Pipe flattening method and device, electronic equipment and storage medium

Abstract

The invention provides a pipe flattening method and device, electronic equipment and a storage medium. The method comprises the steps that the flattening angle determining step is executed to obtain the flattening angle of a pipe; the pipe is controlled to rotate in the direction opposite to the leveling angle, and the rotation angle is the angle value of the leveling angle of the pipe; the step of determining the leveling angle is executed to obtain the leveling angle after the pipe rotates; determining whether the flattening angle is smaller than a preset angle; when the leveling angle is smaller than the preset angle, it is determined that the pipe is leveled; when the leveling angle is larger than or equal to the preset angle, the pipe is controlled to rotate in the direction opposite to the leveling angle, and the rotation angle is the angle value of the leveling angle of the pipe; determining a leveling angle, namely scanning the pipe by using a line laser sensor to obtain a first point cloud; performing data processing on the first point cloud to obtain a second point cloud, and performing straight line fitting on the second point cloud to obtain a target straight line; and the flattening angle of the pipe is determined according to the target straight line, the execution action of pipe flattening is simplified, and the flattening efficiency of pipe flattening is improved.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a tube leveling method, device, electronic equipment and storage medium. Background Art

[0002] When processing the pipe, the pipe is clamped on the chuck, and the chuck needs to be rotated so that the surface of the pipe remains parallel to the horizontal plane of the machine tool.

[0003] At present, the method of leveling pipes includes capacitor leveling; wherein, the steps of capacitor leveling include: 1. Clamp the pipe to be leveled with a chuck; 2. Rotate the chuck so that the surface to be leveled faces upward, so that the cutting head of the laser cutter can follow the pipe surface and obtain the following height value; 3. Set two detection points on the plane to be leveled according to the pipe cross-sectional parameters; 4. Plan the movement of the cutting head, move to the top of the points to be detected respectively, make the cutting head follow vertically to the pipe surface, obtain the height value, and record the lateral movement distance of the two detection points at the same time; 5. Calculate the angle to be leveled according to the height difference and the lateral movement distance; if the angle meets the leveling threshold, it indicates that the leveling is successful; otherwise, rotate the chuck according to the calculated leveling angle to complete the leveling action; continue to perform the operation in step 4 until the conditions for successful leveling are met.

[0004] However, capacitive leveling requires the cutting head to be lifted up multiple times to follow the pipe surface to obtain the height value, and to perform lateral movement repeatedly to determine the lateral distance, and then to level the pipe. The execution of the action is complicated and the efficiency of pipe leveling is low. Therefore, how to improve the efficiency of pipe leveling is an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a pipe leveling method, device, electronic device and storage medium, which can solve the problem that capacitive leveling requires the cutting head to be lifted up multiple times to follow the pipe surface to obtain the height value, and repeatedly perform lateral movement to determine the lateral distance, and then level the pipe, and the execution action is complicated and the pipe leveling efficiency is low.

[0006] According to a first aspect of the present invention, a pipe flattening method is provided, the method comprising:

[0007] Executing a step of determining a leveling angle to obtain a leveling angle of the pipe;

[0008] Controlling the pipe to rotate in the opposite direction of the leveling angle, the rotation angle being the angle value of the leveling angle of the pipe;

[0009] Executing a leveling angle determination step to obtain a leveling angle of the pipe after rotation;

[0010] Determining whether the leveling angle is less than the preset angle;

[0011] When the leveling angle is less than the preset angle, determining that the pipe has been leveled;

[0012] When the leveling angle is greater than or equal to the preset angle, triggering the step of controlling the tube to rotate in the opposite direction of the leveling angle, the rotation angle being the angle value of the leveling angle of the tube;

[0013] Wherein, the step of determining the leveling angle comprises:

[0014] Scan the pipe using a line laser sensor to obtain a first point cloud;

[0015] Performing data processing on the first point cloud to obtain a second point cloud, and performing straight line fitting on the second point cloud to obtain a target straight line;

[0016] The straightening angle of the pipe is determined according to the target straight line.

[0017] According to a second aspect of the present invention, there is provided a pipe flattening device, the device comprising:

[0018] A first execution module, configured to execute a step of determining a leveling angle to obtain a leveling angle of the pipe;

[0019] A pipe rotation module, used to control the pipe to rotate in the opposite direction of the straightening angle, and the rotation angle is the angle value of the straightening angle of the pipe;

[0020] A second execution module is used to execute the step of determining the leveling angle to obtain the leveling angle of the pipe after rotation;

[0021] A first determination module, used to determine whether the leveling angle is less than the preset angle;

[0022] A second determination module, configured to determine that the pipe has been leveled when the leveling angle is less than the preset angle;

[0023] A trigger module, configured to trigger the step of controlling the tube to rotate in the opposite direction of the flattening angle when the flattening angle is greater than or equal to the preset angle, wherein the rotation angle is the angle value of the flattening angle of the tube;

[0024] Wherein, the step of determining the leveling angle comprises:

[0025] Scan the pipe using a line laser sensor to obtain a first point cloud;

[0026] Performing data processing on the first point cloud to obtain a second point cloud, and performing straight line fitting on the second point cloud to obtain a target straight line;

[0027] The straightening angle of the pipe is determined according to the target straight line.

[0028] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory.

[0029] The memory is used to store codes and related data;

[0030] The processor is used to execute the code in the memory to implement the pipe flattening method as described in any one of the embodiments of the present invention.

[0031] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements a pipe flattening method as described in any one of the embodiments of the present invention.

