Intelligent positioning and aligning method and control system in pipeline butt joint process

Abstract

The invention discloses an intelligent positioning and aligning method and a control system in a pipeline butting process. The intelligent positioning and aligning method comprises a butted pipeline, a butting pipeline, a main platform capable of moving the butting pipeline, an auxiliary platform for placing the butted pipeline, and a control unit for controlling the main platform and the auxiliary platform, the control unit controls the main platform to move the butt-joint pipeline so that the butt-joint face can be parallel to the butt-joint face of the butt-joint pipeline placed on the auxiliary platform, and the horizontal distance between the butt-joint face and the butt-joint face of the butt-joint pipeline placed on the auxiliary platform can be equal to 0. The invention discloses a control system for a pipeline butt joint process. The control system comprises a position system, an imaging system, a control unit and an execution system, by means of the control system, intelligent positioning and alignment can be conducted on the straight pipes and the straight pipes and the bent pipes, manual positioning and alignment are not needed, and the working efficiency of pipeline butt joint is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline docking, and specifically relates to an intelligent positioning and alignment method and a control system in a pipeline docking process. Background Art

[0002] In the prior art, the pipe docking process is manually spliced ​​and adjusted, and the docking process includes: the first step: manually placing the pipes to be connected on the support rods of the process system, and positioning them by eye, and manually adjusting the position of the support rods for simple alignment; the second step: manually rotating the threaded columns of the two pipes to achieve pipe connection; the third step: manually adjusting the position of the support rods to achieve the best state after the pipes are connected.

[0003] Positioning and alignment are the most difficult in the existing technology, and there are several disadvantages: first, positioning and alignment are performed by the human eye, and it is impossible to achieve the optimal alignment of two or more pipes and connecting devices, which will pose a hidden danger to the service life and safety of the pipes; second, workers need to manually make multiple position adjustments when performing positioning and alignment, and the manual adjustment process is cumbersome; third, the pipeline positioning and alignment process requires manual alignment, and the splicing efficiency is low.

[0004] Therefore, the present invention is a proposed solution to the above problems. Summary of the invention

[0005] The present invention aims to solve the technical problem of providing an intelligent positioning and alignment method and a control system in a pipeline docking process.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] An intelligent positioning and alignment method in a pipeline docking process comprises a docked pipeline and a docking pipeline, a main platform that can move the docking pipeline, a secondary platform for placing the docked pipeline, and a control unit for controlling the main platform and the secondary platform; the docked pipeline and the docking pipeline are both provided with a docking surface, and the control unit controls the main platform to move the docking pipeline so that the docking surface is parallel to the docking surface of the docked pipeline placed on the secondary platform and the horizontal distance between the two is equal to 0.

[0008] Furthermore, the main platform includes a first positioning alignment platform, a second positioning alignment platform and a horizontal conveying positioning alignment platform, and the sub-platform includes a third positioning alignment platform and a fourth positioning alignment platform. The first positioning alignment platform is a rotation adjustment pipe, the second positioning alignment platform is a height adjustment pipe, and the horizontal conveying positioning alignment platform is a horizontal linear adjustment pipe; a first semi-cylindrical groove is opened on the main platform, and a second semi-cylindrical groove or a semi-circular ring groove is opened on the sub-platform.

[0009] Furthermore, the docked pipe is a straight pipe, and the docking pipe is a straight pipe; the docked pipe is a first pipe, the first pipe is provided with an axis line L1 and a docking surface, the docking pipe is a second pipe, the second pipe is provided with an axis line L2 and a docking surface, and the control unit controls the movement of the main platform so that the axis line L1 of the first pipe and the axis line L2 of the second pipe are on the same horizontal straight line, and the docking surface of the first pipe and the docking surface of the second pipe are parallel and the horizontal distance between the two is equal to 0.

[0010] Furthermore, the inner and outer diameters of the first pipeline and the second pipeline are the same, a first height sensor is provided on the secondary platform, a second height sensor is provided on the main platform, and a visual sensor is provided above the butt ends of the first pipeline and the second pipeline; the steps include:

[0011] (1) The control unit is started and cooperates with the first height sensor and the second height sensor to control the main platform and the auxiliary platform to enter the initial state, that is, the main platform and the auxiliary platform are at the same initial height; the control unit cooperates with the visual sensor to control the main platform and the auxiliary platform so that the second semi-cylindrical groove and the first semi-cylindrical groove are on the same axis;

[0012] (2) After the initial state of step (1) is completed, the first pipe is placed on the first semi-cylindrical groove and the second pipe is placed on the second semi-cylindrical groove. The control unit controls the moving horizontal conveying positioning alignment platform to make the second pipe close to the first pipe. The visual sensor determines in real time that the docking surface of the first pipe is parallel to the docking surface of the second pipe and the horizontal distance between the two is equal to 0; the pipe docking operation can be started.

