Laser cutting rotation center calibration method and system

Abstract

The invention relates to a laser cutting rotation center calibration method and system. The laser cutting rotation center calibration method comprises the steps that a plurality of cutting faces, at different angles, of a to-be-cut pipe are obtained; for any cutting face of the pipe, when the cutting face is located over the rotation center, the cutting face rotation angle corresponding to the cutting face is obtained, a plurality of follow-up heights of the cutting face are obtained based on a preset collection strategy, and then the cutting face height corresponding to the cutting face is obtained; based on the rotation angles of all the cutting surfaces, pairing all the cutting surfaces according to a preset pairing rule to obtain a pairing result; calculating a first direction compensation value and a second direction compensation value based on a pairing result and the heights of all the cutting surfaces to obtain a rotation center offset; and calibrating the rotation center based on the rotation center offset. Compared with the prior art that only the follow-up height of one point on the cutting face is obtained to serve as the height of the cutting face, geometrical characteristics of the pipe can be reflected more comprehensively, and therefore the calibration accuracy of the laser cutting rotation center is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting, and in particular to a laser cutting rotation center calibration method and system. Background Art

[0002] At present, in the field of laser cutting technology, it is necessary to ensure that the geometric center of the processed tube being cut can be accurately aligned with the rotation center during cutting, so that the processed tube can be accurately cut. However, in the actual processing process, since the processed tube is not a perfect geometric body, its structure may be deformed, and its size has inevitable small errors, resulting in the actual geometric center of the processed tube often not being accurately aligned with the rotation center during cutting. In this regard, the current mainstream technology in this field is to use the "four-point centering" method, by measuring the tracking height of the four cutting points at the four rotation angles of the processed tube, estimating its geometric center, and compensating and adjusting the rotation center based on the estimated results.

[0003] Although the current "four-point centering" method can achieve a certain degree of calibration of the rotation center of the processed pipe, the cutting surface of the processed pipe is not a perfect plane and has a certain degree of irregular deformation, which causes the follow-up height at different positions on the same cutting surface to fluctuate, making the geometric center of the processed pipe estimated by the "four-point centering" inaccurate. In addition, when the cutting height controller is first started and enters the "four-point centering", it may not fully enter a stable working state, and the collected follow-up height may have errors. Summary of the invention

[0004] The present invention aims to provide a laser cutting rotation center calibration method and system to solve the above technical problems, thereby improving the accuracy of rotation center calibration.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present invention provides a laser cutting rotation center calibration method, comprising the following steps: obtaining cutting surfaces of several different angles of a tube to be cut; for any cutting surface of the tube, when the cutting surface is located directly above the rotation center, obtaining the cutting surface rotation angle corresponding to the cutting surface, and obtaining several follow-up heights of the cutting surface based on a preset acquisition strategy, thereby obtaining the cutting surface height corresponding to the cutting surface; based on all the cutting surface rotation angles, pairing all the cutting surfaces according to a preset pairing rule to obtain a pairing result; calculating a first direction compensation value and a second direction compensation value based on the pairing result and all the cutting surface heights to obtain a rotation center offset; and calibrating the rotation center based on the rotation center offset.

[0006] The above-mentioned laser cutting rotation center calibration method calculates the cutting surface height by obtaining the follow-up height of multiple positions on the cutting surface. Compared with the prior art that only obtains the follow-up height of one point on the cutting surface as the cutting surface height, it can more comprehensively reflect the geometric characteristics of the cutting surface of the pipe, improve the representativeness of the obtained cutting surface height, and reduce the cutting surface height error caused by the irregular deformation of the cutting surface, thereby improving the accuracy of the subsequent calibration of the rotation center. In addition, obtaining the follow-up height data at multiple positions on the cutting surface can reduce the impact of inaccurate data collected when the cutting height controller is first started and has not fully entered a stable working state on the rotation center calibration, thereby improving the accuracy of the laser cutting rotation center calibration.

[0007] In a possible implementation, for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, and then the cutting surface height corresponding to the cutting surface is obtained, including: obtaining a reference coordinate and an acquisition step; obtaining a plurality of acquisition points based on the reference coordinate and the acquisition step; for any acquisition point, obtaining the follow-up height of the acquisition point, and then obtaining a plurality of corresponding follow-up heights based on the plurality of acquisition points; and calculating a weighted average based on the plurality of follow-up heights to obtain the cutting surface height corresponding to the cutting surface.

[0008] In this implementation, the reference coordinates of the cutting surface are taken as the starting point, and a number of collection points with equal intervals between them are obtained on the cutting surface according to the length interval of the collection step, ensuring that the collection points can be evenly distributed on the cutting surface, so that the several follow-up heights collected can reflect the fluctuating heights of various parts of the cutting surface and accurately reflect the irregular deformation of the cutting surface, thereby improving the accuracy of the subsequent laser cutting rotation center calibration.

[0009] In a possible implementation, the calculating a weighted average value based on a plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface includes: obtaining a cross section of the pipe, and then obtaining a corresponding cutting surface length based on the cross section; obtaining a corresponding cutting surface midpoint based on the reference coordinates and the cutting surface length; for any following height, calculating a distance between the acquisition point corresponding to the following height and the cutting surface midpoint to obtain a following height weight corresponding to the following height, and then obtaining a corresponding plurality of following height weights based on the plurality of the following heights; calculating a weighted average value based on the plurality of the following heights and the corresponding plurality of following height weights to obtain the cutting surface height corresponding to the cutting surface.