[0032] In an embodiment of the present invention, a leveling angle determination step is executed to obtain the leveling angle of the pipe; the pipe is controlled to rotate in the opposite direction of the leveling angle, and the rotation angle is the angle value of the leveling angle of the pipe; the leveling angle determination step is executed to obtain the leveling angle of the rotated pipe; it is determined whether the leveling angle is less than a preset angle; when the leveling angle is less than the preset angle, it is determined that the pipe has been leveled; when the leveling angle is greater than or equal to the preset angle, a step of controlling the pipe to rotate in the opposite direction of the leveling angle, and the rotation angle is the angle value of the leveling angle of the pipe is triggered; wherein, the leveling angle determination step includes: scanning the pipe with a line laser sensor to obtain a first point cloud; performing data processing on the first point cloud to obtain a second point cloud, and performing straight line fitting on the second point cloud to obtain a target straight line; and determining the leveling angle of the pipe according to the target straight line. That is, the present invention uses a line laser sensor to scan the pipe to obtain a first point cloud of the pipe, performs data processing on the first point cloud to obtain a second point cloud, performs straight line fitting on the second point cloud to obtain a target straight line, determines the straightening angle of the pipe according to the target straight line, and then controls the pipe to rotate in the opposite direction of the straightening angle. When the straightening angle is less than a preset angle, it is determined that the pipe has been straightened, and there is no need to lift the cutting head to follow the surface of the pipe and repeatedly perform lateral movement, nor is there any need for the chuck to repeatedly rotate. It is only necessary to use a line laser sensor to scan the pipe to obtain a point cloud of the pipe, and quickly determine the straightening angle of the pipe according to the target straight line fitted by the point cloud, and finally control the pipe to rotate in the opposite direction of the straightening angle to straighten the pipe. The method simplifies the execution of tube leveling and improves the leveling efficiency of tube leveling. Moreover, when the leveling angle after the tube is rotated is greater than or equal to the preset angle, that is, when the first control of the tube to rotate in the opposite direction of the leveling angle fails to achieve the ideal tube leveling effect, the line laser sensor can be used to scan the tube again to obtain the point cloud of the tube, and the leveling angle of the tube is determined again according to the point cloud, and the tube is controlled to rotate in the opposite direction of the leveling angle to level the tube, that is, the leveling angle determination process and the tube leveling action are repeated until the leveling angle after the tube is rotated is less than the preset angle, that is, when the tube meets the leveling conditions, it is determined that the tube has been leveled, thereby improving the accuracy of tube leveling. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a schematic flow chart of a pipe flattening method provided by an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of installing a line laser sensor provided by an embodiment of the present invention;

[0036] Figure 3 It is a flow chart of a step of determining a leveling angle in a pipe leveling method provided in an embodiment of the present invention;

[0037] Figure 4 is a schematic diagram of a chamfer point cloud provided by an embodiment of the present invention;

[0038] Figure 5 is a schematic diagram of a discrete point cloud provided by an embodiment of the present invention;

[0039] Figure 6 is a schematic diagram of a pipe flattening method provided by an embodiment of the present invention;

[0040] Figure 7 is a structural schematic diagram of a pipe leveling device provided in an embodiment of the present invention;

[0041] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0045] Figure 1 The following is a flow chart of a pipe flattening method provided by an embodiment of the present invention. The method can be performed by a pipe flattening device, which can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer, a server, etc. The following embodiments will be described by taking the device integrated into an electronic device as an example. Figure 1 , the method may specifically include the following steps:

[0046] Step 101, executing the step of determining the straightening angle to obtain the straightening angle of the pipe.

[0047] Among them, the leveling angle can be understood as the angle between the surface of the tube and the machining plane of the machine tool; the leveling angle can include an angle value and an angle direction, and the angle direction can include a first direction in which the starting edge of the leveling angle rotates to the end edge of the leveling angle and a second direction in which the end edge of the leveling angle rotates to the starting edge of the leveling angle. In the field of machine tool processing, the vertical direction of the cutting head is generally defined as the Z-axis, the direction in which the cutting head moves forward and backward is the X-axis, and the axis in which the cutting head moves left and right is the Y-axis. In an embodiment of the present invention, since the target straight line is parallel to the surface of the tube and the contour of the surface of the tube is parallel to the X-axis, the starting edge can be understood as the edge of the leveling angle that is parallel to the X-axis, and the end edge can be understood as the edge of the leveling angle that is not parallel to the X-axis.

[0048] In step 101, the step of determining the straightening angle may include: scanning the pipe with a line laser sensor to obtain a first point cloud, performing data processing on the first point cloud to obtain a second point cloud, performing straight line fitting on the second point cloud to obtain a target straight line, and determining the straightening angle of the pipe according to the target straight line.

[0049] The first point cloud can be understood as a point cloud of the pipe contour obtained by scanning the pipe using a line laser sensor. Data processing can include but is not limited to processing operations such as centerline extraction, coordinate conversion and filtering. The second point cloud can be understood as a point cloud obtained after data processing of the first point cloud. The target straight line can be understood as a fitted straight line parallel to the pipe surface obtained by linear fitting of the second point cloud.

[0050] In an optional embodiment, if Figure 2 As shown, the line laser sensor can be installed at a fixed position near the cutting head and move with the cutting head. In an embodiment of the present invention, the line laser can be moved to the middle position of the tube surface of the tube to be leveled, so that the laser line of the line laser sensor can be irradiated on the tube surface, and the camera can collect the point cloud of the tube surface. The tube can be controlled to rotate at a preset rotation angle. During the rotation of the tube, the line laser sensor is used to scan the tube and the camera of the line laser sensor is used to collect the point cloud of the tube surface to obtain the first point cloud.

[0051] Since the first point cloud obtained by scanning the pipe using a line laser sensor is a point cloud that distinguishes between light and dark, and the straight line fitting requires straight line fitting of the point cloud in the brightest area; and the first point cloud is the coordinate in the camera coordinate system, and the pipe leveling requires the determination of the pipe leveling angle in the machine tool coordinate system, therefore, in an optional implementation, the center line of the first point cloud can be extracted to obtain the first intermediate point cloud, and the first intermediate point cloud can be transformed to obtain the second intermediate point cloud. The coordinates of the second intermediate point cloud belong to the machine tool coordinate system, so that the pipe leveling angle can be determined in the machine tool coordinate system. Among them, the first intermediate point cloud can be understood as the point cloud obtained after the center line of the first point cloud is extracted. The second intermediate point cloud can be understood as the point cloud in the machine tool coordinate system obtained after the coordinate transformation of the first intermediate point cloud.