[0013] Furthermore, the inner and outer diameters of the first pipeline and the second pipeline are different, the butt joint ends of the first pipeline and the second pipeline are connected to a third height sensor and a fourth height sensor respectively, and a visual sensor is provided above the butt joint ends of the first pipeline and the second pipeline; the following steps are included:

[0014] (1) The control unit is started and cooperates with the third height sensor and the fourth height sensor to control the main platform and the auxiliary platform to enter the initial state, that is, the main platform and the auxiliary platform are at the same initial height; the control unit cooperates with the visual sensor to control the main platform and the auxiliary platform so that the second semi-cylindrical groove and the first semi-cylindrical groove are on the same axis; the control unit moves the horizontal conveying positioning alignment platform so that the second pipeline is close to the first pipeline;

[0015] (2) The control unit starts the second positioning and alignment platform to adjust the height of the second pipeline. The difference between the inner radius of the first pipeline and the second pipeline is the height difference between the two pipelines. The third height sensor and the fourth height sensor are respectively connected to the butt joint ends of the first pipeline and the second pipeline, and the height difference data is measured in real time and transmitted to the control unit. The control unit starts the second positioning and alignment platform to adjust the height of the second pipeline. The visual sensor measures in real time that the distance between the butt joint ends of the first pipeline and the second pipeline is close to 0. The control unit moves the horizontal conveying positioning and alignment platform to make the second pipeline close to the first pipeline to enter the butt joint state; then the pipeline butt joint operation can be started.

[0016] Furthermore, the docked pipe is a straight pipe, and the docking pipe is a curved pipe; the docked pipe is a first pipe, the first pipe is provided with an axis line L1 and a docking surface, the docking pipe is a third pipe, the third pipe is provided with an axis line L5 and a docking surface, and the control unit controls the movement of the main platform so that the axis line L1 of the first pipe and the axis line L5 of the third pipe are on the same horizontal straight line, and the docking surface of the first pipe and the docking surface of the third pipe are parallel and the horizontal distance between the two is equal to 0.

[0017] Furthermore, the inner and outer diameters of the first pipeline and the third pipeline are the same, a first height sensor is provided on the secondary platform, a second height sensor is provided on the main platform, and a visual sensor is provided above the butt ends of the first pipeline and the second pipeline; the steps include:

[0018] (1) The control unit starts the initial state in which the main platform and the auxiliary platform are at the same initial height, and the semicircular annular groove and the first semi-cylindrical groove are at the same initial height; the first pipe is placed on the first semi-cylindrical groove and the third pipe is placed on the semicircular annular groove, and the first pipe and the third pipe are at the same height, and the control unit controls the movement of the horizontal conveying positioning alignment platform to make the third pipe close to the first pipe;

[0019] (2) The visual sensor captures the relative position state of the first pipeline and the third pipeline, and transmits the image to the control unit. The control unit determines whether the angle α between the butt joint surface of the first pipeline and the butt joint surface of the third pipeline in the image meets the preset standard of the angle, wherein: the determination method is whether the angle α meets the preset standard of the angle, the preset standard of the angle α is that α is equal to 0°, and if it meets the preset standard of the angle, the next step is performed; if it is determined that the angle α does not meet the preset standard of the angle, the control unit starts the first positioning and alignment platform 32 to rotate so that the angle α meets the preset standard of the angle, and the visual sensor 7 captures the image in real time and transmits the image to the control unit. The control unit determines in real time until the butt joint surface of the first pipeline and the butt joint surface of the third pipeline are parallel;

[0020] (3) The control unit determines whether the butt end distance between the butt surface of the first pipe and the butt surface of the third pipe is equal to 0. The visual sensor captures the butt end distance between the first pipe and the third pipe in real time and transmits the image to the control unit. The image measured by the visual sensor in real time has the X axis in the horizontal direction and the Y axis in the vertical direction. The control unit performs image recognition calculation, wherein the origin of the center point coordinate P0 of the butt surface of the first pipe is preset as (0, 0), the center point coordinate P1 (x, y) of the butt surface of the third pipe is obtained, and the actual offset vector R (L, K) of the pipeline image is obtained according to the center point coordinate P0, L = x, K = y; at this time, the K value is the butt end distance between the first pipe and the third pipe, and the control unit controls the movement of the horizontal conveying positioning alignment platform to make the butt surface of the first pipe and the butt surface of the third pipe close to each other until the butt end distance K is equal to 0, and then the pipeline butt operation can be started.