[0010] In this implementation, a weight is assigned to the follow-up height corresponding to the collection point according to the distance between the collection point and the midpoint of the cutting surface. Specifically, the closer the collection point is to the midpoint of the cutting surface, the higher the weight of the follow-up height corresponding to the collection point; the farther the collection point is from the midpoint of the cutting surface, the lower the weight of the follow-up height corresponding to the collection point. This implementation assigns a higher weight to the follow-up height data close to the midpoint, so that the obtained cutting surface height data is closer to the true geometric center height of the cutting surface, which improves the accuracy of the present invention in calculating the true geometric center of the pipe, thereby improving the accuracy of the subsequent laser cutting rotation center calibration.

[0011] In a possible implementation, for any of the following heights, the distance between the acquisition point corresponding to the following height and the midpoint of the cutting surface is calculated to obtain a following height weight corresponding to the following height, and then based on the several following heights, several corresponding following height weights are obtained, and the calculation formula is expressed as follows:

[0012]

[0013] Among them, w i represents the following height weight corresponding to the ith following height, position i represents the acquisition point corresponding to the ith following height, and L / 2 represents the midpoint of the cutting surface.

[0014] In this implementation, L represents the length of the cutting surface, and L / 2 represents the midpoint of the cutting surface. The above calculation formula converts the absolute value of the distance between the acquisition point and the midpoint of the cutting surface into a weight coefficient, thereby giving a higher weight to the tracking height data close to the midpoint.

[0015] In a possible implementation, based on the rotation angles of all the cutting surfaces, all the cutting surfaces are paired according to a preset pairing rule to obtain a pairing result, including: for any two of the cutting surfaces, calculating the difference in the corresponding cutting surface rotation angles; pairing the cutting surfaces whose difference in the cutting surface rotation angles is within the range of 180°±Δ to obtain a first cutting surface group and a second cutting surface group, and then using the first cutting surface group and the second cutting surface group as the pairing result, wherein Δ represents a preset angle tolerance.

[0016] It should be noted that, for any two of the cutting surfaces, the difference in the corresponding rotation angles of the cutting surfaces is calculated; the cutting surfaces whose difference in the rotation angles of the cutting surfaces is within the range of 180°±Δ are paired to obtain a first cutting surface group and a second cutting surface group, which is equivalent to pairing two surfaces of the pipe that are directly opposite to each other. Specifically, when the rotation angle is 0°, the cutting surface directly above the rotation center is defined as the first surface; when the rotation angle is 90°, the cutting surface directly above the rotation center is defined as the second surface; when the rotation angle is 180°, the cutting surface directly above the rotation center is defined as the third surface; when the rotation angle is 270°, the cutting surface directly above the rotation center is defined as the fourth surface; the above technical implementation means is equivalent to pairing the first surface with the third surface to obtain the first cutting surface group, and pairing the second surface with the fourth surface to obtain the second cutting surface group. Furthermore, taking into account possible errors in the rotation angle during the actual measurement and detection process, there is a possibility that the rotation angle difference between two cutting surfaces facing each other is not exactly equal to 180°. Therefore, an angle tolerance is also preset so that the rotation angle difference between the two cutting surfaces has an angular deviation range within a certain allowable range.

[0017] In a possible implementation, the first direction compensation value and the second direction compensation value are calculated based on the pairing result and all the cutting surface heights to obtain the rotation center offset, including: calculating the difference in the cutting surface heights in the first cutting surface group to obtain the first direction compensation value; calculating the difference in the cutting surface heights in the second cutting surface group to obtain the second direction compensation value.

[0018] In this implementation, the height difference between two cutting surfaces located directly opposite each other is calculated to obtain the rotation center compensation value of the pipe in that direction, and then the rotation center compensation values ​​of the pipe in two directions are obtained based on the two sets of directly opposite cutting surfaces. Then, the rotation center of the pipe can be calibrated based on the rotation center compensation values ​​in two directions, thereby improving the accuracy of the rotation center calibration.

[0019] In a possible implementation, for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, including: for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of original follow-up heights of the cutting surface are obtained based on a preset acquisition strategy; and a plurality of the original follow-up heights are dynamically smoothed based on a moving average method to obtain a plurality of the follow-up heights.

[0020] In this implementation, the original follow-up height data is dynamically smoothed to reduce data fluctuations and improve the accuracy of the follow-up height data, thereby solving the problem of data fluctuations caused by unstable startup and failure to fully enter a stable working state during the process of the cutting head entering the follow-up state, and improving the accuracy of the rotation center calibration.

[0021] The second aspect of the present invention provides a laser cutting rotation center calibration system, comprising a cutting module, a height calculation module, an angle matching module and a rotation center calibration module, wherein: the cutting module is used to obtain cutting surfaces of several different angles of a pipe to be cut; the height calculation module is used to obtain several follow-up heights of any cutting surface of the pipe when the cutting surface is located directly above the rotation center based on a preset acquisition strategy, and then obtain the cutting surface height corresponding to the cutting surface; the angle matching module is used to obtain the cutting surface rotation angle corresponding to any cutting surface of the pipe when the cutting surface is located directly above the rotation center, and then pair all the cutting surfaces according to preset matching rules based on all the cutting surface rotation angles to obtain a matching result; the rotation center calibration module is used to calculate a first direction compensation value and a second direction compensation value based on the matching result and all the cutting surface heights to obtain a rotation center offset, and then calibrate the rotation center based on the rotation center offset.

[0022] In this implementation, the cutting surface height is calculated by obtaining the follow-up height of multiple positions on the cutting surface. Compared with the prior art in which only the follow-up height of one point on the cutting surface is obtained as the cutting surface height, it can more comprehensively reflect the geometric characteristics of the cutting surface of the pipe, improve the representativeness of the obtained cutting surface height, and reduce the cutting surface height error caused by the irregular deformation of the cutting surface, thereby improving the accuracy of the subsequent calibration of the rotation center. In addition, obtaining the follow-up height data of multiple positions on the cutting surface can reduce the impact of inaccurate data collected when the cutting height controller is first started and has not fully entered a stable working state on the rotation center calibration, thereby improving the accuracy of the laser cutting rotation center calibration.