[0052] Since a straight line fitting is performed directly on the first point cloud obtained by scanning the pipe with a line laser sensor, the accuracy of the straight line fitting may be affected by some noise points in the first point cloud. In order to reduce the influence of the noise points in the first point cloud on the accuracy of the straight line fitting, it is necessary to filter the first point cloud to remove the noise points in the first point cloud. Therefore, in an optional embodiment, after the first intermediate point cloud is coordinate-converted to obtain the second intermediate point cloud, the second intermediate point cloud may be filtered to obtain the second point cloud. Since the second intermediate point cloud is filtered, the noise points in the second point cloud are reduced, and the influence of the noise points in the first point cloud on the accuracy of the straight line fitting is reduced, thereby improving the accuracy of the straight line fitting, thereby improving the accuracy of the straightening angle of the pipe determined according to the target straight line.

[0053] Since the target straight line is parallel to the surface of the tube, the angle between the target straight line and the machine tool processing plane, that is, the angle between the tube and the machine tool processing plane, therefore, in an optional implementation, the direction vector of the target straight line can be determined; the leveling angle of the tube is determined according to the direction vector, so that there is no need to lift the cutting head to follow the tube surface and repeat lateral movement, and there is no need for repeated rotation of the chuck. It is only necessary to use a line laser sensor to scan the tube to obtain a point cloud of the tube, and the leveling angle of the tube can be quickly determined based on the target straight line fitted by the point cloud, which simplifies the execution of tube leveling and improves the leveling efficiency of tube leveling.

[0054] Step 102, controlling the pipe to rotate in the opposite direction of the straightening angle, and the rotation angle is the angle value of the straightening angle of the pipe.

[0055] The opposite direction may be understood as a second direction in which the terminal side of the straightening angle rotates to the starting side of the straightening angle.

[0056] In an optional embodiment, the chuck that clamps the tube can be controlled to rotate in a second direction from the end edge of the leveling angle to the start edge of the leveling angle, and the rotation angle is the angle value of the leveling angle of the tube, so that the start edge and the end edge of the leveling angle coincide, thereby realizing the rotation of the tube in the opposite direction of the leveling angle, and the rotation angle is the angle value of the leveling angle of the tube. In this way, there is no need to lift the cutting head to follow the surface of the tube and repeatedly perform lateral movements. It is only necessary to use a line laser sensor to scan the tube to obtain a point cloud of the tube, and quickly determine the leveling angle of the tube based on the target straight line fitted by the point cloud. Finally, the chuck is controlled to rotate the tube in the opposite direction of the leveling angle to level the tube, thereby simplifying the execution action of tube leveling and improving the leveling efficiency of tube leveling.

[0057] In another optional embodiment, the chuck can also be controlled to temporarily not clamp the tube, and the tube can be rotated in a second direction from the end edge of the leveling angle to the beginning edge of the leveling angle with the help of a rotating device. The rotation angle is the angle value of the leveling angle of the tube, and then the chuck is controlled to clamp the leveled tube.

[0058] Step 103, executing the step of determining the leveling angle to obtain the leveling angle of the pipe after rotation.

[0059] Step 104, determining whether the leveling angle is less than a preset angle, if so, executing step 105; if not, returning to executing step 102.

[0060] In an embodiment of the present invention, it is determined whether the leveling angle of the pipe after rotation is less than a preset angle; when the leveling angle is less than the preset angle, it is determined that the pipe has been leveled; when the leveling angle is greater than or equal to the preset angle, the pipe is controlled to rotate in the opposite direction of the leveling angle, and the step of determining the leveling angle is performed again to obtain the leveling angle of the pipe, so that the leveling angle determination process and the pipe leveling action can be iteratively repeated, and when the leveling angle is less than the preset angle, that is, when the pipe meets the leveling conditions, it is determined that the pipe has been leveled; when the leveling angle is greater than or equal to the preset angle, that is, when the last control of the pipe to rotate in the opposite direction of the leveling angle did not achieve the ideal pipe leveling effect, the leveling angle of the pipe can be determined again, and the pipe can be controlled to rotate in the opposite direction of the leveling angle again to level the pipe, thereby improving the accuracy of pipe leveling.

[0061] Step 105, confirm that the pipe has been leveled.

[0062] In the embodiment of the present invention, a line laser sensor is used to scan the pipe to obtain a first point cloud of the pipe, data processing is performed on the first point cloud to obtain a second point cloud, and a straight line fitting is performed on the second point cloud to obtain a target straight line. The straightening angle of the pipe is determined according to the target straight line, and then the pipe is controlled to rotate in the opposite direction of the straightening angle. When the straightening angle is less than a preset angle, it is determined that the pipe has been straightened. There is no need to lift the cutting head to follow the surface of the pipe and repeatedly perform lateral movement, and there is no need for the chuck to repeatedly rotate. It is only necessary to use the line laser sensor to scan the pipe to obtain a point cloud of the pipe, and quickly determine the straight line of the pipe according to the target straight line fitted by the point cloud, and finally control the pipe to rotate in the opposite direction of the straightening angle to correct the straightening angle. The invention can flatten the pipe, simplify the execution action of pipe leveling, and improve the leveling efficiency of pipe leveling; and, when the leveling angle after the pipe is rotated is greater than or equal to the preset angle, that is, when the first control of the pipe to rotate in the opposite direction of the leveling angle does not achieve the ideal pipe leveling effect, the line laser sensor can be used to scan the pipe again to obtain the point cloud of the pipe, and the leveling angle of the pipe is determined again according to the point cloud, and the pipe is controlled to rotate in the opposite direction of the leveling angle to level the pipe, that is, the leveling angle determination process and the pipe leveling action are repeated iteratively until the leveling angle after the pipe is rotated is less than the preset angle, that is, when the pipe meets the leveling conditions, it is determined that the pipe has been leveled, thereby improving the accuracy of pipe leveling.