[0021] A control system for a pipeline docking process comprises a position system, an imaging system, a control unit and an execution system; wherein: the position system comprises a first height sensor on a secondary platform, a second height sensor on a main platform, a third height sensor and a fourth height sensor are connected to the docking surface end of a first pipeline and the docking surface end of a second pipeline respectively; the imaging system comprises a visual sensor; the control unit comprises a processing system for receiving image data collected by the imaging system and height data acquired by the height sensor; the processing system comprises a calculation and recognition unit and a control element; the calculation and recognition unit performs recognition and calculation according to the image data and the height data, the control element sends the recognition and calculation results of the image data and the height data of the calculation and recognition element to the control element, and the control element controls the execution system; the execution system comprises a main platform and a secondary platform, and is used for adjusting the alignment of the pipeline axis and the docking surface.

[0022] Furthermore, the main platform includes a first positioning and alignment platform, a second positioning and alignment platform and a horizontal conveying positioning and alignment platform, and the sub-platform includes a third positioning and alignment platform and a fourth positioning and alignment platform. The first positioning and alignment platform adjusts the pipeline by rotating the rotary cylinder, and the second positioning and alignment platform adjusts the pipeline height by a linear cylinder installed in the height direction. The horizontal conveying positioning and alignment platform is a horizontally adjusted pipeline, and the docking distance between pipelines is adjusted by a linear cylinder installed in the horizontal direction.

[0023] Furthermore, the calculation and identification unit includes an image data processing module and a rotation coordinate system calculation module; wherein the image data processing module includes a data analysis element; and the rotation coordinate system calculation module includes a rotation transformation element and a movement element.

[0024] The beneficial effects of the present invention are as follows: Compared with ordinary positioning and alignment processes, the present invention can intelligently position and align straight pipes and straight pipes and curved pipes through a control system and a platform, without the need for manual positioning and alignment, thereby improving the work efficiency of pipeline docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a platform structure for connecting straight pipes to each other in an embodiment of the present invention;

[0026] Figure 2 It is a schematic diagram of the platform structure for butting a straight pipe with a curved pipe in an embodiment of the present invention;

[0027] Figure 3 It is a schematic diagram of image coordinates of the butt joint of a straight pipe and a curved pipe in an embodiment of the present invention;

[0028] Figure 4 It is a schematic diagram of the process structure of connecting a straight pipe with a bent pipe in an embodiment of the present invention;

[0029] Figure 5 Schematic diagram of the structure of a control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] Below, refer to the attached Figure 1-5 An intelligent positioning and alignment method in a pipeline docking process according to the present disclosure is described in detail. In order to make the purpose, technical solution and advantages of the present utility model clearer, the technical solution in the embodiment of the present disclosure will be clearly and completely described below in combination with the drawings in the embodiment of the present disclosure. Obviously, the described embodiment is a part of the embodiment of the present disclosure, not all of the embodiments.

[0031] Therefore, the following detailed description of the embodiments of the present disclosure provided in conjunction with the accompanying drawings is not intended to limit the scope of the present disclosure claimed for protection, but merely represents selected embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present disclosure.

[0032] Unless otherwise defined in the context, the singular includes the plural. Throughout the specification, the terms "comprising", "having", etc. are used herein to specify the presence of the features, numbers, steps, operations, elements, parts or combinations thereof, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, elements, parts or combinations thereof.

[0033] In addition, even though terms including ordinal numbers such as "first," "second," etc. may be used to describe various components, these components are not limited by these terms, and these terms are only used to distinguish one element from other elements. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component without departing from the scope of the present disclosure.

[0034] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the disclosed product is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present disclosure.

