Unspecific-shape pipe fitting marking method and system

Abstract

The invention is suitable for the technical field of ship pipeline machining and manufacturing, and provides a marking method and system for non-specific-shape pipe fittings, and the method comprises the steps that a plurality of pipe fittings are transported to a marking area one by one; the shape of the pipe fitting is scanned and recognized, and a corresponding pipe fitting model is generated; generating a track running program based on the relative position of the pipe fitting model and the marking moving device; the marking moving device moves the marking device to a marking working position according to the track operation program to mark the pipe fitting to generate one or more marks; wherein the marked content comprises one or more of characters, patterns, two-dimensional codes and bar codes; different track operation programs are formulated by scanning and recognizing the self-adaptive non-specific-shape pipe fittings, interference on hardware is avoided, and the multiple non-specific-shape pipe fittings are marked one by one in batches, so that the intelligent degree and the working efficiency are improved, the cost is reduced, and the user experience is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ship pipeline processing and manufacturing, and in particular relates to a pipe marking method and system of non-specific shapes. Background Art

[0002] When inspecting the welding quality of ship pipelines, it is necessary to inspect the welding quality of each weld of each pipe fitting. Due to the wide variety of ship pipelines and their different shapes, most of them currently use manual marking on the surface of pipe fittings to mark the information of the pipe fittings and the weld information for the next process inspection and identification. This has the problems of low work efficiency, poor working environment, high labor costs, etc. and can no longer meet people's use needs. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a method and system for marking pipes of non-specific shapes, aiming to solve the problem that the prior art cannot provide an effective method for marking pipes of non-specific shapes, resulting in low intelligence and poor user experience.

[0004] In one aspect, the present invention provides a method for marking a pipe of a non-specific shape, the method comprising the following steps: Transporting a plurality of pipes to the marking area one by one; wherein the plurality of pipes are in a non-specific shape, and the cross-section of the pipes is any one of a circle, an ellipse, and a rectangle; Scan and identify the shape of the pipe fitting and generate a corresponding pipe fitting model; the pipe fitting model includes the position coordinates of the pipe fitting; Generate a trajectory running program based on the relative position of the pipe model and the marking mobile device; The marking moving device moves the marking device to the marking work position according to the track running program to mark the pipe fitting to generate one or more marks; the marking work position is one or more points or areas; The content of the mark includes: one or more of text, pattern, QR code, and barcode.

[0005] Furthermore, the marking device marks the pipe at one or more of the points to generate the mark.

[0006] Preferably, the method further comprises: generating a marking motion program corresponding to the marked content; After the marking moving device moves the marking device to the marking work position according to the trajectory operation program, the marking movement program is executed to move the marking device to mark the pipe fitting to generate the mark.

[0007] Furthermore, the method further comprises: Scanning and identifying the shape of the pipe using one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler; The camera, the thermal imager, the laser sensor, and the 3D line laser profiler are one or more.

[0008] Furthermore, the marking device includes: a laser marking mechanism, a paint marking mechanism, and a label marking mechanism; The laser marking mechanism emits a laser beam to irradiate the surface of the pipe, causing the surface material of the pipe to undergo a chemical reaction to generate a mark; The spray paint marking mechanism comprises: an ultraviolet lamp and a nozzle, the nozzle sprays paint to mark the surface of the pipe to generate a mark, and the ultraviolet lamp irradiates the mark; The labeling mechanism includes: a label marking mechanism and a labeling mechanism, wherein the labeling mechanism attaches the label printed by the label printing mechanism to the surface of the pipe; one side of the label has adhesive backing and the other side is printed with the mark, and the side of the label with adhesive backing is attached to the surface of the pipe.

[0009] Preferably, before the labeling mechanism affixes the label printed by the label printing mechanism to the surface of the pipe: a pre-labeling treatment is performed on the surface of the pipe.