[0063] The step of determining the leveling angle in the pipe leveling method provided by the embodiment of the present invention is further described below. Figure 3 As shown, Figure 3 This is a flow chart of the step of determining the leveling angle in the pipe leveling method provided by an embodiment of the present invention, which may specifically include the following steps:

[0064] Step 201: Scan the pipe using a line laser sensor to obtain a first point cloud.

[0065] Step 202: extract the center line of the first point cloud to obtain a first intermediate point cloud.

[0066] Step 203: performing coordinate transformation on the first intermediate point cloud to obtain a second intermediate point cloud.

[0067] In an optional embodiment, the pixel coordinates of the first intermediate point cloud, the calibration matrix and the distortion matrix of the camera can be obtained, and the first intermediate point cloud can be transformed according to the pixel coordinates of the first intermediate point cloud, the calibration matrix and the distortion matrix of the camera to obtain the second intermediate point cloud in the machine tool coordinate system.

[0068] Specifically, the pixel coordinates of each point in the first intermediate point cloud, the calibration matrix of the camera, and the distortion matrix may be multiplied respectively to obtain the second intermediate point cloud.

[0069] Step 204: Filter the second intermediate point cloud to obtain a second point cloud.

[0070] Among them, the filtering operation may include but is not limited to any one of median filtering, smoothing filtering, and radius filtering. Median filtering is a nonlinear smoothing technique that sets the grayscale value of each pixel to the median of the grayscale values ​​of all pixels within a certain neighborhood window of the point. Smoothing filtering is a low-frequency enhanced spatial domain filtering technique; smoothing filtering in the spatial domain is generally performed using a simple averaging method, which is to calculate the average brightness value of neighboring pixel points. The size of the neighborhood is directly related to the smoothing effect. The larger the neighborhood, the better the smoothing effect. However, if the neighborhood is too large, smoothing will cause greater loss of edge information, thereby blurring the output image. Therefore, the size of the neighborhood needs to be reasonably selected. Radius filtering is a radius outlier removal technique.

[0071] In an optional implementation, if the second intermediate point cloud has many outliers and noise points, median filtering and / or smoothing filtering can be selected to remove the outliers and noise points in the second intermediate point cloud, reduce the influence of the outliers and noise points on the straight line fitting, and improve the accuracy of the straight line fitting. If the second intermediate point cloud is not smooth enough, radius filtering can be selected to increase the smoothness of the second intermediate point cloud, reduce the influence of the outliers and noise points on the straight line fitting, and improve the accuracy of the straight line fitting.

[0072] Step 205: Perform straight line fitting on the second point cloud to obtain a target straight line.

[0073] In order to improve the fitting accuracy of the target straight line, it is necessary to minimize the influence of the chamfer point cloud at the chamfer of the pipe in the second point cloud and some discrete points not deleted in the filtering stage on the accuracy of straight line fitting. Therefore, in an optional implementation, the second point cloud can be fitted to obtain an initial straight line; a distance threshold is obtained, and the point cloud to be deleted is determined according to the distance threshold and the initial straight line; the point cloud to be deleted is deleted from the second point cloud to obtain the target point cloud, and the target point cloud is fitted to obtain the target straight line. In this way, the chamfer point cloud at the chamfer of the pipe in the second point cloud and some discrete point clouds not deleted in the filtering stage can be deleted by the initial straight line and the distance threshold obtained by the initial straight line fitting, thereby reducing the influence of the chamfer point cloud and the discrete point cloud on the fitting accuracy of the target straight line and improving the fitting accuracy of the target straight line. Among them, the point cloud to be deleted can be understood as the point cloud in the second point cloud that affects the fitting accuracy of the target straight line; the point cloud to be deleted can include but is not limited to the chamfer point cloud and the discrete point cloud. The distance threshold can include a first threshold and a second threshold. The first threshold can be understood as the distance threshold between the preset chamfer point cloud and the initial straight line. The second threshold may be understood as a preset distance threshold between the point cloud near the fitting straight line and the initial straight line.

[0074] Specifically, the chamfered point cloud can be determined according to the second point cloud, the first threshold and the initial straight line; the second threshold is set, and the discrete point cloud is determined according to the second point cloud, the second threshold and the initial straight line; the chamfered point cloud and the discrete point cloud are determined as point clouds to be deleted, so that the point clouds in the second point cloud that affect the fitting accuracy of the target straight line can be deleted according to different distance thresholds, thereby improving the fitting accuracy of the target straight line, and then improving the accuracy of the direction vector of the determined target straight line, thereby improving the accuracy of the straightening angle of the pipe determined according to the direction vector.

[0075] Furthermore, since the pipe has two chamfers on the left and right sides, the left point and the right point belonging to the points in the initial straight line can be determined on the initial straight line, and then the point cloud on the left side of the left point is screened out from the second point cloud according to the left point, and the point cloud on the right side of the right point is screened out from the second point cloud according to the right point. Finally, the point cloud at the left chamfer is determined according to the first threshold, the left point and the point cloud on the left side of the left point, and the point cloud at the right chamfer is determined according to the first threshold, the right point and the point cloud on the right side of the right point. Therefore, in an optional implementation, the first coordinate and the second coordinate of the initial straight line can be determined; the first candidate point cloud on the left side of the first coordinate and the second candidate point cloud on the right side of the second coordinate are screened out from the second point cloud; the first chamfer point cloud is determined according to the first threshold, the first coordinate and the first candidate point cloud; the second chamfer point cloud is determined according to the first threshold, the second coordinate and the second candidate point cloud; the first chamfer point cloud and the second chamfer point cloud are determined as chamfer point clouds. Among them, the first coordinate can be understood as the coordinate of the left point of the initial straight line, and the second coordinate can be understood as the coordinate of the right point of the initial straight line. The first candidate point cloud can be understood as the point cloud located to the left of the first coordinate in the second point cloud. The second candidate point cloud can be understood as the point cloud located at the predicted second coordinate in the second point cloud.