[0023] In a possible implementation, in the height calculation module, for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, and then a cutting surface height corresponding to the cutting surface is obtained, including: obtaining a reference coordinate and an acquisition step; obtaining a plurality of acquisition points based on the reference coordinate and the acquisition step; for any of the acquisition points, obtaining the follow-up height of the acquisition point, and then obtaining a plurality of corresponding follow-up heights based on the plurality of acquisition points; and calculating a weighted average based on the plurality of follow-up heights to obtain the cutting surface height corresponding to the cutting surface.

[0024] In this implementation, the reference coordinates of the cutting surface are taken as the starting point, and a number of collection points with equal intervals between them are obtained on the cutting surface according to the length interval of the collection step, ensuring that the collection points can be evenly distributed on the cutting surface, so that the several follow-up heights collected can reflect the fluctuating heights of various parts of the cutting surface and accurately reflect the irregular deformation of the cutting surface, thereby improving the accuracy of the subsequent laser cutting rotation center calibration.

[0025] In a possible implementation, in the height calculation module, the weighted average value is calculated based on the plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface, including: obtaining the cross section of the pipe, and then obtaining the corresponding cutting surface length based on the cross section; obtaining the corresponding cutting surface midpoint based on the reference coordinates and the cutting surface length; for any following height, calculating the distance between the acquisition point corresponding to the following height and the cutting surface midpoint, obtaining the following height weight corresponding to the following height, and then obtaining the corresponding several following height weights based on the plurality of the following heights; calculating the weighted average value based on the plurality of the following heights and the corresponding several following height weights to obtain the cutting surface height corresponding to the cutting surface.

[0026] In this implementation, a weight is assigned to the follow-up height corresponding to the collection point according to the distance between the collection point and the midpoint of the cutting surface. Specifically, the closer the collection point is to the midpoint of the cutting surface, the higher the weight of the follow-up height corresponding to the collection point; the farther the collection point is from the midpoint of the cutting surface, the lower the weight of the follow-up height corresponding to the collection point. This implementation assigns a higher weight to the follow-up height data close to the midpoint, so that the obtained cutting surface height data is closer to the true geometric center height of the cutting surface, which improves the accuracy of the present invention in calculating the true geometric center of the pipe, thereby improving the accuracy of the subsequent laser cutting rotation center calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a method for calibrating a rotation center of laser cutting provided by an embodiment of the present invention;

[0028] Figure 2 is a stereoscopic diagram of a pipe provided by an embodiment of the present invention;

[0029] Figure 3 is a front view of a pipe provided by an embodiment of the present invention;

[0030] Figure 4 It is a structural schematic diagram of a laser cutting rotation center calibration system provided by an embodiment of the present invention;

[0031] Among them: 11, first surface; 111, midpoint of cutting surface; 12, second surface; 2, cross section; 100, cutting module; 200, height calculation module; 300, angle matching module; 400, rotation center calibration module. DETAILED DESCRIPTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0033] The following detailed descriptions are all exemplary descriptions, and are intended to provide further detailed descriptions of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the present application; the terms "including" and "having" in the specification and claims of the present application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0034] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] Before describing the present application in detail with reference to the accompanying drawings and in combination with the embodiments, the terms and application scenarios involved in the present application are first described.

[0037] In the existing laser cutting field, in order to ensure cutting accuracy, it is necessary to ensure that the geometric center of the processed pipe is accurately aligned with the rotation center of the fixture. However, in actual operation, due to factors such as slight deformation on the surface of the pipe and dimensional deviation during the production of the pipe, the geometric center and the rotation center often cannot coincide. To this end, the current mainstream technology adopts the "four-point centering" method to calculate the offset compensation value of the geometric center and the rotation center of the pipe by measuring the follow-up height of the four acquisition points corresponding to the rotation angles of 0°, 90°, 180° and 270°. Although the current "four-point centering" method can achieve a certain degree of calibration of the rotation center of the processed pipe, given that the cutting surface of the processed pipe is not a perfect plane, it has a certain degree of irregular deformation, resulting in fluctuations in the follow-up height at different positions on the same cutting surface, resulting in the "four-point centering" estimation of the geometric center of the processed pipe is not accurate. In addition, when the cutting height controller is first started to enter the "four-point centering", there may be a problem of not fully entering a stable working state, and the follow-up height collected may have errors.

[0038] In order to solve the above technical problems, see Figure 1 The embodiment of the present invention provides a method for calibrating the rotation center of laser cutting, comprising the following steps:

[0039] S101, obtaining cutting surfaces of the pipe to be cut at several different angles; specifically, in this embodiment, obtaining cutting surfaces of the rectangular pipe to be cut at four angles;

[0040] S102, for any of the cutting surfaces of the pipe, when the cutting surface is located directly above the rotation center, obtain the cutting surface rotation angle corresponding to the cutting surface, and obtain a plurality of follow-up heights of the cutting surface based on a preset acquisition strategy, thereby obtaining the cutting surface height corresponding to the cutting surface; specifically, in this embodiment, after obtaining the plurality of follow-up heights of the cutting surface, the plurality of follow-up heights are stored in an array H corresponding to the cutting surface. n Wherein, n represents the nth cutting surface of the pipe to be cut.

[0041] S103, based on the rotation angles of all the cutting surfaces, pairing all the cutting surfaces according to a preset pairing rule to obtain a pairing result;

[0042] S104. Calculate a first direction compensation value and a second direction compensation value based on the pairing result and all the cutting surface heights to obtain a rotation center offset; specifically, in this embodiment, the first direction is the horizontal direction of the pipe, and the second direction is the vertical direction of the pipe.