[0035] An intelligent positioning and alignment method in a pipeline docking process, according to an implementation method, reference Figure 1 , comprising a first pipeline 1, a second pipeline 2 docking with the first pipeline 1, a main platform 3 capable of moving the second pipeline 2, a sub-platform 4 for placing the first pipeline 1, and a control unit for controlling the main platform 3 and the sub-platform 4. During the docking operation, the docking surface 12 of the first pipeline 1 and the docking surface 22 of the second pipeline 2 need to be parallel and the horizontal distance between the two is equal to 0; in a straight pipe, the axis line L1 of the first pipeline 1 and the axis line L2 of the second pipeline 2 need to be on the same horizontal straight line, a first semi-cylindrical groove 41 capable of placing the first pipeline 1 is provided on the main platform 3, and a second semi-cylindrical groove 31 capable of placing the second pipeline 2 is provided on the sub-platform 4; for a curved pipe, the semi-cylindrical groove is designed as a semi-circular annular groove.

[0036] Generally, the height and horizontal direction of the second semi-cylindrical groove 31 of the secondary platform 4 are not changed, and the first semi-cylindrical groove 41 of the main platform 3 is moved to adapt to the second semi-cylindrical groove 31, so that the axis line L1 of the first pipe 1 and the axis line L2 of the second pipe 2 are on the same horizontal straight line, and the docking surface 12 of the first pipe 1 and the docking surface 22 of the second pipe 2 are parallel and the horizontal distance between the two is equal to 0.

[0037] There are two situations for pipeline connection. The first one is that the inner and outer diameters of the connected first pipeline 1 and the second pipeline 2 are the same. The control unit adjusts the main platform 3 to adjust the second semi-cylindrical groove 31 and the first semi-cylindrical groove 41 to be on the same horizontal plane. The docking surface 12 of the first pipeline 1 and the docking surface 22 of the second pipeline 2 are parallel, and the horizontal distance between the two is less than or equal to 0. The second one is that the inner and outer diameters of the connected first pipeline 1 and the second pipeline 2 are different. The control unit adjusts the main platform 3 so that the axis line L2 of the second pipeline 2 and the axis line L1 of the first pipeline 1 are on the same horizontal straight line. The docking surface 12 of the first pipeline 1 and the docking surface 22 of the second pipeline 2 are parallel, and the horizontal distance between the two is less than or equal to 0. The third one is that the first two are straight pipe connection situations, and the third curved pipe connection mode is that a straight pipe and a curved pipe are selected for docking in the embodiment, and the docking surface 12 and the docking surface 22 are parallel, and the horizontal distance between the two is equal to 0.

[0038] In some specific embodiments, the main platform 3 includes a first positioning alignment platform 32, a second positioning alignment platform 33 and a horizontal conveying positioning alignment platform 34, and the sub-platform 4 includes a third positioning alignment platform 42 and a fourth positioning alignment platform 43. The first positioning alignment platform 32 is a rotation adjustment pipe, the second positioning alignment platform 33 is a height adjustment pipe, and the horizontal conveying positioning alignment platform 34 is a horizontal linear adjustment pipe.

[0039] For the first case, the following steps are included:

[0040] (1) The control unit starts the main platform 3 and the auxiliary platform 4 to enter the initial state, that is, the main platform 3 and the auxiliary platform 4 are at the same initial height, the second semi-cylindrical groove 31 and the first semi-cylindrical groove 41 are on the same axis, the initial height is measured by the first height sensor 5 on the auxiliary platform 4 and the second height sensor 6 on the main platform 3, and the second semi-cylindrical groove 31 and the first semi-cylindrical groove 41 are on the same axis and measured by the visual sensor 7. Because the second semi-cylindrical groove 31 and the first semi-cylindrical groove 41 have the same structure, the outer contours of the second semi-cylindrical groove 31 and the first semi-cylindrical groove 41 can be aligned;

[0041] (2) After the initial state of step (1) is completed, the first pipe 1 is placed on the first semi-cylindrical groove 41 and the second pipe 2 is placed on the second semi-cylindrical groove 31. The control unit controls the moving horizontal conveying positioning alignment platform 34 to make the second pipe 2 close to the first pipe 1. The visual sensor 7 determines in real time that the docking surface 12 of the first pipe and the docking surface 22 of the second pipe are parallel and the horizontal distance between the two is equal to 0. The distance is measured by the visual sensor 7.

[0042] (3) Perform pipeline docking operations.

