem of missing detection is avoided, workpiece conveying is stopped after positioning, a small-diameter pipe is clamped, and follow-up small-diameter pipe DR detection is achieved. And meanwhile, the frequency of manual operation of personnel is effectively reduced, and the situation of leak detection of a welded junction is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of automated nondestructive testing, and more specifically to a method and system for locating weld joints in fully automated DR testing of small-diameter pipes. Background Art

[0002] Welding is a key process in the manufacturing of major power generation equipment, and its quality determines the safety and reliability of power generation equipment. According to external quality feedback over the years, more than 80% of the quality problems of power plant boilers are caused by weld quality. Therefore, effectively improving the welding quality of power plant boiler enterprises is very important to ensure production safety and help enterprises improve quality and efficiency.

[0003] In the petrochemical, energy and power, aerospace and other industries, small-diameter pipes (specifically pipes with a diameter of 100mm or less) are important parts of related equipment. The serpentine pipe is a small-diameter pipe and is a core component of power station boilers. The operating temperature is as high as 677℃ and the working pressure is 40MPa.

[0004] In the prior art, when X-ray imaging defect detection is performed on the serpentine and straight pipe welds of boiler high-temperature components, a DR imaging detection system (referred to as industrial television RTV in the industry) is required. Currently, all RTV systems in the industry are semi-automatic systems. In the semi-automatic system, the welds of small-diameter pipes are found by manual weld finding, and then DR detection is performed on the found welds of small-diameter pipes. In the manual weld finding method, people's attention may be distracted, resulting in the omission of some welds that are slightly different from the parent material, thus causing quality problems. Summary of the invention

[0005] In order to overcome the defects in the above-mentioned prior art, the present invention discloses a weld positioning method and system. The purpose of the present invention is to solve the problem that in the manual weld finding method in the prior art, people's attention may be distracted, resulting in some welds with small differences from the parent material being missed, thereby causing quality problems. The present invention uses a camera to collect outdoor monitoring videos and indoor monitoring videos, uses an edge calculator to detect the weld area in the outdoor monitoring videos and indoor monitoring videos, and judges whether the weld area reaches the judgment area, and generates and sends a speed reduction instruction and a stop pipe feeding and start pipe clamping instruction to the controller according to the judgment result. The controller controls the pipe transmission drive to slow down according to the speed reduction instruction, controls the pipe transmission drive to stop feeding according to the stop pipe feeding and start pipe clamping instruction, and controls the pipe clamping drive to clamp the small-diameter pipe. It can automatically, efficiently and quickly realize the weld positioning of the transmission workpiece, stop the workpiece conveying after positioning and clamp the small-diameter pipe to realize the subsequent small-diameter pipe DR detection, and avoid the missed detection and quality problems existing in the manual weld finding method.

[0006] In order to achieve the above objectives, the technical solution adopted by the present invention is: A method for locating a weld joint comprises the following steps: 1. Video Collection S1. When the small-diameter pipe is transported on the pipe transport system, the outdoor monitoring camera and the indoor monitoring camera respectively collect the outdoor monitoring video and the indoor monitoring video of the small-diameter pipe transported on the pipe transport system; In the present invention, the pipe conveying system is used to convey the small-diameter pipes from outdoors to indoors for DR detection.

[0007] 2. Welding joint detection S2, the edge computer uses its weld detection model to detect the weld area in the outdoor surveillance video and the indoor surveillance video, and determines whether the weld area reaches the determination area; Preferably, in step S2, the weld detection model is trained based on the YOLOX target detection algorithm.

[0008] Preferably, in step S2, the determination area includes an outdoor determination area and an indoor determination area; For the weld area detected by the outdoor monitoring video, determine whether the weld area reaches the outdoor determination area, and enter step S3 if it reaches the outdoor determination area; For the weld area detected by the indoor monitoring video, it is determined whether the weld area reaches the indoor determination area, and if it reaches the indoor determination area, the process goes to step S4.