[0043] S105: Calibrate the rotation center based on the rotation center offset.

[0044] The above-mentioned laser cutting rotation center calibration method calculates the cutting surface height by obtaining the follow-up height of multiple positions on the cutting surface. Compared with the prior art that only obtains the follow-up height of one point on the cutting surface as the cutting surface height, it can more comprehensively reflect the geometric characteristics of the cutting surface of the pipe, improve the representativeness of the obtained cutting surface height, and reduce the cutting surface height error caused by the irregular deformation of the cutting surface, thereby improving the accuracy of the subsequent calibration of the rotation center. In addition, obtaining the follow-up height data at multiple positions on the cutting surface can reduce the impact of inaccurate data collected when the cutting height controller is first started and has not fully entered a stable working state on the rotation center calibration, thereby improving the accuracy of the laser cutting rotation center calibration.

[0045] In a possible embodiment, for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, and then the cutting surface height corresponding to the cutting surface is obtained, including: obtaining a reference coordinate and an acquisition step; obtaining a plurality of acquisition points based on the reference coordinate and the acquisition step; for any of the acquisition points, obtaining the follow-up height of the acquisition point, and then obtaining a plurality of corresponding follow-up heights based on the plurality of acquisition points; and calculating a weighted average based on the plurality of follow-up heights to obtain the cutting surface height corresponding to the cutting surface.

[0046] Specifically, in practical applications, the width of the pipe to be cut is usually no more than 550 mm. Therefore, for a pipe to be cut with a width of 550 mm, the acquisition step can be set to 5.5 mm, and 100 acquisition points are acquired on the cutting surface based on the acquisition step.

[0047] In this embodiment, the reference coordinates of the cutting surface are taken as the starting point, and a number of collection points with equal intervals between them are obtained on the cutting surface according to the length interval of the collection step, thereby ensuring that the collection points can be evenly distributed on the cutting surface, so that the several follow-up heights obtained by collection can reflect the fluctuating heights of various parts of the cutting surface and accurately reflect the irregular deformation of the cutting surface, thereby improving the accuracy of the subsequent laser cutting rotation center calibration.

[0048] See also Figure 2 and Figure 3In a possible embodiment, the calculating of the weighted average value based on the plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface includes: obtaining the cross section 2 of the pipe, and then obtaining the corresponding cutting surface length based on the cross section 2; obtaining the corresponding cutting surface midpoint 111 based on the reference coordinates and the cutting surface length; for any of the following heights, calculating the distance between the acquisition point corresponding to the following height and the cutting surface midpoint 111 to obtain the following height weight corresponding to the following height, and then obtaining the corresponding several following height weights based on the plurality of the following heights; calculating the weighted average value based on the plurality of the following heights and the corresponding several following height weights to obtain the cutting surface height corresponding to the cutting surface.

[0049] Specifically, the weighted average value is calculated based on a plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface, which can be expressed as the following formula 1:

[0050]

[0051] Among them, Z 中点 Indicates the height of the cutting surface, h c,i represents the ith follower height of the cth cutting surface, w i represents the follow-up height weight corresponding to the i-th follow-up height, and k represents the total number of follow-up heights collected on the c-th cutting surface.

[0052] In this embodiment, a weight is assigned to the follow-up height corresponding to the collection point according to the distance between the collection point and the midpoint 111 of the cutting surface. Specifically, the closer the collection point is to the midpoint 111 of the cutting surface, the higher the weight of the follow-up height corresponding to the collection point; the farther the collection point is from the midpoint 111 of the cutting surface, the lower the weight of the follow-up height corresponding to the collection point. This embodiment assigns a higher weight to the follow-up height data close to the midpoint, so that the obtained cutting surface height data is closer to the true geometric center height of the cutting surface, which improves the accuracy of the present invention in calculating the true geometric center of the pipe, thereby improving the accuracy of the subsequent laser cutting rotation center calibration.

[0053] See also Figure 2 and Figure 3 In a possible embodiment, for any of the following heights, the distance between the acquisition point corresponding to the following height and the midpoint 111 of the cutting surface is calculated to obtain a following height weight corresponding to the following height, and then based on the several following heights, several corresponding following height weights are obtained, and the calculation formula thereof is expressed as follows:

[0054]

[0055] Among them, w irepresents the following height weight corresponding to the ith following height, position i represents the acquisition point corresponding to the ith following height, L / 2 represents the midpoint 111 of the cutting surface, and L represents the width of the first surface 11 corresponding to the section 2.

[0056] In this embodiment, L represents the length of the cutting surface, and L / 2 represents the midpoint 111 of the cutting surface. The above calculation formula converts the absolute value of the distance between the acquisition point and the midpoint 111 of the cutting surface into a weight coefficient, thereby giving a higher weight to the tracking height data close to the midpoint.

[0057] In a possible embodiment, based on the rotation angles of all the cutting surfaces, all the cutting surfaces are paired according to a preset pairing rule to obtain a pairing result, including: for any two of the cutting surfaces, calculating the difference in the corresponding cutting surface rotation angles; pairing the cutting surfaces whose difference in the cutting surface rotation angles is within the range of 180°±Δ to obtain a first cutting surface group and a second cutting surface group, and then using the first cutting surface group and the second cutting surface group as the pairing result, wherein Δ represents a preset angle tolerance.