[0043] For the second case, the following steps are included:

[0044] (1) The control unit starts the main platform 3 and the auxiliary platform 4 in the initial state, that is, the main platform 3 and the auxiliary platform 4 are at the same initial height, and the second semi-cylindrical groove 31 and the first semi-cylindrical groove 41 are on the same axis as determined by the visual sensor 7; the control unit moves the horizontal conveying positioning alignment platform 34 to make the second pipeline 2 close to the first pipeline 1;

[0045] (2) Since the inner and outer diameters of the first pipeline 1 and the second pipeline 2 are different, in order to make the horizontal conveying positioning alignment platform 34 horizontally adjust the second pipeline 2 so that the axis L2 of the second pipeline 2 and the axis L1 of the first pipeline 1 are on the same horizontal straight line, the control unit needs to start the second positioning alignment platform 33 to adjust the height of the second pipeline 2. The height difference is the difference between the inner radius of the first pipeline 1 and the second pipeline 2. The third height sensor 8 and the fourth height sensor 9 are respectively connected to the butt ends of the first pipeline 1 and the second pipeline 2, and the height difference data is measured in real time and transmitted to the control unit. According to the height difference measured by the control unit, the control unit starts the second positioning alignment platform 33 to adjust the height of the second pipeline 2. Finally, the visual sensor 7 measures in real time that the distance between the butt ends of the first pipeline 1 and the second pipeline 2 is close to 0, and the control unit moves the horizontal conveying positioning alignment platform 34 to make the second pipeline 2 close to the first pipeline 1 and enter the butt state;

[0046] (3) Perform pipeline docking operations.

[0047] For the third case, including the first pipeline 1 and the third pipeline 10, the third pipeline 10 is provided with an axial center line L5, the second semi-cylindrical groove 31 is configured as a semi-circular annular groove 35, the top of the third pipeline 10 is provided with a fifth height sensor 11, and the third pipeline 10 has a docking surface 102, including the following steps:

[0048] (1) The control unit starts the main platform 3 and the auxiliary platform 4 in the initial state, that is, the main platform 3 and the auxiliary platform 4 are at the same initial height, and the semicircular annular groove 35 and the first semi-cylindrical groove 41 are at the same initial height; in the embodiment here, the inner and outer diameters of the pipelines are the same, that is, the first pipeline 1 and the third pipeline 10 are at the same height, and the control unit controls the moving horizontal conveying positioning alignment platform 34 to make the third pipeline 10 close to the first pipeline 1, so that the docking surface 12 of the first pipeline 1 and the docking surface 102 of the third pipeline 10 are parallel and at the same horizontal height;

[0049] (2) The visual sensor 7 captures the relative position state of the first pipe 1 and the third pipe 10, and transmits the image to the control unit, which determines whether the angle α between the butt joint surface 12 of the first pipe 1 and the butt joint surface 102 of the third pipe 10 in the image meets the preset angle standard, wherein:

[0050] The determination method is whether the angle α meets the preset standard of the angle. The preset standard of the angle α is that α is equal to 0°. If the preset standard of the angle is met, the next step is performed.

[0051] When it is determined that the angle α does not meet the preset standard of the angle, the control unit starts the first positioning and alignment platform 32 to rotate so that the angle α meets the preset standard of the angle, the visual sensor 7 takes pictures in real time and transmits the images to the control unit, and the control unit makes a real-time determination until the butt joint surface 12 and the butt joint surface 102 are parallel;

[0052] (3) The visual sensor 7 takes a real-time picture of the distance between the butt ends of the first pipeline 1 and the third pipeline 10, and transmits the image to the control unit. Whether K is equal to 0, the image measured in real time by the visual sensor 7 has the X axis in the horizontal direction and the Y axis in the vertical direction. The control unit performs image recognition calculation, wherein the origin of the center point coordinate P0 of the butt end 12 of the first pipeline 1 is preset as (0, 0), the center point coordinate P1 (x, y) of the butt end 102 of the third pipeline 10 is obtained, and the actual offset vector R (L, K) of the pipeline image is obtained according to the center point coordinate P0, L = x, K = y; the K value at this time is the distance between the butt ends of the first pipeline 1 and the third pipeline 10, the visual sensor 7 takes a real-time picture and transmits the image to the control unit, the control unit determines in real time, and the control unit controls the moving horizontal conveying positioning alignment platform 34 to make the butt end 12 and the butt end 102 approach each other until the butt end distance is equal to 0, and the butt end 12 and the butt end 102 are in a butt preparation state;

[0053] (4) Perform pipeline docking operations.