[0009] Preferably, step S2 comprises: S21, in each frame of the outdoor surveillance video and the indoor surveillance video, demarcate an outdoor determination area and an indoor determination area respectively, and set trip wires at equal distances in the outdoor determination area and the indoor determination area; S22, detecting each frame of the outdoor surveillance video and the indoor surveillance video, and identifying the weld area in each frame of the surveillance video; S23, selecting the midpoint of the weld area as a trajectory point, and tracking the trajectory points of the latest N frames of the outdoor surveillance video or the indoor surveillance video; Preferably, in step S23, the deepsort algorithm is used to track the trajectory points of the latest 15 frames.

[0010] S24, determining whether the trajectory points of the latest N frames are all located in the outdoor determination area or the indoor determination area; If not, it means the weld has not reached the position; If so, take the trajectory points of the current frame and the trajectory points of the Nth frame before, and determine whether the weld area reaches the outdoor determination area or the indoor determination area based on the trajectory points of the current frame and the trajectory points of the Nth frame before.

[0011] Preferably, step S24 further includes: For the outdoor judgment area, if the trajectory point of the current frame is above the trip wire and the trajectory point of the previous N frames is below the trip wire, it means that the weld has reached the outdoor judgment area, the small-diameter pipe needs to be transmitted at a reduced speed, and enter step S3.

[0012] Preferably, step S24 further includes: For the outdoor judgment area, if the trajectory point of the current frame is below the trip wire, and the trajectory point of the previous N frames is above the trip wire, it means that the small-diameter pipe is being repaired and is being transmitted in the opposite direction, and the transmission speed of the small-diameter pipe is not reduced.

[0013] Preferably, step S24 further includes: For the indoor judgment area, if the current frame trajectory point is on the right side of the trip wire and the previous N frame trajectory point is on the left side of the trip wire, it means that the weld has reached the indoor judgment area, the small-diameter pipe needs to stop transmission and start clamping, and enter step S4.

[0014] Preferably, step S24 further includes: For the indoor judgment area, if the trajectory point of the current frame is on the left side of the trip wire, and the trajectory point of the previous N frames is on the right side of the trip wire, it means that the small-diameter pipe is being repaired and is being transmitted in the opposite direction, and the transmission speed of the small-diameter pipe is not reduced.

[0015] 3. One-time identification and speed reduction S3, when it is determined that the weld area in the outdoor monitoring video reaches the outdoor determination area, the edge computer sends a speed reduction instruction to the controller, and the controller controls the pipe transmission drive component of the pipe conveying system to reduce the speed according to the speed reduction instruction; 4. Secondary identification and positioning stop S4. When it is determined that the weld area in the indoor surveillance video reaches the indoor judgment area, the edge computer sends a stop pipe feeding and start pipe clamping instruction to the controller. The controller controls the pipe transmission drive of the pipe conveying system to stop pipe feeding and controls the pipe clamping drive of the pipe clamping system to clamp the small-diameter pipe according to the stop pipe feeding and start pipe clamping instructions, and then stops pipe feeding and clamps the pipe to position the weld.

[0016] In the present invention, outdoor refers to the outside of the flaw detection room. Indoor refers to the inside of the flaw detection room, where an X-ray machine, a X-ray machine motion mechanism, a flat panel detector, a grating, a small-diameter tube clamping and rotating mechanical structure and other mechanisms are installed to perform DR detection on the small-diameter tube.

[0017] In the present invention, outdoor monitoring video is collected, and it is determined whether the weld area in the outdoor monitoring video reaches the outdoor judgment area. After reaching the outdoor judgment area, the pipe transmission drive component of the pipe conveying system is controlled to slow down. This arrangement is because: the transmission speed of small-diameter pipes on the transmission roller is faster, and a motor speed reduction instruction is required before the motor stop instruction arrives, otherwise the weld positioning error will be large.

[0018] In the present invention, indoor monitoring video is collected, and it is determined whether the weld area in the indoor monitoring video reaches the indoor judgment area. After reaching the indoor judgment area, the pipe transmission driving component of the pipe conveying system is controlled to stop feeding the pipe, and the pipe clamping driving component of the pipe clamping system is controlled to clamp the small-diameter pipe. This arrangement is because: after the small-diameter pipe is in place, the small-diameter pipe weld flaw detection needs to clamp the small-diameter pipe and rotate it 4 times. One image is taken for each rotation, and a total of 5 images are taken for defect detection.