[0010] Furthermore, the method further comprises: Calculating the distance between the marking device and the surface of the pipe, and determining the distance between the marking work station and the surface of the pipe according to the distance; The calculating the distance between the marking device and the surface of the pipe comprises: calculating by detecting with a distance sensor or calculating according to the relative position of the pipe model and the marking moving device.

[0011] Further, the marking mobile device is one or more six-degree-of-freedom mobile mechanisms, and the six-degree-of-freedom mobile mechanism is provided with the marking device; The marking device further comprises: a quality inspection camera for inspecting the quality of the mark, and outputting a mark unqualified prompt when the quality inspection camera detects that the quality of the mark is unqualified; The method further includes: when the marking failure prompt appears, controlling the marking moving device to move the marking device to the marking work position of the pipe corresponding to the marking failure prompt according to the trajectory operation program, re-marking the pipe to superimpose one or more marks.

[0012] In another aspect, the present invention provides a pipe marking system of non-specific shape, the system comprising: The AGV cart transports multiple pipes to the marking area one by one; A modeling unit, scanning and identifying the shape of the pipe fitting and generating a corresponding pipe fitting model; A program generating unit, which generates a trajectory running program based on the relative position between the pipe model and the marking moving device; A marking moving device moves the marking device to a marking work position according to the trajectory running program; A marking device, marking the pipe fitting to generate a mark; A quality inspection camera is used to inspect the quality of the mark, and when the quality of the mark is found to be unqualified, an unqualified mark prompt is output; The re-marking unit controls the marking moving device to move the marking device to the marking work position of the pipe fitting corresponding to the marking unqualified prompt according to the track operation program when the marking unqualified prompt appears, and re-marks the pipe fitting to generate the marking by superimposing the marking.

[0013] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the above-mentioned method for marking pipes of non-specific shapes.

[0014] The beneficial effects of the present invention are: transporting multiple pipe fittings to the marking area one by one; scanning and identifying the shapes of the pipe fittings and generating corresponding pipe fitting models; generating a trajectory operation program based on the relative position of the pipe fitting model and the marking mobile device; the marking mobile device moves the marking device to the marking work position according to the trajectory operation program to mark the pipe fittings to generate one or more marks; wherein the content of the mark includes: one or more of text, pattern, QR code, bar code; by scanning and identifying pipe fittings of adaptive non-specific shapes, different trajectory operation programs are formulated, thereby avoiding hardware interference and realizing batch marking of multiple pipe fittings of non-specific shapes, thereby improving the degree of intelligence and work efficiency, reducing costs, and thus improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flowchart of the implementation of the method for marking a pipe of a non-specific shape provided in the first embodiment of the present invention; Figure 2 It is a structural schematic diagram of a pipe marking system of non-specific shape provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments: Example

[0018] Figure 1 The implementation process of the pipe marking method of non-specific shape provided by the first embodiment of the present invention is shown. For the convenience of description, only the part related to the embodiment of the present invention is shown, which is described in detail as follows: In step S101, a plurality of pipes are transported to a marking area one by one.

[0019] In an embodiment of the present invention, the plurality of pipes are in a non-specific shape, and the cross section of the pipe is any one of a circle, an ellipse, and a rectangle; In step S102, the shape of the pipe is scanned and identified, and a corresponding pipe model is generated.

[0020] In an embodiment of the present invention, the pipe model includes position coordinates of the pipe; The method further includes: Use one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the shape of the pipe; One or more cameras, thermal imagers, laser sensors, and 3D line laser profilers are used to locate the position coordinates of the pipe.

[0021] In step S103, a trajectory operation program is generated based on the relative position of the pipe model and the marking mobile device.

[0022] In step S104, the marking mobile device moves the marking device to the marking work position according to the trajectory operation program to mark the pipe fitting to generate one or more marks.

[0023] In an embodiment of the present invention, the marking work position is one or more points or areas; the marking content includes: one or more of text, pattern, QR code, and bar code.