[0054] refer to Figure 5 The present invention also discloses a control system based on the above method, including a position system, an imaging system, a control unit, and an execution system; wherein:

[0055] The position system includes a first height sensor 5 on the secondary platform 4, a second height sensor 6 on the main platform 3, and a third height sensor 8 and a fourth height sensor 9 are connected to the butt end of the first pipe 1 and the butt end of the second pipe 2, respectively. The above sensors are all measured by laser. The installation position of the first height sensor 5 and the second height sensor 6 is relatively simple. They can be installed horizontally at the same height. The third height sensor 8 and the fourth height sensor 9 can be installed horizontally at the same height for pipes with the same inner and outer diameters.

[0056] For the second docking situation, a third height sensor 8 and a fourth height sensor 9 are respectively connected to the docking surface ends of the first pipe 1 and the second pipe 2, and the height difference data needs to be measured in real time and transmitted to the control unit. According to the height difference measured by the control unit, the control unit starts the second positioning alignment platform 33 to adjust the height of the second pipe 2 to achieve the second docking situation.

[0057] As for the third docking situation, the situation of the bent pipe is complicated. First, the above bent pipe embodiment discloses the situation where the inner and outer diameters are the same. The control unit starts the first positioning alignment platform 32 to rotate so that the angle α meets the preset standard of the angle; as for the situation where the inner and outer diameters are different, it is necessary to connect the third height sensor 8 and the fifth height sensor 11 to the docking surface ends of the first pipe 1 and the third pipe 10 respectively, and it is necessary to measure the height difference data in real time and transmit it to the control unit. According to the height difference measured by the control unit, the control unit starts the second positioning alignment platform 33 to adjust the height of the second pipe 2.

[0058] The imaging system includes a visual sensor 7, which is arranged above the butt ends of the two pipes and is used to obtain images of the pipe installation positions, wherein the pipes include a first pipe 1 placed on the secondary platform 4 and a second pipe 2 or a third pipe 10 placed on the main platform 3; specifically, a camera and a lens, wherein the lens is used to focus and adjust the light to form a clear image; the camera is used to capture, process and store image information, and is responsible for converting optical signals into electrical signals, and then transmitting the electrical signals to the control unit through a transmitter;

[0059] The control unit includes a processing system for receiving image data collected by the imaging system and height data acquired by the height sensor; the processing system includes a calculation and recognition unit and a control element; the image data and height data are transmitted to the calculation and recognition unit, the calculation and recognition unit performs recognition calculation based on the image data and the height data, the control element sends the recognition calculation result of the image data and the height data of the calculation and recognition element to the control element, and the control element controls the execution system.

[0060] The execution system includes a main platform 3 and a sub-platform 4, which are used to adjust the pipeline axis and the docking surface. The main platform 3 includes a first positioning alignment platform 32, a second positioning alignment platform 33 and a horizontal conveying positioning alignment platform 34, and the sub-platform 4 includes a third positioning alignment platform 42 and a fourth positioning alignment platform 43. The first positioning alignment platform 32 adjusts the pipeline by rotating the rotary cylinder, and the second positioning alignment platform 33 adjusts the pipeline height by a linear cylinder installed in the height direction. The horizontal conveying positioning alignment platform 34 is a horizontal linear adjustment pipeline, and the docking distance between the pipelines is adjusted by a linear cylinder installed in the horizontal direction.

[0061] Of course, the third positioning and alignment platform 42 can also use a rotating cylinder to rotate and adjust the pipeline, and the fourth positioning and alignment platform 43 can adjust the pipeline height through a linear cylinder installed in the height direction. In the embodiment of the present invention, the main platform 3 is used to cooperate with the auxiliary platform 4 in movement.

[0062] The calculation and identification unit includes an image data processing module and a rotating coordinate system calculation module; wherein the image data processing module includes an image filtering element and a data analysis element; the rotating coordinate system calculation module includes a rotation transformation element and a moving element; the moving element is used to move the position of the pipeline on the X and Y axes; the rotation transformation element is connected to the data analysis unit, and the rotating coordinate system calculation module is used to calculate the coordinate transformation information of the axis of the first pipeline 1 in the direction coinciding with the Y axis in the image coordinate information or calculate the actual offset vector and angle of the third pipeline 10, and control the execution system to adjust the coordinates of the actual offset vector and angle of the pipeline through the control element.

Claims

1. An intelligent positioning and alignment method in a pipeline docking process, characterized in that: It includes a docked pipe and a docking pipe, a main platform for moving the docking pipe, a secondary platform for placing the docked pipe, and a control unit for controlling the main platform and the secondary platform; The docked pipe and the docking pipe are both provided with a docking surface, and the control unit controls the main platform to move the docking pipe so that the docking surface is parallel to the docking surface of the docked pipe placed on the auxiliary platform and the horizontal distance between the two is equal to 0.