[0019] Based on the above-mentioned weld locating method, the present invention further provides a weld locating system, including an outdoor monitoring camera, an indoor monitoring camera, a first switch, an edge calculator, a second switch, a controller, a pipe transmission driver, and a pipe clamping driver; The outdoor monitoring camera and the indoor monitoring camera are installed outdoors and indoors of the lead room, respectively, and are used to collect outdoor monitoring videos and indoor monitoring videos of the small-diameter pipes transported by the pipe transport system, respectively; The first switch is respectively connected to the outdoor surveillance camera, the indoor surveillance camera and the edge computer for communication, and is used to send the outdoor surveillance video and the indoor surveillance video collected by the outdoor surveillance camera and the indoor surveillance camera to the edge computer; The edge calculator is provided with a weld detection model, which is used to detect the weld area in the outdoor monitoring video and the indoor monitoring video, and judge whether the weld area reaches the determination area, and generate and send a speed reduction instruction and a pipe delivery stop and pipe clamping start instruction to the second switch according to the judgment result; The second switch is connected to the edge calculator and the controller for communication, and is used to send the speed reduction instruction and the pipe feeding stop and pipe clamping start instruction to the controller; The controller is respectively connected to the tube transmission drive and the tube clamping drive. The controller controls the tube transmission drive to slow down according to the deceleration instruction, controls the tube transmission drive to stop tube delivery according to the stop tube delivery and start tube clamping instruction, and controls the tube clamping drive to clamp the small-diameter tube.

[0020] Beneficial effects of the present invention: The existing RTV system adopts the method of manually finding welds, and people's attention may be distracted, resulting in the omission of some welds with small differences from the parent material, thus causing quality problems. The present invention proposes an automatic weld positioning method and system, which uses a camera to collect outdoor monitoring video and indoor monitoring video, uses an edge calculator to detect the weld area in the outdoor monitoring video and the indoor monitoring video, and judges whether the weld area reaches the judgment area, and generates and sends a speed reduction instruction and a stop pipe feeding and start pipe clamping instruction to the controller according to the judgment result. The controller controls the pipe transmission drive to slow down according to the speed reduction instruction, controls the pipe transmission drive to stop pipe feeding according to the stop pipe feeding and start pipe clamping instruction, and controls the pipe clamping drive to clamp the small-diameter pipe. It can efficiently and quickly realize the weld positioning of the transmission workpiece, avoid the problem of missed detection, stop the workpiece conveying and clamp the small-diameter pipe after positioning, so as to realize the subsequent small-diameter pipe DR detection; at the same time, it effectively reduces the frequency of manual operation of personnel to prevent the occurrence of weld missed detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of a weld locating system of the present invention; Figure 2 It is a schematic diagram of outdoor weld detection of the present invention; Figure 3 It is a schematic diagram of indoor weld positioning of the present invention. DETAILED DESCRIPTION

[0022] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and drawings to fully understand the purpose, characteristics and effects of the present invention.

[0023] Example 1 A method for locating a weld joint comprises the following steps: S1. When the small-diameter pipe is transported on the pipe transport system, the outdoor monitoring camera and the indoor monitoring camera respectively collect the outdoor monitoring video and the indoor monitoring video of the small-diameter pipe transported on the pipe transport system; S2, the edge computer uses its weld detection model to detect the weld area in the outdoor surveillance video and the indoor surveillance video, and determines whether the weld area reaches the determination area; S3, when it is determined that the weld area in the outdoor monitoring video reaches the outdoor determination area, the edge computer sends a speed reduction instruction to the controller, and the controller controls the pipe transmission drive component of the pipe conveying system to reduce the speed according to the speed reduction instruction; S4. When it is determined that the weld area in the indoor surveillance video reaches the indoor judgment area, the edge computer sends a stop pipe feeding and start pipe clamping instruction to the controller. The controller controls the pipe transmission drive of the pipe conveying system to stop pipe feeding and controls the pipe clamping drive of the pipe clamping system to clamp the small-diameter pipe according to the stop pipe feeding and start pipe clamping instructions, and then stops pipe feeding and clamps the pipe to position the weld.