[0076] Since each point in the discrete point cloud is at a certain distance from the initial straight line, the discrete point cloud can be determined based on the distance between each point in the second point cloud and the initial straight line. That is, the third distance between each point in the second point cloud and the initial straight line can be determined; the point cloud composed of the points in the second point cloud whose third distance is greater than the second threshold is determined as a discrete point cloud, so that the point cloud of the inner points in the second point cloud that do not belong to the initial straight line can be deleted, reducing the impact of the discrete point cloud on the fitting accuracy of the target straight line, and improving the fitting accuracy of the target straight line. Among them, the third distance can be understood as the preset distance threshold between each point in the second point cloud and the initial straight line.

[0077] Further, to determine the first coordinate and the second coordinate of the initial straight line, the coordinate of the point corresponding to the minimum coordinate value on the preset axis among the multiple points on the initial straight line can be determined as the first coordinate; the coordinate of the point corresponding to the maximum coordinate value on the preset axis among the multiple points on the initial straight line can be determined as the second coordinate; or, obtain the detection frame corresponding to the initial straight line; determine the point on the left boundary line of the detection frame on the initial straight line as the first coordinate; determine the point on the right boundary line of the detection frame on the initial straight line as the second coordinate, so that the first coordinate and the second coordinate on the initial straight line can be determined more quickly and accurately, improve the accuracy of the first coordinate and the second coordinate, and then improve the accuracy of the chamfer point cloud determined according to the first threshold, the first coordinate, the second coordinate and the second point cloud. In the field of machine tool processing, the vertical direction of the cutting head is generally defined as the Z axis, the direction of the cutting head moving forward and backward is the X axis, and the axis of the cutting head moving left and right is the Y axis. The preset axis can be any one of the X axis, the Y axis, and the Z axis. In the embodiment of the present invention, since the target straight line is parallel to the surface of the pipe, and the contour of the surface of the pipe is parallel to the X axis, the preset axis can be the X axis.

[0078] Determining the first chamfer point cloud according to the first threshold, the first coordinate and the first candidate point cloud may include: determining the first distance between each point in the first candidate point cloud and the first coordinate; determining the point cloud composed of points in the first candidate point cloud whose first distance is less than the first threshold as the first chamfer point cloud. Determining the second chamfer point cloud according to the first threshold, the second coordinate and the second candidate point cloud may include: determining the second distance between each point in the second candidate point cloud and the second coordinate; determining the point cloud composed of points in the second candidate point cloud whose second distance is less than the first threshold as the second chamfer point cloud. In this way, the chamfer point cloud and the discrete point cloud in the second point cloud may be determined more accurately, reducing the influence of the chamfer point cloud and the discrete point cloud on the fitting accuracy of the target straight line, and improving the fitting accuracy of the target straight line.

[0079] For example, Figure 4 The point on the initial straight line that is on the left boundary line of the detection frame is determined as the first coordinate; the point on the initial straight line that is on the right boundary line of the detection frame is determined as the second coordinate; the coordinates and the first coordinates of each point can be substituted into the first distance calculation formula to obtain the first distance, and the point cloud composed of the points in the first candidate point cloud whose first distance is less than the first threshold is determined as the first chamfer point cloud. The coordinates and the second coordinates of each point can be substituted into the second distance calculation formula to obtain the second distance, and the point cloud composed of the points in the second candidate point cloud whose second distance is less than the first threshold is determined as the second chamfer point cloud. The first chamfer point cloud and the second chamfer point cloud are as follows Figure 4 As shown. Among them, the first distance calculation formula is:

[0080]

[0081] Among them, D1 represents the first distance, x1 represents the horizontal coordinate of the first coordinate, y1 represents the vertical coordinate of the first coordinate, z1 represents the vertical coordinate of the first coordinate, x11 represents the horizontal coordinate of each point in the first candidate point cloud, y11 represents the vertical coordinate of each point in the first candidate point cloud, and z11 represents the vertical coordinate of each point in the first candidate point cloud.

[0082] The second distance calculation formula is:

[0083]

[0084] Among them, D2 represents the second distance, x2 represents the horizontal coordinate of the second coordinate, y2 represents the vertical coordinate of the second coordinate, z2 represents the vertical coordinate of the second coordinate, x22 represents the horizontal coordinate of each point in the second candidate point cloud, y22 represents the vertical coordinate of each point in the second candidate point cloud, and z22 represents the vertical coordinate of each point in the second candidate point cloud.

[0085] Finally, the linear equation of the initial straight line is determined according to the first coordinate and the second coordinate, and then the third distance D3 between each point in the second point cloud and the initial straight line is determined according to the coordinates of each point in the second point cloud and the linear equation of the initial straight line; the point cloud composed of the points in the second point cloud whose third distance is greater than the second threshold is determined as a discrete point cloud. For example, Figure 5 The white straight line in the figure is the initial straight line of the fitting. The third distance D3 between the discrete point 1 and the initial straight line can be determined according to the coordinates of the discrete point 1 and the linear equation of the initial straight line. If D3 is greater than the second threshold, it can be determined Figure 5 The discrete point 1 that does not belong to the initial straight line belongs to the discrete point cloud.

[0086] Step 206, determining the direction vector of the target line.

[0087] Step 207, determining the straightening angle of the pipe according to the direction vector.

[0088] The direction vector includes a first component and a second component. In the field of machine tool processing, the vertical direction of the cutting head is generally defined as the Z axis, the direction of the cutting head moving forward and backward is the X axis, and the axis of the cutting head moving left and right is the Y axis. The first component can be the component on the Z axis, and the second component can be the component on the X axis.

[0089] In an optional implementation, the first component and the second component are substituted into the straightening angle calculation formula of the pipe to obtain the angle value of the straightening angle of the pipe. The angle value calculation formula of the straightening angle of the pipe is:

[0090] angle = arctan(l1 / l2)

[0091] Wherein, angle represents the angle value of the straightening angle of the pipe, l1 represents the first component, and l2 represents the second component.