[0058] See also Figure 2 It should be noted that, for any two of the cutting surfaces, the difference in the corresponding rotation angles of the cutting surfaces is calculated; the cutting surfaces whose difference in the rotation angles of the cutting surfaces is within the range of 180°±Δ are paired to obtain a first cutting surface group and a second cutting surface group, which is equivalent to pairing two surfaces of the pipe that are directly opposite to each other. Specifically, when the rotation angle is 0°, the cutting surface directly above the rotation center is defined as the first surface 11; when the rotation angle is 90°, the cutting surface directly above the rotation center is defined as the second surface 12; when the rotation angle is 180°, the cutting surface directly above the rotation center is defined as the third surface; when the rotation angle is 270°, the cutting surface directly above the rotation center is defined as the fourth surface; the above technical implementation means is equivalent to pairing the first surface and the third surface to obtain the first cutting surface group, and pairing the second surface and the fourth surface to obtain the second cutting surface group. Furthermore, considering the possible errors in the rotation angle during the actual measurement and detection process, the rotation angle difference between two cutting surfaces facing each other may not be exactly equal to 180°, so an angle tolerance is also preset so that the rotation angle difference between the two cutting surfaces has an angle deviation range within a certain allowable range. Specifically, Figure 2 The first side 11 and the second side 12 are shown. The third side and the fourth side are not shown. Figure 2 As shown in FIG. 1 , it should be understood that the third surface is actually a cutting surface in a direction opposite to the first cutting surface 11 , and the fourth surface is actually a cutting surface in a direction opposite to the second cutting surface 12 .

[0059] In a possible embodiment, the first direction compensation value and the second direction compensation value are calculated based on the pairing result and all the cutting surface heights to obtain the rotation center offset, including: calculating the difference in the cutting surface heights in the first cutting surface group to obtain the first direction compensation value; calculating the difference in the cutting surface heights in the second cutting surface group to obtain the second direction compensation value.

[0060] Specifically, the first direction is the horizontal direction of the pipe, and the second direction is the vertical direction of the pipe. The difference in the height of the cutting surface in the first cutting surface group is calculated to obtain the compensation value of the first direction, which can be expressed as the following formula 3:

[0061]

[0062] Among them, Z 90° Indicates the height of the cutting surface of the second surface 12 when the rotation angle is 90°; Z 270° Indicates the height of the cutting surface corresponding to the fourth surface when the rotation angle is 270°;

[0063] The difference in the height of the cutting surface in the second cutting surface group is calculated to obtain the second direction compensation value, which can be expressed as the following formula 4:

[0064]

[0065] Among them, Z 0° Indicates the height of the cutting surface of the first surface 11 when the rotation angle is 0°; Z 180° Indicates the cutting surface height of the third surface when the rotation angle is 180°.

[0066] In this embodiment, the height difference between two cutting surfaces located directly opposite to each other is calculated to obtain the rotation center compensation value of the pipe in that direction, and then the rotation center compensation values ​​of the pipe in two directions are obtained based on the two sets of directly opposite cutting surfaces. Then, the rotation center of the pipe can be calibrated based on the rotation center compensation values ​​in two directions, thereby improving the accuracy of the rotation center calibration.

[0067] In a possible embodiment, for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, including: for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of original follow-up heights of the cutting surface are obtained based on a preset acquisition strategy; and a plurality of the original follow-up heights are dynamically smoothed based on a moving average method to obtain a plurality of the follow-up heights.

[0068] Specifically, the dynamic smoothing process is performed on the original following heights based on the moving average method to obtain the following following heights, which can be expressed as the following formula 5:

[0069]

[0070] Among them, h 平滑 , i represents the ith follow-up height of the cutting surface, h j represents the jth original moving height of the cutting surface, and n represents the sliding window size of the dynamic averaging method, which determines how many original moving heights are in the sliding window.

[0071] In this embodiment, the original follow-up height data is dynamically smoothed to reduce data fluctuations of the original follow-up height data and improve the accuracy of the follow-up height data, thereby solving the problem of data fluctuations caused by unstable startup and failure to fully enter a stable working state during the process of the cutting head entering the follow-up state, and improving the accuracy of the rotation center calibration.

[0072] See also Figure 4 The embodiment of the present invention provides a laser cutting rotation center calibration system, comprising a cutting module 100, a height calculation module 200, an angle matching module 300 and a rotation center calibration module 400, wherein: the cutting module 100 is used to obtain a plurality of cutting surfaces of different angles of a pipe to be cut; the height calculation module 200 is used to obtain a plurality of follow-up heights of any cutting surface of the pipe when the cutting surface is located directly above the rotation center based on a preset acquisition strategy, and then obtain a cutting surface height corresponding to the cutting surface; the angle matching module 300 is used to obtain a cutting surface rotation angle corresponding to any cutting surface of the pipe when the cutting surface is located directly above the rotation center, and then pair all the cutting surfaces according to a preset pairing rule based on all the cutting surface rotation angles to obtain a pairing result; the rotation center calibration module 400 is used to calculate a first direction compensation value and a second direction compensation value based on the pairing result and all the cutting surface heights to obtain a rotation center offset, and then calibrate the rotation center based on the rotation center offset.

[0073] In this embodiment, the cutting surface height is calculated by obtaining the follow-up height of multiple positions on the cutting surface. Compared with the prior art in which only the follow-up height of one point on the cutting surface is obtained as the cutting surface height, it can more comprehensively reflect the geometric characteristics of the cutting surface of the pipe, improve the representativeness of the obtained cutting surface height, reduce the cutting surface height error caused by the irregular deformation of the cutting surface, and thus improve the accuracy of the subsequent calibration of the rotation center. In addition, obtaining the follow-up height data of multiple positions on the cutting surface can reduce the impact of inaccurate data collected when the cutting height controller is first started and has not fully entered a stable working state on the rotation center calibration, thereby improving the accuracy of the laser cutting rotation center calibration.