[0024] Preferably, the marking device marks the pipe at one or more points to generate a mark; the marking is completed by the movement of the mechanical mechanism in the marking device, and marking the pipe at multiple points can make up for the problem of different depths caused by the inconsistent distance between the laser marking mechanism and the surface of the pipe when printing on a curved pipe (with an elliptical or circular cross-section).

[0025] Further, the method also includes: generating a marking motion program corresponding to the marked content; After the marking moving device moves the marking device to the marking work position according to the trajectory running program, the marking movement program is executed to move the marking device to mark the pipe fitting to generate a mark; it is suitable for the use requirements that the marking device only emits a laser beam or sprays paint without mechanical movement.

[0026] Among them, the marking device includes: a laser marking mechanism, a paint marking mechanism, and a label marking mechanism; to meet different usage requirements; The laser marking mechanism emits a laser beam to irradiate the surface of the pipe fitting, causing the surface material of the pipe fitting to undergo a chemical reaction to generate a mark; wherein the chemical reaction includes: the surface material of the pipe fitting undergoes gasification or a color change.

[0027] The spray painting marking mechanism includes: an ultraviolet lamp and a nozzle, the nozzle sprays paint to mark the surface of the pipe to generate a mark, and the ultraviolet lamp irradiates the mark for rapid curing; wherein the paint can be replaced by other visible or invisible liquids, such as ink or fluorescent liquid; The labeling mechanism includes: a label marking mechanism and a labeling mechanism, and the labeling mechanism attaches the label printed by the label printing mechanism to the surface of the pipe; one side of the label has adhesive backing and the other side is printed with a mark, and the side of the label with adhesive backing is attached to the surface of the pipe.

[0028] Furthermore, before the labeling mechanism attaches the label printed by the label printing mechanism to the surface of the pipe fitting, the surface of the pipe fitting is subjected to pre-labeling treatment; wherein the pre-labeling treatment of the surface of the pipe fitting includes: cleaning, dust blowing, water spraying, glue spraying, heating and the like.

[0029] Furthermore, the method further comprises: Calculate the distance between the marking device and the surface of the pipe, and determine the distance between the marking work station and the surface of the pipe according to the distance; improve the marking quality and accuracy; Calculating the distance between the marking device and the surface of the pipe includes: calculating using a distance sensor or calculating according to the relative position of the pipe model and the marking mobile device.

[0030] Furthermore, the marking mobile device is one or more six-degree-of-freedom mobile mechanisms, and the six-degree-of-freedom mobile mechanism is provided with a marking device; wherein the six-degree-of-freedom mobile mechanism can be a six-axis manipulator or a three-axis manipulator equipped with a C-shaped three-axis mobile mechanism to move the marking device to achieve marking; The marking device also includes: a quality inspection camera for inspecting the quality of the mark, and when the quality inspection camera detects that the quality of the mark is unqualified, it outputs a prompt of unqualified mark; improves the quality; Furthermore, the method also includes: when a marking failure prompt appears, controlling the marking moving device to move the marking device to the marking work position of the pipe corresponding to the marking failure prompt according to the trajectory operation program, re-marking the pipe to superimpose one or more marks; and re-marking to prevent unqualified marked pipes from flowing out.

[0031] In an embodiment of the present invention, a plurality of pipe fittings are transported to a marking area one by one; the shapes of the pipe fittings are scanned and identified, and corresponding pipe fitting models are generated; a trajectory operation program is generated based on the relative position of the pipe fitting model and a marking mobile device; the marking mobile device moves the marking device to a marking work position according to the trajectory operation program to mark the pipe fittings and generate one or more marks; wherein the content of the mark includes one or more of text, pattern, QR code, and bar code; different trajectory operation programs are formulated by scanning and identifying pipe fittings of adaptive non-specific shapes, thereby avoiding hardware interference and realizing batch marking of multiple pipe fittings of non-specific shapes, thereby improving the degree of intelligence and work efficiency, reducing costs, and further improving user experience. Example