2. The intelligent positioning and alignment method in the pipeline docking process according to claim 1 is characterized in that: The main platform includes a first positioning and alignment platform, a second positioning and alignment platform, and a horizontal transport positioning and alignment platform, and the auxiliary platform includes a third positioning and alignment platform and a fourth positioning and alignment platform, the first positioning and alignment platform is a rotation adjustment pipeline, the second positioning and alignment platform is a height adjustment pipeline, and the horizontal transport positioning and alignment platform is a horizontal linear adjustment pipeline; A first semi-cylindrical groove is provided on the main platform, and a second semi-cylindrical groove or a semi-circular ring groove is provided on the auxiliary platform.

3. The intelligent positioning and alignment method in the pipeline docking process according to claim 2 is characterized in that: The butted pipe is a straight pipe, and the butted pipe is a straight pipe; The docked pipe is a first pipe, the first pipe is provided with an axis line L1 and a docking surface, the docking pipe is a second pipe, the second pipe is provided with an axis line L2 and a docking surface, and the control unit controls the main platform to move so that the axis line L1 of the first pipe and the axis line L2 of the second pipe are on the same horizontal straight line, and the docking surface of the first pipe and the docking surface of the second pipe are parallel and the horizontal distance between the two is equal to 0.

4. The intelligent positioning and alignment method in the pipeline docking process according to claim 3 is characterized in that: The first pipeline and the second pipeline have the same inner and outer diameters, a first height sensor is provided on the auxiliary platform, a second height sensor is provided on the main platform, and a visual sensor is provided above the butt ends of the first pipeline and the second pipeline; the process comprises the following steps: (1) The control unit is started and cooperates with the first height sensor and the second height sensor to control the main platform and the auxiliary platform to enter the initial state, that is, the main platform and the auxiliary platform are at the same initial height; The control unit cooperates with the visual sensor to control the main platform and the auxiliary platform so that the second semi-cylindrical groove and the first semi-cylindrical groove are on the same axis; (2) After the initial state of step (1) is completed, the first pipe is placed on the first semi-cylindrical groove and the second pipe is placed on the second semi-cylindrical groove. The control unit controls the moving horizontal conveying positioning alignment platform to make the second pipe close to the first pipe. The visual sensor determines in real time that the docking surface of the first pipe is parallel to the docking surface of the second pipe and the horizontal distance between the two is equal to 0; the pipe docking operation can be started.

5. The intelligent positioning and alignment method in the pipeline docking process according to claim 3 is characterized in that: The inner and outer diameters of the first pipeline and the second pipeline are different, the butt joint ends of the first pipeline and the second pipeline are connected to a third height sensor and a fourth height sensor respectively, and a visual sensor is provided above the butt joint ends of the first pipeline and the second pipeline; the process comprises the following steps: (1) The control unit is started and cooperates with the third height sensor and the fourth height sensor to control the main platform and the auxiliary platform to enter the initial state, that is, the main platform and the auxiliary platform are at the same initial height; The control unit cooperates with the visual sensor to control the main platform and the auxiliary platform so that the second semi-cylindrical groove and the first semi-cylindrical groove are on the same axis; The control unit moves the horizontal conveying positioning and alignment platform to make the second pipeline close to the first pipeline; (2) The control unit starts the second positioning and alignment platform to adjust the height of the second pipeline. The difference between the inner radius of the first pipeline and the second pipeline is the height difference between the two pipelines. The third height sensor and the fourth height sensor are respectively connected to the butt joint ends of the first pipeline and the second pipeline, and the height difference data is measured in real time and transmitted to the control unit. The control unit starts the second positioning and alignment platform to adjust the height of the second pipeline. The visual sensor measures in real time that the distance between the butt joint ends of the first pipeline and the second pipeline is close to 0. The control unit moves the horizontal conveying positioning and alignment platform to make the second pipeline close to the first pipeline to enter the butt joint state; then the pipeline butt joint operation can be started.

6. The intelligent positioning and alignment method in the pipeline docking process according to claim 2 is characterized in that: The butted pipe is a straight pipe, and the butted pipe is a curved pipe; The docked pipe is a first pipe, the first pipe is provided with an axis line L1 and a docking surface, the docking pipe is a third pipe, the third pipe is provided with an axis line L5 and a docking surface, and the control unit controls the main platform to move so that the axis line L1 of the first pipe and the axis line L5 of the third pipe are on the same horizontal straight line, and the docking surface of the first pipe and the docking surface of the third pipe are parallel and the horizontal distance between the two is equal to 0.