[0074] In a possible embodiment, in the height calculation module 200, for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, and then a cutting surface height corresponding to the cutting surface is obtained, including: obtaining a reference coordinate and an acquisition step; obtaining a plurality of acquisition points based on the reference coordinate and the acquisition step; for any of the acquisition points, obtaining the follow-up height of the acquisition point, and then obtaining a plurality of corresponding follow-up heights based on the plurality of acquisition points; and calculating a weighted average based on the plurality of follow-up heights to obtain the cutting surface height corresponding to the cutting surface.

[0075] In this embodiment, the reference coordinates of the cutting surface are taken as the starting point, and a number of collection points with equal intervals between them are obtained on the cutting surface according to the length interval of the collection step, thereby ensuring that the collection points can be evenly distributed on the cutting surface, so that the several follow-up heights obtained by collection can reflect the fluctuating heights of various parts of the cutting surface and accurately reflect the irregular deformation of the cutting surface, thereby improving the accuracy of the subsequent laser cutting rotation center calibration.

[0076] In a possible embodiment, in the height calculation module 200, the weighted average value is calculated based on the plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface, including: obtaining the cross section 2 of the pipe, and then obtaining the corresponding cutting surface length based on the cross section 2; obtaining the corresponding cutting surface midpoint 111 based on the reference coordinates and the cutting surface length; for any following height, calculating the distance between the acquisition point corresponding to the following height and the cutting surface midpoint 111 to obtain the following height weight corresponding to the following height, and then obtaining the corresponding several following height weights based on the plurality of the following heights; calculating the weighted average value based on the plurality of the following heights and the corresponding several following height weights to obtain the cutting surface height corresponding to the cutting surface.

[0077] In this embodiment, a weight is assigned to the follow-up height corresponding to the collection point according to the distance between the collection point and the midpoint 111 of the cutting surface. Specifically, the closer the collection point is to the midpoint 111 of the cutting surface, the higher the weight of the follow-up height corresponding to the collection point; the farther the collection point is from the midpoint 111 of the cutting surface, the lower the weight of the follow-up height corresponding to the collection point. This embodiment assigns a higher weight to the follow-up height data close to the midpoint, so that the obtained cutting surface height data is closer to the true geometric center height of the cutting surface, which improves the accuracy of the present invention in calculating the true geometric center of the pipe, thereby improving the accuracy of the subsequent laser cutting rotation center calibration.

[0078] An embodiment of the present invention provides another method for calibrating a laser cutting rotation center, comprising the following steps:

[0079] S201, define the chuck center as O, and the actual rotation center of the pipe to be cut as o. The actual rotation center is offset from the chuck center. The chuck center is taken as the origin. The offset includes the vertical Z direction offset Z ex and the Y direction offset Y in the horizontal direction ex .

[0080] S202, obtaining cutting surfaces of the pipe to be cut at several different angles; specifically, in this embodiment, obtaining cutting surfaces of the rectangular pipe to be cut at four angles;

[0081] S203, for any of the cutting surfaces of the pipe, when the cutting surface is located directly above the rotation center, obtain the cutting surface rotation angle corresponding to the cutting surface, and obtain a plurality of follow-up heights of the cutting surface based on a preset acquisition strategy; specifically, in this embodiment, after obtaining the plurality of follow-up heights of the cutting surface, the plurality of follow-up heights are stored in an array H corresponding to the cutting surface. n Wherein, n represents the nth cutting surface of the pipe to be cut.

[0082] S204. Based on the rotation angles of all the cutting surfaces, pair all the cutting surfaces according to a preset pairing rule to obtain a pairing result. Specifically, for any two cutting surfaces, calculate the difference in the corresponding cutting surface rotation angles. Pair the cutting surfaces whose difference in the cutting surface rotation angles is within the range of 180°±Δ to obtain a first cutting surface group and a second cutting surface group, and then use the first cutting surface group and the second cutting surface group as the pairing result, wherein Δ represents a preset angle tolerance.

[0083] See also Figure 2It should be noted that, for any two of the cutting surfaces, the difference in the corresponding rotation angles of the cutting surfaces is calculated; the cutting surfaces whose difference in the rotation angles of the cutting surfaces is within the range of 180°±Δ are paired to obtain a first cutting surface group and a second cutting surface group, which is equivalent to pairing two surfaces of the pipe that are directly opposite to each other. Specifically, when the rotation angle is 0°, the cutting surface directly above the rotation center is defined as the first surface 11; when the rotation angle is 90°, the cutting surface directly above the rotation center is defined as the second surface 12; when the rotation angle is 180°, the cutting surface directly above the rotation center is defined as the third surface; when the rotation angle is 270°, the cutting surface directly above the rotation center is defined as the fourth surface; the above technical implementation means is equivalent to pairing the first surface and the third surface to obtain the first cutting surface group, and pairing the second surface and the fourth surface to obtain the second cutting surface group. Furthermore, considering the possible errors in the rotation angle during the actual measurement and detection process, the rotation angle difference between two cutting surfaces facing each other may not be exactly equal to 180°, so an angle tolerance is also preset so that the rotation angle difference between the two cutting surfaces has an angle deviation range within a certain allowable range. Specifically, Figure 2 The first side 11 and the second side 12 are shown. The third side and the fourth side are not shown. Figure 2 As shown in FIG. 1 , it should be understood that the third surface is actually a cutting surface in a direction opposite to the first cutting surface 11 , and the fourth surface is actually a cutting surface in a direction opposite to the second cutting surface 12 .

[0084] Specifically, in this embodiment, the Y-axis coordinate value y of the cutting head is recorded at the horizontal rotation position of the pipe. When the cutting head enters the cutting state, the angle θ1 and the initial Y-axis coordinate y1 of its initial cutting surface are recorded, and y1 is used as the reference coordinate of the cutting surface. Subsequently, the follow-up height of all positions on the surface during the cutting process is recorded according to the acquisition strategy and stored in the array

[0085] The data of this stage is dynamically smoothed. The rotation angle of the cutting surface corresponding to the cutting surface is obtained, and several original follow-up heights of the cutting surface are obtained based on the preset acquisition strategy; the several original follow-up heights are dynamically smoothed based on the moving average method to obtain several follow-up heights.