[0092] In an embodiment of the present invention, a line laser sensor is used to scan the pipe to obtain a first point cloud, the center line of the first point cloud is extracted to obtain a first intermediate point cloud, the first intermediate point cloud is subjected to coordinate transformation to obtain a second intermediate point cloud, the second intermediate point cloud is filtered to obtain a second point cloud, the second point cloud is subjected to straight line fitting to obtain a target straight line, the direction vector of the target straight line is determined, and the leveling angle of the pipe is determined according to the direction vector. There is no need to lift the cutting head to follow the surface of the pipe and repeatedly perform lateral movement, and there is no need for the chuck to repeatedly rotate. It is only necessary to use a line laser sensor to scan the pipe to obtain a point cloud of the pipe, and the leveling angle of the pipe is quickly determined according to the target straight line fitted through the point cloud, which simplifies the action of determining the leveling angle and improves the efficiency of determining the leveling angle, so as to control the pipe to rotate in the opposite direction of the leveling angle to level the pipe, simplify the execution action of pipe leveling, and improve the leveling efficiency of pipe leveling.

[0093] The pipe flattening method provided by the embodiment of the present invention is further illustrated below with specific examples. Figure 6 Schematic diagram of a pipe flattening method provided by an embodiment of the present invention. Figure 6 As shown, a line laser sensor is used to scan the pipe to obtain a first point cloud, the center line of the first point cloud is extracted to obtain a first intermediate point cloud, the first intermediate point cloud is converted to obtain a second intermediate point cloud, the second intermediate point cloud is filtered to obtain a second point cloud, the second point cloud is linearly fitted to obtain a target line, the direction vector of the target line is determined, the straightening angle of the pipe is determined according to the direction vector, the pipe is controlled to rotate in the opposite direction of the straightening angle, and the rotation angle is the angle value of the straightening angle of the pipe, the line laser sensor is used to scan the pipe again to obtain a first point cloud, the center line of the first point cloud is extracted to obtain a first intermediate point cloud, the first intermediate point cloud is converted to obtain a second intermediate point cloud, the second intermediate point cloud is filtered to obtain a second point cloud, the second point cloud is linearly fitted to obtain a target line, the direction vector of the target line is determined, the straightening angle of the pipe is determined according to the direction vector, and it is determined whether the straightening angle is less than a preset angle. If so, it is determined that the pipe has been straightened; if not, the pipe is controlled to rotate in the opposite direction of the straightening angle, and the rotation angle is the angle value of the straightening angle of the pipe. The straightening angle of the rotated pipe is determined again, and the pipe is straightened. from Figure 6It can be seen that when the leveling angle of the pipe after rotation is greater than or equal to the preset angle, the line laser sensor is used to scan the pipe again to obtain the point cloud of the pipe, and the leveling angle of the pipe is determined again based on the point cloud, and the pipe is controlled to rotate in the opposite direction of the leveling angle to level the pipe again, that is, after the pipe is controlled to rotate in the opposite direction of the leveling angle for the first time, the leveling angle determination process and the pipe leveling action are repeated until the leveling angle of the pipe after rotation is less than the preset angle, and it is determined that the pipe has been leveled. There is no need to lift the cutting head to follow the pipe surface and repeat the lateral movement, and there is no need for the chuck to rotate repeatedly. It is only necessary to use the line laser sensor to scan the pipe to obtain the point cloud of the pipe, and quickly determine the leveling angle of the pipe according to the target straight line fitted by the point cloud. Finally, the pipe is controlled to rotate in the opposite direction of the leveling angle to level the pipe, which simplifies the execution action of pipe leveling and improves the leveling efficiency and accuracy of pipe leveling.

[0094] Figure 7 Schematic diagram of a pipe flattening device provided in an embodiment of the present invention, which is suitable for executing the pipe flattening method provided in an embodiment of the present invention. Figure 7 As shown, the device may specifically include:

[0095] The first execution module 301 is used to execute the step of determining the leveling angle to obtain the leveling angle of the pipe;

[0096] The pipe rotation module 302 is used to control the pipe to rotate in the opposite direction of the straightening angle, and the rotation angle is the angle value of the straightening angle of the pipe;

[0097] The second execution module 303 is used to execute the step of determining the leveling angle to obtain the leveling angle of the pipe after rotation;

[0098] A first determination module 304 is used to determine whether the leveling angle is less than the preset angle;

[0099] A second determination module 305 is used to determine that the pipe has been leveled when the leveling angle is less than the preset angle;

[0100] A trigger module 306 is used to trigger the step of controlling the tube to rotate in the opposite direction of the flattening angle when the flattening angle is greater than or equal to the preset angle, and the rotation angle is the angle value of the flattening angle of the tube;

[0101] Wherein, the step of determining the leveling angle comprises:

[0102] Scan the pipe using a line laser sensor to obtain a first point cloud;

[0103] Performing data processing on the first point cloud to obtain a second point cloud, and performing straight line fitting on the second point cloud to obtain a target straight line;

[0104] The straightening angle of the pipe is determined according to the target straight line.

[0105] Optionally, the first execution module 301 performs straight line fitting on the second point cloud to obtain a target straight line, including:

[0106] Performing straight line fitting on the second point cloud to obtain an initial straight line;

[0107] Obtaining a distance threshold, and determining a point cloud to be deleted according to the distance threshold and the initial straight line;

[0108] Deleting the to-be-deleted point cloud from the second point cloud to obtain a target point cloud;

[0109] The target straight line is obtained by performing straight line fitting on the target point cloud.

[0110] Optionally, the distance threshold includes a first threshold and a second threshold, and the first execution module 301 determines the point cloud to be deleted according to the distance threshold and the initial straight line, including:

[0111] Determine a chamfer point cloud according to the second point cloud, the first threshold and the initial straight line;

[0112] Determine a discrete point cloud according to the second point cloud, the second threshold and the initial straight line;

[0113] The chamfered point cloud and the discrete point cloud are determined as the point clouds to be deleted.