[0032] Figure 2 The structure of the pipe marking system of non-specific shape provided by the second embodiment of the present invention is shown. For the convenience of description, only the part related to the embodiment of the present invention is shown, including: AGV trolley 201 transports multiple pipes to the marking area one by one; A modeling unit 202 scans and identifies the shape of the pipe fitting and generates a corresponding pipe fitting model; A program generating unit 203 generates a trajectory running program based on the relative position of the pipe model and the marking mobile device; The marking moving device 204 moves the marking device to the marking work position according to the trajectory operation program; The marking device 205 marks the pipe fitting to generate a mark; The quality inspection camera 206 inspects the quality of the mark and outputs a mark unqualified prompt when the mark quality is found to be unqualified; The re-marking unit 207 controls the marking moving device to move the marking device to the marking work position of the pipe fitting corresponding to the marking unqualified prompt according to the trajectory operation program when the marking unqualified prompt appears, and re-marks the pipe fitting to generate a superimposed mark.

[0033] In the embodiment of the present invention, each unit of the non-specific shape pipe marking system can be implemented by a corresponding hardware or software unit. Each unit can be an independent software or hardware unit or integrated into one software or hardware unit, which is not intended to limit the present invention. Example

[0034] Embodiment 3 of the present invention provides a non-volatile computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, to execute the above-described Figure 1 The method comprises steps S101 to S104.

[0035] As an example, non-volatile storage media can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) as external cache memory. By way of illustration and not limitation, RAM can be obtained in many forms such as synchronous RAM (SRAM), dynamic RAM, (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM) and direct Rambus RAM (DRRAM). The disclosed memory components or memories of the operating environment described herein are intended to include one or more of these and / or any other suitable types of memories. Example

[0036] Embodiment 4 of the present invention provides a computer program product, the computer program product includes a computer program stored in a non-volatile computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a processor, the processor executes the non-specific shape pipe marking method of the above method embodiment. For example, executing the above described Figure 1 The method comprises steps S101 to S104.

[0037] The embodiments described above are merely illustrative, in which the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0038] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can exist in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer electronic device (which can be a personal computer, a server, or a network electronic device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0039] Conditional language such as "can," "can," "might," or "may," among other things, unless specifically stated otherwise or otherwise understood within the context as used, is generally intended to convey that a particular embodiment can include (while other embodiments do not) a particular feature, element, and / or operation. Thus, such conditional language is generally not intended to imply that features, elements, and / or operations are in any way required for one or more embodiments or that one or more embodiments must include logic for determining whether such features, elements, and / or operations are included or will be performed in any particular embodiment, with or without student input or prompting.

[0040] What has been described herein, in this specification and in the drawings, includes examples of methods and systems that can provide pipe marking of non-specific shapes. Of course, it is not possible to describe every conceivable combination of elements and / or methods for the purpose of describing the various features of the present disclosure, but it can be recognized that many additional combinations and permutations of the disclosed features are possible. Therefore, it is apparent that various modifications can be made to the present disclosure without departing from the scope or spirit of the present disclosure. In addition, or in the alternative, other embodiments of the present disclosure may be apparent from consideration of the present specification and drawings and from the practice of the present disclosure as presented herein. It is intended that the examples set forth in this specification and the drawings be considered in all respects to be illustrative and not restrictive. Although specific terms are employed herein, they are used in a general and descriptive sense and not for limiting purposes.

Claims

1. A method for marking pipes of non-specific shapes, characterized in that: The method comprises the following steps: Transporting a plurality of pipes to the marking area one by one; wherein the plurality of pipes are in a non-specific shape, and the cross-section of the pipes is any one of a circle, an ellipse, and a rectangle; Scan and identify the shape of the pipe fitting and generate a corresponding pipe fitting model; the pipe fitting model includes the position coordinates of the pipe fitting; Generate a trajectory running program based on the relative position of the pipe model and the marking mobile device; The marking moving device moves the marking device to the marking work position according to the track operation program to mark the pipe fitting to generate one or more marks; The marking work position is one or more points or areas; The content of the mark includes: one or more of text, pattern, QR code, and barcode.