[0086] Specifically, the dynamic smoothing process is performed on the original following heights based on the moving average method to obtain the following following heights, which can be expressed as the following formula 5:

[0087]

[0088] Among them, h 平滑 , i represents the ith follow-up height of the cutting surface, h jrepresents the jth original moving height of the cutting surface, and n represents the sliding window size of the dynamic averaging method, which determines how many original moving heights are in the sliding window.

[0089] When the rotation angle reaches θ1+90°, the angle θ2 of the cutting surface and the initial Y-axis coordinate y2 are recorded, y2 is used as the reference coordinate, the follow-up height of the surface is collected and stored in array H2.

[0090] When the rotation angle reaches θ1+180°, the angle θ3 of the cutting surface and the initial Y-axis coordinate y3 are recorded, y3 is used as the reference coordinate, the follow-up height of the surface is collected and stored in array H3.

[0091] When the rotation angle reaches θ1+270°, the angle θ4 of the cutting surface and the initial axis coordinate y4 are recorded, y4 is used as the reference coordinate, the follow-up height of the surface is collected and stored in array H4.

[0092] When the rotation angle reaches θ1+360°, the cutting surface and cutting surface θ1 are the same physical plane. The initial Y-axis coordinate y5 is recorded and used as the reference. The follow-up height of the surface is collected and stored in the array.

[0093] It should be noted that since the cutting head is usually located at the center of the cutting surface in the initial state, in this embodiment, the "when the cutting head enters the cutting state, the angle θ1 and the initial Y-axis coordinate y1 of the initial cutting surface are recorded, and y1 is used as the reference coordinate of the cutting surface. Subsequently, the following heights of all positions on the surface during the cutting process are recorded according to the acquisition strategy and stored in the array Only half of the follow-up height of the cutting surface is recorded, and the "rotation angle reaches θ1+360°. At this time, the cutting surface and the cutting surface θ1 are the same physical plane. The initial Y-axis coordinate y5 is recorded and used as a reference. The follow-up height of the surface is collected and stored in the array The following height of the other half of the cutting surface is recorded. That is, the first surface needs to record the left and right data of the cutting position. For this purpose, an array and arrays Record the first face, and finally merge the two arrays to obtain array H1 as the complete record value of the first face.

[0094] S205: For any cutting surface and the following height array corresponding to the cutting surface, a weighted average is calculated based on a plurality of following heights to obtain the cutting surface height corresponding to the cutting surface. Figure 2 and Figure 3, obtain the cross section 2 of the pipe, and then obtain the corresponding cutting surface length based on the cross section 2; obtain the corresponding cutting surface midpoint 111 based on the reference coordinates and the cutting surface length; for any of the following heights, calculate the distance between the acquisition point corresponding to the following height and the cutting surface midpoint 111, obtain the following height weight corresponding to the following height, and then obtain the corresponding several following height weights based on several following heights; calculate the weighted average based on several following heights and the corresponding several following height weights to obtain the cutting surface height corresponding to the cutting surface.

[0095] Specifically, the weighted average value is calculated based on a plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface, which can be expressed as the following formula 1:

[0096]

[0097] Among them, Z 中点 Indicates the height of the cutting surface, h c,i represents the ith follower height of the cth cutting surface, w i represents the follow-up height weight corresponding to the i-th follow-up height, and k represents the total number of follow-up heights collected on the c-th cutting surface.

[0098] Furthermore, for any of the following heights, the distance between the acquisition point corresponding to the following height and the midpoint 111 of the cutting surface is calculated to obtain a following height weight corresponding to the following height, and then based on the several following heights, several corresponding following height weights are obtained, and the calculation formula thereof is expressed as follows:

[0099]

[0100] Among them, w i represents the following height weight corresponding to the ith following height, position i represents the acquisition point corresponding to the ith following height, L / 2 represents the midpoint 111 of the cutting surface, and L represents the width of the first surface 11 corresponding to the section 2.

[0101] S206, based on the pairing result and all the cutting surface heights, a first direction compensation value and a second direction compensation value are calculated to obtain a rotation center offset; specifically, in this embodiment, the first direction is the horizontal direction of the pipe, and the second direction is the vertical direction of the pipe. The difference in the cutting surface heights in the first cutting surface group is calculated to obtain the first direction compensation value, which can be expressed as follows:

[0102] Formula 3:

[0103]

[0104] Among them, Z 90° Indicates the height of the cutting surface of the second surface 12 when the rotation angle is 90°; Z 270° Indicates the height of the cutting surface corresponding to the fourth surface when the rotation angle is 270°;

[0105] The difference in the height of the cutting surface in the second cutting surface group is calculated to obtain the second direction compensation value, which can be expressed as the following formula 4:

[0106]

[0107] Among them, Z 0° Indicates the height of the cutting surface of the first surface 11 when the rotation angle is 0°; Z 180° Indicates the cutting surface height of the third surface when the rotation angle is 180°.

[0108] S207: Calibrate the rotation center based on the first direction compensation value and the second direction compensation value.

[0109] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope recorded in this specification.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several improvements and substitutions may be made without departing from the concept of the present application, and these improvements and substitutions shall also be regarded as the protection scope of the present invention. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for calibrating the rotation center of laser cutting, characterized in that: include: Obtaining several cutting surfaces at different angles of the pipe to be cut; For any of the cutting surfaces of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, thereby obtaining the cutting surface height corresponding to the cutting surface; Based on the rotation angles of all the cutting surfaces, pairing all the cutting surfaces according to a preset pairing rule to obtain a pairing result; Calculate a first direction compensation value and a second direction compensation value based on the pairing result and all the cutting surface heights to obtain a rotation center offset; The rotation center is calibrated based on the rotation center offset.