[0114] Optionally, the first execution module 301 determines the chamfer point cloud according to the second point cloud, the first threshold and the initial straight line, including:

[0115] Determine a first coordinate and a second coordinate of the initial straight line;

[0116] Filtering out a first candidate point cloud located on the left side of the first coordinate and a second candidate point cloud located on the right side of the second coordinate from the second point cloud;

[0117] Determine a first chamfer point cloud according to the first threshold, the first coordinates, and the first candidate point cloud;

[0118] Determine a second chamfer point cloud according to the first threshold, the second coordinates and the second candidate point cloud;

[0119] The first chamfer point cloud and the second chamfer point cloud are determined as the chamfer point clouds.

[0120] Optionally, the first execution module 301 determines the first coordinate and the second coordinate of the initial straight line, including:

[0121] Determine the coordinates of a point corresponding to the minimum coordinate value on a preset axis among a plurality of points on the initial straight line as the first coordinates;

[0122] Determine the coordinates of a point corresponding to the maximum coordinate value on a preset axis among a plurality of points on the initial straight line as the second coordinates;

[0123] Alternatively, obtaining a detection frame corresponding to the initial straight line;

[0124] Determine a point on the initial straight line that is located on the left boundary line of the detection frame as the first coordinate;

[0125] A point on the initial straight line that is located on the right boundary line of the detection frame is determined as the second coordinate.

[0126] Optionally, the first execution module 301 determines a first chamfer point cloud according to the first threshold, the first coordinates and the first candidate point cloud, including:

[0127] Determine a first distance between each point in the first candidate point cloud and the first coordinate;

[0128] Determine a point cloud composed of points in the first candidate point cloud whose first distance is smaller than the first threshold as the first chamfer point cloud;

[0129] The determining the second chamfer point cloud according to the first threshold, the second coordinate and the second candidate point cloud comprises:

[0130] Determine a second distance between each point in the second candidate point cloud and the second coordinate;

[0131] A point cloud formed by points in the second candidate point cloud whose second distance is smaller than the first threshold is determined as the second chamfer point cloud.

[0132] Optionally, the first execution module 301 determines a discrete point cloud according to the second point cloud, the second threshold and the initial straight line, including:

[0133] Determining a third distance between each point in the second point cloud and the initial straight line;

[0134] A point cloud formed by points in the second point cloud whose third distance is greater than the second threshold is determined as the discrete point cloud.

[0135] Optionally, the first execution module 301 determines the straightening angle of the pipe according to the target straight line, including:

[0136] Determining a direction vector of the target straight line;

[0137] The straightening angle of the pipe is determined according to the direction vector.

[0138] Optionally, the direction vector includes a first component and a second component, and the first execution module 301 determines the straightening angle of the pipe according to the direction vector, including:

[0139] Substituting the first component and the second component into the straightening angle calculation formula of the pipe, the angle value of the straightening angle of the pipe is obtained. The angle value calculation formula of the straightening angle of the pipe is:

[0140] angle = arctan(l1 / l2)

[0141] Wherein, angle represents the angle value of the straightening angle of the pipe, l1 represents the first component, and l2 represents the second component.

[0142] Optionally, the first execution module 301 performs data processing on the first point cloud to obtain a second point cloud, including:

[0143] Extracting a center line of the first point cloud to obtain a first intermediate point cloud;

[0144] Performing coordinate transformation on the first intermediate point cloud to obtain a second intermediate point cloud;

[0145] The second intermediate point cloud is filtered to obtain the second point cloud.

[0146] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0147] The pipe leveling device provided in the embodiment of the present invention uses a line laser sensor to scan the pipe to obtain a first point cloud of the pipe, performs data processing on the first point cloud to obtain a second point cloud, performs straight line fitting on the second point cloud to obtain a target straight line, determines the leveling angle of the pipe according to the target straight line, and then controls the pipe to rotate in the opposite direction of the leveling angle. When the leveling angle is less than a preset angle, it is determined that the pipe has been leveled, and there is no need to lift the cutting head to follow the surface of the pipe and repeatedly perform lateral movement, nor is there any need for the chuck to repeatedly rotate. It is only necessary to use a line laser sensor to scan the pipe to obtain a point cloud of the pipe, and quickly determine the leveling angle of the pipe according to the target straight line fitted by the point cloud, and finally control the pipe to rotate in the opposite direction of the leveling angle. The tube is rotated to level the tube, which simplifies the execution of tube leveling and improves the leveling efficiency of tube leveling. Moreover, when the leveling angle after the tube is rotated is greater than or equal to the preset angle, that is, when the first control of the tube to rotate in the opposite direction of the leveling angle does not achieve the ideal tube leveling effect, the line laser sensor can be used to scan the tube again to obtain the point cloud of the tube, and the leveling angle of the tube is determined again according to the point cloud, and the tube is controlled to rotate in the opposite direction of the leveling angle to level the tube, that is, the leveling angle determination process and the tube leveling action are repeated and iterated until the leveling angle after the tube is rotated is less than the preset angle, that is, when the tube meets the leveling conditions, it is determined that the tube has been leveled, thereby improving the accuracy of tube leveling.

[0148] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0149] Please refer to Figure 8 , an electronic device 50 is provided, comprising:

[0150] a processor 51; and

[0151] A memory 52, used to store executable instructions of the processor;

[0152] The processor 51 is configured to execute the above-mentioned method by executing the executable instructions.

[0153] The processor 51 can communicate with the memory 52 via a bus 53 .