[0024] In this embodiment, the controller is a PLC. The main purpose of weld positioning is to achieve accurate positioning of the weld area. The technology used is to build a first recognition speed reduction and second recognition positioning stop system based on the frequency domain / image recognition algorithm to ensure the effectiveness of flaw detection area positioning. The main technology is to install cameras to monitor and identify the target area outdoors and indoors, and use deep learning technology to train the weld detection model (YOLOX target detection algorithm). When a weld is identified in the outdoor monitoring area, the edge computer sends a command to the PLC through TCP / IP communication, and the PLC controls the motor to slow down once, and then identifies the weld in the indoor monitoring area. The edge computer sends a command to the PLC through TCP / IP communication, and the PLC controls the motor to stop feeding and start clamping the pipe. It can efficiently and quickly realize the weld positioning of the transmitted workpiece, avoid missed detection problems, stop the workpiece conveying after positioning, and realize subsequent small-diameter pipe DR detection; at the same time, it effectively reduces the frequency of manual operation by personnel to prevent missed detection of welds.

[0025] Example 2 This embodiment further describes step S2 based on embodiment 1.

[0026] In step S2, the determination area includes an outdoor determination area and an indoor determination area; For the weld area detected by the outdoor monitoring video, determine whether the weld area reaches the outdoor determination area, and enter step S3 if it reaches the outdoor determination area; For the weld area detected by the indoor monitoring video, it is determined whether the weld area reaches the indoor determination area, and if it reaches the indoor determination area, the process goes to step S4.

[0027] The S2 step includes: S21, in each frame of the outdoor surveillance video and the indoor surveillance video, demarcate an outdoor determination area and an indoor determination area respectively, and set trip wires at equal distances in the outdoor determination area and the indoor determination area; S22, detecting each frame of the outdoor surveillance video and the indoor surveillance video, and identifying the weld area in each frame of the surveillance video; S23, selecting the midpoint of the weld area as a trajectory point, and tracking the trajectory points of the latest N frames of the outdoor surveillance video or the indoor surveillance video; S24, determining whether the trajectory points of the latest N frames are all located in the outdoor determination area or the indoor determination area; If not, it means the weld has not reached the position; If yes, take the trajectory points of the current frame and the trajectory points of the Nth frame before, and judge whether the weld area reaches the outdoor judgment area or the indoor judgment area according to the trajectory points of the current frame and the trajectory points of the Nth frame before, as follows: For the outdoor judgment area, if the trajectory point of the current frame is above the trip wire and the trajectory point of the previous N frames is below the trip wire, it means that the weld has reached the outdoor judgment area, the small-diameter pipe needs to be transmitted at a reduced speed, and enter step S3.

[0028] For the outdoor judgment area, if the trajectory point of the current frame is below the trip wire, and the trajectory point of the previous N frames is above the trip wire, it means that the small-diameter pipe is being repaired and is being transmitted in the opposite direction, and the transmission speed of the small-diameter pipe is not reduced.

[0029] For the indoor judgment area, if the current frame trajectory point is on the right side of the trip wire and the previous N frame trajectory point is on the left side of the trip wire, it means that the weld has reached the indoor judgment area, the small-diameter pipe needs to stop transmission and start clamping, and enter step S4.

[0030] For the indoor judgment area, if the trajectory point of the current frame is on the left side of the trip wire, and the trajectory point of the previous N frames is on the right side of the trip wire, it means that the small-diameter pipe is being repaired and is being transmitted in the opposite direction, and the transmission speed of the small-diameter pipe is not reduced.