7. The intelligent positioning and alignment method in the pipeline docking process according to claim 6 is characterized in that: The first pipeline and the third pipeline have the same inner and outer diameters, a first height sensor is provided on the auxiliary platform, a second height sensor is provided on the main platform, and a visual sensor is provided above the butt ends of the first pipeline and the second pipeline; the process comprises the following steps: (1) The control unit starts the initial state in which the main platform and the auxiliary platform are at the same initial height, and the semicircular annular groove and the first semi-cylindrical groove are at the same initial height; the first pipe is placed on the first semi-cylindrical groove and the third pipe is placed on the semicircular annular groove, and the first pipe and the third pipe are at the same height, and the control unit controls the movement of the horizontal conveying positioning alignment platform to make the third pipe close to the first pipe; (2) The visual sensor captures the relative position state of the first pipe and the third pipe, and transmits the image to the control unit, which determines whether the angle α between the butt joint surface of the first pipe and the butt joint surface of the third pipe in the image meets the preset angle standard, wherein: The determination method is whether the angle α meets the preset standard of the angle. The preset standard of the angle α is that α is equal to 0°. If the preset standard of the angle is met, the next step is performed. When it is determined that the angle α does not meet the preset standard of the angle, the control unit starts the first positioning and alignment platform 32 to rotate so that the angle α meets the preset standard of the angle, the visual sensor 7 takes pictures in real time and transmits the images to the control unit, and the control unit makes a real-time determination until the butt joint surface of the first pipe and the butt joint surface of the third pipe are parallel; (3) The control unit determines whether the butt end distance between the butt surface of the first pipe and the butt surface of the third pipe is equal to 0. The visual sensor captures the butt end distance between the first pipe and the third pipe in real time and transmits the image to the control unit. The image measured by the visual sensor in real time has the X axis in the horizontal direction and the Y axis in the vertical direction. The control unit performs image recognition calculation, wherein the origin of the center point coordinate P0 of the butt surface of the first pipe is preset as (0, 0), the center point coordinate P1 (x, y) of the butt surface of the third pipe is obtained, and the actual offset vector R (L, K) of the pipeline image is obtained according to the center point coordinate P0, L = x, K = y; at this time, the K value is the butt end distance between the first pipe and the third pipe, and the control unit controls the movement of the horizontal conveying positioning alignment platform to make the butt surface of the first pipe and the butt surface of the third pipe close to each other until the butt end distance K is equal to 0, and then the pipeline butt operation can be started.

8. A control system for a pipeline docking process, using the method according to any one of claims 1 to 7, characterized in that: It includes a positioning system, an imaging system, a control unit, and an execution system; wherein: The position system comprises a first height sensor on the auxiliary platform, a second height sensor on the main platform, and a third height sensor and a fourth height sensor are connected to the butt joint end of the first pipeline and the butt joint end of the second pipeline respectively; The imaging system includes a visual sensor; The control unit includes a processing system for receiving image data collected by the imaging system and height data acquired by the height sensor; the processing system includes a calculation and recognition unit and a control element; the calculation and recognition unit performs recognition calculation according to the image data and the height data, and the control element sends the recognition calculation result of the image data and the height data of the calculation and recognition element to the control element, and the control element controls the execution system; The execution system includes a main platform and a sub-platform, which are used to adjust the alignment of the pipeline axis and the butt surface.

9. A control system for a pipeline docking process according to claim 8, characterized in that: The main platform includes a first positioning and alignment platform, a second positioning and alignment platform, and a horizontal conveying positioning and alignment platform; the sub-platform includes a third positioning and alignment platform and a fourth positioning and alignment platform; the first positioning and alignment platform adjusts the pipeline by rotating the rotary cylinder; the second positioning and alignment platform adjusts the pipeline height by a linear cylinder installed in the height direction; the horizontal conveying positioning and alignment platform is a horizontally adjustable pipeline, and the docking distance between pipelines is adjusted by a linear cylinder installed in the horizontal direction.

10. A control system for pipeline docking process according to claim 8, characterized in that: The calculation and identification unit includes an image data processing module and a rotation coordinate system calculation module; wherein the image data processing module includes a data analysis element; and the rotation coordinate system calculation module includes a rotation transformation element and a movement element.

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