[0154] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0155] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pipe flattening method, characterized in that: The method comprises: Executing a step of determining a leveling angle to obtain a leveling angle of the pipe; Controlling the pipe to rotate in the opposite direction of the leveling angle, the rotation angle being the angle value of the leveling angle of the pipe; Executing a leveling angle determination step to obtain a leveling angle of the pipe after rotation; Determining whether the leveling angle is less than the preset angle; When the leveling angle is less than the preset angle, determining that the pipe has been leveled; When the leveling angle is greater than or equal to the preset angle, triggering the step of controlling the tube to rotate in the opposite direction of the leveling angle, the rotation angle being the angle value of the leveling angle of the tube; Wherein, the step of determining the leveling angle comprises: Scan the pipe using a line laser sensor to obtain a first point cloud; Performing data processing on the first point cloud to obtain a second point cloud, and performing straight line fitting on the second point cloud to obtain a target straight line; The straightening angle of the pipe is determined according to the target straight line.

2. The method according to claim 1, characterized in that The performing straight line fitting on the second point cloud to obtain a target straight line includes: Performing straight line fitting on the second point cloud to obtain an initial straight line; Obtaining a distance threshold, and determining a point cloud to be deleted according to the distance threshold and the initial straight line; Deleting the to-be-deleted point cloud from the second point cloud to obtain a target point cloud; The target straight line is obtained by performing straight line fitting on the target point cloud.

3. The method according to claim 2, characterized in that The distance threshold includes a first threshold and a second threshold, and determining the point cloud to be deleted according to the distance threshold and the initial straight line includes: Determine a chamfer point cloud according to the second point cloud, the first threshold and the initial straight line; Determine a discrete point cloud according to the second point cloud, the second threshold and the initial straight line; The chamfered point cloud and the discrete point cloud are determined as the point clouds to be deleted.

4. The method according to claim 3, characterized in that The determining of the chamfer point cloud according to the second point cloud, the first threshold and the initial straight line comprises: Determine a first coordinate and a second coordinate of the initial straight line; Filtering out a first candidate point cloud located on the left side of the first coordinate and a second candidate point cloud located on the right side of the second coordinate from the second point cloud; Determine a first chamfer point cloud according to the first threshold, the first coordinates, and the first candidate point cloud; Determine a second chamfer point cloud according to the first threshold, the second coordinates and the second candidate point cloud; The first chamfer point cloud and the second chamfer point cloud are determined as the chamfer point clouds.

5. The method according to claim 4, characterized in that The determining of the first coordinate and the second coordinate of the initial straight line comprises: Determine the coordinates of a point corresponding to the minimum coordinate value on a preset axis among a plurality of points on the initial straight line as the first coordinates; Determine the coordinates of a point corresponding to the maximum coordinate value on a preset axis among a plurality of points on the initial straight line as the second coordinates; Alternatively, obtaining a detection frame corresponding to the initial straight line; Determine a point on the initial straight line that is located on the left boundary line of the detection frame as the first coordinate; A point on the initial straight line that is located on the right boundary line of the detection frame is determined as the second coordinate.

6. The method according to claim 4, characterized in that The determining the first chamfer point cloud according to the first threshold, the first coordinates and the first candidate point cloud includes: Determine a first distance between each point in the first candidate point cloud and the first coordinate; Determine a point cloud composed of points in the first candidate point cloud whose first distance is smaller than the first threshold as the first chamfer point cloud; The determining the second chamfer point cloud according to the first threshold, the second coordinate and the second candidate point cloud comprises: Determine a second distance between each point in the second candidate point cloud and the second coordinate; A point cloud formed by points in the second candidate point cloud whose second distance is smaller than the first threshold is determined as the second chamfer point cloud.

7. The method according to claim 3, characterized in that The determining of the discrete point cloud according to the second point cloud, the second threshold and the initial straight line comprises: Determining a third distance between each point in the second point cloud and the initial straight line; A point cloud formed by points in the second point cloud whose third distance is greater than the second threshold is determined as the discrete point cloud.

8. The method according to claim 1, characterized in that Determining the straightening angle of the pipe according to the target straight line includes: Determining a direction vector of the target straight line; The straightening angle of the pipe is determined according to the direction vector.

9. The method according to claim 8, characterized in that The direction vector includes a first component and a second component, and determining the straightening angle of the pipe according to the direction vector includes: Substituting the first component and the second component into the straightening angle calculation formula of the pipe, the angle value of the straightening angle of the pipe is obtained. The angle value calculation formula of the straightening angle of the pipe is: angle = arctan(l1 / l2) Wherein, angle represents the angle value of the straightening angle of the pipe, l1 represents the first component, and l2 represents the second component.

10. The method according to claim 1, characterized in that The step of performing data processing on the first point cloud to obtain a second point cloud includes: Extracting a center line of the first point cloud to obtain a first intermediate point cloud; Performing coordinate transformation on the first intermediate point cloud to obtain a second intermediate point cloud; The second intermediate point cloud is filtered to obtain the second point cloud.

11. A pipe leveling device, characterized in that: The device comprises: A first execution module, configured to execute a step of determining a leveling angle to obtain a leveling angle of the pipe; A pipe rotation module, used to control the pipe to rotate in the opposite direction of the straightening angle, and the rotation angle is the angle value of the straightening angle of the pipe; A second execution module is used to execute the step of determining the leveling angle to obtain the leveling angle of the pipe after rotation; A first determination module, used to determine whether the leveling angle is less than the preset angle; A second determination module, configured to determine that the pipe has been leveled when the leveling angle is less than the preset angle; A trigger module, configured to trigger the step of controlling the tube to rotate in the opposite direction of the flattening angle when the flattening angle is greater than or equal to the preset angle, wherein the rotation angle is the angle value of the flattening angle of the tube; Wherein, the step of determining the leveling angle comprises: Scan the pipe using a line laser sensor to obtain a first point cloud; Performing data processing on the first point cloud to obtain a second point cloud, and performing straight line fitting on the second point cloud to obtain a target straight line; The straightening angle of the pipe is determined according to the target straight line.

12. An electronic device, characterized in that: Including processor and memory, The memory is used to store codes and related data; The processor is used to execute the code in the memory to implement the pipe flattening method according to any one of claims 1 to 10.

13. A storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the pipe flattening method according to any one of claims 1 to 10 is implemented.

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