2. The method according to claim 1, characterized in that The marking device marks the pipe at one or more of the points to generate the mark.

3. The method according to claim 1, characterized in that The method further includes: generating a marking motion program corresponding to the content of the mark; After the marking moving device moves the marking device to the marking work position according to the trajectory operation program, the marking movement program is executed to move the marking device to mark the pipe fitting to generate the mark.

4. The method according to claim 1, characterized in that The method further comprises: Scanning and identifying the shape of the pipe using one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler; The camera, the thermal imager, the laser sensor, and the 3D line laser profiler are one or more.

5. The method according to claim 2 or 3, characterized in that: The marking device comprises: a laser marking mechanism, a paint marking mechanism, or a label marking mechanism; The laser marking mechanism emits a laser beam to irradiate the surface of the pipe, causing the surface material of the pipe to undergo a chemical reaction to generate a mark; The spray paint marking mechanism comprises: an ultraviolet lamp and a nozzle, the nozzle sprays paint to mark the surface of the pipe to generate a mark, and the ultraviolet lamp irradiates the mark; The labeling mechanism includes: a label marking mechanism and a labeling mechanism, wherein the labeling mechanism attaches the label printed by the label printing mechanism to the surface of the pipe; one side of the label has adhesive backing and the other side is printed with the mark, and the side of the label with adhesive backing is attached to the surface of the pipe.

6. The method according to claim 5, characterized in that Before the labeling mechanism attaches the label printed by the label printing mechanism to the surface of the pipe fitting: the surface of the pipe fitting is subjected to pre-labeling treatment.

7. The method according to claim 1, characterized in that The method further comprises: Calculating the distance between the marking device and the surface of the pipe, and determining the distance between the marking work station and the surface of the pipe according to the distance; The calculating the distance between the marking device and the surface of the pipe comprises: calculating by detecting with a distance sensor or calculating according to the relative position of the pipe model and the marking moving device.

8. The method according to claim 1, characterized in that The marking mobile device is one or more six-degree-of-freedom mobile mechanisms, and the marking device is arranged on the six-degree-of-freedom mobile mechanism; The marking device further comprises: a quality inspection camera for inspecting the quality of the mark, and outputting a mark unqualified prompt when the quality inspection camera detects that the quality of the mark is unqualified; The method further includes: when the marking failure prompt appears, controlling the marking moving device to move the marking device to the marking work position of the pipe corresponding to the marking failure prompt according to the trajectory operation program, re-marking the pipe to superimpose one or more marks.

9. A non-specific shape pipe marking system, characterized in that: The system comprises: The AGV cart transports multiple pipes to the marking area one by one; A modeling unit, scanning and identifying the shape of the pipe fitting and generating a corresponding pipe fitting model; A program generating unit, which generates a trajectory running program based on the relative position between the pipe model and the marking moving device; A marking moving device moves the marking device to a marking work position according to the trajectory running program; A marking device, marking the pipe fitting to generate a mark; A quality inspection camera is used to inspect the quality of the mark, and when the quality of the mark is found to be unqualified, an unqualified mark prompt is output; The re-marking unit controls the marking moving device to move the marking device to the marking work position of the pipe fitting corresponding to the marking unqualified prompt according to the track operation program when the marking unqualified prompt appears, and re-marks the pipe fitting to generate the marking by superimposing the marking.

10. A computer program product, characterized in that The computer program product comprises a computer program stored on a non-volatile computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a processor, the processor is caused to execute the method for marking a pipe of a non-specific shape as claimed in any one of claims 1 to 8.

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