[0031] In this embodiment, the specific technology is as follows: For outdoor and indoor recognition cameras, the determination area is demarcated in their respective monitoring areas, such as Figure 2 and Figure 3 As shown in the yellow box, set a trip wire at equal distances in the yellow box, such as Figure 2 and Figure 3 As shown by the blue line in the middle, the weld detection model is trained using the YOLOX algorithm. The indoor and outdoor cameras process each frame of the video stream respectively and detect the weld when the pipe is transported. Figure 2 and Figure 3 In the red detection frame, select the midpoint of the detection frame as the trajectory point, such as Figure 2 and Figure 3The green track point in the middle uses the deepsort algorithm to track the track points of the latest 15 frames. For each frame of the video stream, it is calculated whether the track point is in the determination area. If the track point is not in the determination area, it means that the weld has not reached the position. If it is in the determination area, take the track point of the current frame and the track point of the 15th frame before. For the outdoor determination area, if the track point of the current frame is above the trip wire and the track point of the 15th frame before is below the trip wire, it means that the weld has reached the outdoor determination area. The edge computer sends a command to the PLC to slow down through TCP / IP communication. If the track point of the current frame is below the trip wire and the track point of the previous 15 frames is above it, it means that the pipe is transported in the opposite direction, which is a rework operation, and the pipe does not slow down. For the indoor judgment area, if the current frame trajectory point is on the right side of the trip wire and the previous 15 frames are on the left side of the trip wire, it means that the weld has reached the indoor judgment area. The edge calculator sends a command to the PLC through TCP / IP communication to stop transmission and locate the weld. If the current frame trajectory point is on the left side of the trip wire and the previous 15 frames are on the right side, it means that the pipe is transmitted in the opposite direction, which is a repair operation, and the pipe does not slow down. This realizes the detection of weld positioning.

[0032] Example 3 A weld locating system, such as Figure 1 As shown, it includes an outdoor monitoring camera, an indoor monitoring camera, a first switch, an edge calculator, a second switch, a controller, a tube transmission driver, and a tube clamping driver; The outdoor monitoring camera and the indoor monitoring camera are installed outdoors and indoors of the lead room, respectively, and are used to collect outdoor monitoring videos and indoor monitoring videos of the small-diameter pipes transported by the pipe transport system, respectively; The first switch is respectively connected to the outdoor surveillance camera, the indoor surveillance camera and the edge computer for communication, and is used to send the outdoor surveillance video and the indoor surveillance video collected by the outdoor surveillance camera and the indoor surveillance camera to the edge computer; The edge calculator is provided with a weld detection model, which is used to detect the weld area in the outdoor monitoring video and the indoor monitoring video, and judge whether the weld area reaches the determination area, and generate and send a speed reduction instruction and a pipe delivery stop and pipe clamping start instruction to the second switch according to the judgment result; The second switch is connected to the edge calculator and the controller for communication, and is used to send the speed reduction instruction and the pipe feeding stop and pipe clamping start instruction to the controller; The controller is respectively connected to the tube transmission drive and the tube clamping drive. The controller controls the tube transmission drive to slow down according to the deceleration instruction, controls the tube transmission drive to stop tube delivery according to the stop tube delivery and start tube clamping instruction, and controls the tube clamping drive to clamp the small-diameter tube.

[0033] The above is a specific description of the implementation mode of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention, and these equivalents or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A weld locating method, characterized in that: The following steps are involved: S1. When the small-diameter pipe is transported on the pipe transport system, the outdoor monitoring camera and the indoor monitoring camera respectively collect the outdoor monitoring video and the indoor monitoring video of the small-diameter pipe transported on the pipe transport system; S2, the edge computer uses its weld detection model to detect the weld area in the outdoor surveillance video and the indoor surveillance video, and determines whether the weld area reaches the determination area; S3, when it is determined that the weld area in the outdoor monitoring video reaches the outdoor determination area, the edge computer sends a speed reduction instruction to the controller, and the controller controls the pipe transmission drive component of the pipe conveying system to reduce the speed according to the speed reduction instruction; S4. When it is determined that the weld area in the indoor surveillance video reaches the indoor judgment area, the edge computer sends a stop pipe feeding and start pipe clamping instruction to the controller. The controller controls the pipe transmission drive of the pipe conveying system to stop pipe feeding and controls the pipe clamping drive of the pipe clamping system to clamp the small-diameter pipe according to the stop pipe feeding and start pipe clamping instructions, and then stops pipe feeding and clamps the pipe to position the weld.

2. The weld locating method according to claim 1, characterized in that: In step S2, the determination area includes an outdoor determination area and an indoor determination area; For the weld area detected by the outdoor monitoring video, determine whether the weld area reaches the outdoor determination area, and enter step S3 if it reaches the outdoor determination area; For the weld area detected by the indoor monitoring video, it is determined whether the weld area reaches the indoor determination area, and if it reaches the indoor determination area, the process goes to step S4.