2. A laser cutting rotation center calibration method according to claim 1, characterized in that: For any of the cutting surfaces of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, so as to obtain the cutting surface height corresponding to the cutting surface, including: Obtain reference coordinates and acquisition step length; Based on the reference coordinates and the acquisition step, acquiring a plurality of acquisition points; For any of the collection points, the following height of the collection point is obtained, and then a corresponding number of following heights are obtained based on a number of the collection points; A weighted average is calculated based on a plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface.

3. A laser cutting rotation center calibration method according to claim 2, characterized in that: The step of calculating a weighted average value based on a plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface includes: Obtaining a cross section of the pipe, and then obtaining a corresponding cutting surface length based on the cross section; Based on the reference coordinates and the length of the cutting surface, obtaining the corresponding cutting surface midpoint; For any of the following heights, the distance between the acquisition point corresponding to the following height and the midpoint of the cutting surface is calculated to obtain a following height weight corresponding to the following height, and then a number of corresponding following height weights are obtained based on the number of following heights; A weighted average is calculated based on a plurality of the following heights and a corresponding plurality of the following height weights to obtain the cutting surface height corresponding to the cutting surface.

4. A laser cutting rotation center calibration method according to claim 3, characterized in that: For any of the following heights, the distance between the acquisition point and the midpoint of the cutting surface corresponding to the following height is calculated to obtain the following height weight corresponding to the following height, and then based on the several following heights, several corresponding following height weights are obtained, and the calculation formula is expressed as follows: Among them, w i represents the following height weight corresponding to the ith following height, position i represents the acquisition point corresponding to the ith following height, and L / 2 represents the midpoint of the cutting surface.

5. The laser cutting rotation center calibration method according to claim 1, characterized in that: The step of pairing all the cutting surfaces based on the rotation angles of all the cutting surfaces according to a preset pairing rule to obtain a pairing result includes: For any two of the cutting surfaces, calculating the difference between the rotation angles of the corresponding cutting surfaces; The cutting surfaces whose rotation angle difference is within the range of 180°±Δ are paired to obtain a first cutting surface group and a second cutting surface group, and then the first cutting surface group and the second cutting surface group are used as the pairing result, wherein Δ represents a preset angle tolerance.

6. A laser cutting rotation center calibration method according to claim 5, characterized in that: The calculating of the first direction compensation value and the second direction compensation value based on the pairing result and all the cutting surface heights to obtain the rotation center offset comprises: Calculating the difference in the heights of the cutting surfaces in the first cutting surface group, and thereby obtaining the first direction compensation value; The difference in the heights of the cutting surfaces in the second cutting surface group is calculated to obtain the second direction compensation value.

7. The laser cutting rotation center calibration method according to claim 1, characterized in that: For any of the cutting surfaces of the pipe, when the cutting surface is located directly above the rotation center, the cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, including: For any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, a cutting surface rotation angle corresponding to the cutting surface is obtained, and a plurality of original follow-up heights of the cutting surface are obtained based on a preset acquisition strategy; Dynamically smoothing the plurality of original following heights is performed based on a moving average method to obtain the plurality of following heights.

8. A laser cutting rotation center calibration system, characterized in that: It includes cutting module, height calculation module, angle matching module and rotation center calibration module, among which: The cutting module is used to obtain cutting surfaces of several different angles of the pipe to be cut; The height calculation module is used for obtaining, for any cutting surface of the pipe, a plurality of follow-up heights of the cutting surface based on a preset acquisition strategy when the cutting surface is located directly above the rotation center, and then obtaining the cutting surface height corresponding to the cutting surface; The angle matching module is used to obtain the cutting surface rotation angle corresponding to any cutting surface of the pipe when the cutting surface is located directly above the rotation center, and then pair all the cutting surfaces according to the preset matching rules based on all the cutting surface rotation angles to obtain the matching result; The rotation center calibration module is used to calculate the first direction compensation value and the second direction compensation value based on the pairing result and all the cutting surface heights to obtain the rotation center offset, and then calibrate the rotation center based on the rotation center offset.

9. The laser cutting rotation center calibration system according to claim 8, characterized in that: In the height calculation module, for any cutting surface of the pipe, when the cutting surface is located directly above the rotation center, a plurality of follow-up heights of the cutting surface are obtained based on a preset acquisition strategy, and then the cutting surface height corresponding to the cutting surface is obtained, including: Obtain reference coordinates and acquisition step length; Based on the reference coordinates and the acquisition step, acquiring a plurality of acquisition points; For any of the collection points, the following height of the collection point is obtained, and then a corresponding number of following heights are obtained based on a number of the collection points; A weighted average is calculated based on a plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface.

10. The laser cutting rotation center calibration system according to claim 9, characterized in that: In the height calculation module, the weighted average value is calculated based on a plurality of the following heights to obtain the cutting surface height corresponding to the cutting surface, including: Obtaining a cross section of the pipe, and then obtaining a corresponding cutting surface length based on the cross section; Based on the reference coordinates and the length of the cutting surface, obtaining the corresponding cutting surface midpoint; For any of the following heights, the distance between the acquisition point corresponding to the following height and the midpoint of the cutting surface is calculated to obtain a following height weight corresponding to the following height, and then a number of corresponding following height weights are obtained based on the number of following heights; A weighted average is calculated based on a plurality of the following heights and a corresponding plurality of the following height weights to obtain the cutting surface height corresponding to the cutting surface.

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