3. The weld locating method according to claim 2, characterized in that: The S2 step includes: S21, in each frame of the outdoor surveillance video and the indoor surveillance video, demarcate an outdoor determination area and an indoor determination area respectively, and set trip wires at equal distances in the outdoor determination area and the indoor determination area; S22, detecting each frame of the outdoor surveillance video and the indoor surveillance video, and identifying the weld area in each frame of the surveillance video; S23, selecting the midpoint of the weld area as a trajectory point, and tracking the trajectory points of the latest N frames of the outdoor surveillance video or the indoor surveillance video; S24, determining whether the trajectory points of the latest N frames are all located in the outdoor determination area or the indoor determination area; If not, it means the weld has not reached the position; If so, take the trajectory points of the current frame and the trajectory points of the Nth frame before, and determine whether the weld area reaches the outdoor determination area or the indoor determination area based on the trajectory points of the current frame and the trajectory points of the Nth frame before.

4. The method for locating a weld joint according to claim 3, characterized in that: Step S24 also includes: For the outdoor judgment area, if the trajectory point of the current frame is above the trip wire and the trajectory point of the previous N frames is below the trip wire, it means that the weld has reached the outdoor judgment area, the small-diameter pipe needs to be transmitted at a reduced speed, and enter step S3.

5. The weld locating method according to claim 3, characterized in that: Step S24 also includes: For the outdoor judgment area, if the trajectory point of the current frame is below the trip wire, and the trajectory point of the previous N frames is above the trip wire, it means that the small-diameter pipe is being repaired and is being transmitted in the opposite direction, and the transmission speed of the small-diameter pipe is not reduced.

6. The weld locating method according to claim 3, characterized in that: Step S24 also includes: For the indoor judgment area, if the current frame trajectory point is on the right side of the trip wire and the previous N frame trajectory point is on the left side of the trip wire, it means that the weld has reached the indoor judgment area, the small-diameter pipe needs to stop transmission and start clamping, and enter step S4.

7. The weld locating method according to claim 3, characterized in that: Step S24 also includes: For the indoor judgment area, if the trajectory point of the current frame is on the left side of the trip wire, and the trajectory point of the previous N frames is on the right side of the trip wire, it means that the small-diameter pipe is being repaired and is being transmitted in the opposite direction, and the transmission speed of the small-diameter pipe is not reduced.

8. The weld locating method according to claim 1, characterized in that: In step S2, the weld detection model is trained based on the YOLOX target detection algorithm.

9. The weld locating method according to claim 3, characterized in that: In step S23, the deepsort algorithm is used to track the trajectory points of the latest 15 frames.

10. A weld joint positioning system, characterized in that: It includes an outdoor surveillance camera, an indoor surveillance camera, a first switch, an edge calculator, a second switch, a controller, a tube transmission driver, and a tube clamping driver; The outdoor monitoring camera and the indoor monitoring camera are installed outdoors and indoors of the lead room, respectively, and are used to collect outdoor monitoring videos and indoor monitoring videos of the small-diameter pipes transported by the pipe transport system, respectively; The first switch is respectively connected to the outdoor surveillance camera, the indoor surveillance camera and the edge computer for communication, and is used to send the outdoor surveillance video and the indoor surveillance video collected by the outdoor surveillance camera and the indoor surveillance camera to the edge computer; The edge calculator is provided with a weld detection model, which is used to detect the weld area in the outdoor monitoring video and the indoor monitoring video, and judge whether the weld area reaches the determination area, and generate and send a speed reduction instruction and a pipe delivery stop and pipe clamping start instruction to the second switch according to the judgment result; The second switch is connected to the edge calculator and the controller for communication, and is used to send the speed reduction instruction and the pipe feeding stop and pipe clamping start instruction to the controller; The controller is respectively connected to the tube transmission drive and the tube clamping drive. The controller controls the tube transmission drive to slow down according to the deceleration instruction, controls the tube transmission drive to stop tube delivery according to the stop tube delivery and start tube clamping instruction, and controls the tube clamping drive to clamp the small-diameter tube.

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