Pipeline alignment method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a pipeline alignment method and device, electronic equipment and a storage medium, and belongs to the technical field of engineering installation. The method comprises the following steps: acquiring fixed end pipe fitting information; a movable end pipe fitting is determined according to the fixed end pipe fitting information, and the movable end pipe fitting is moved to the position of the movable end pipe fitting; scanning between the fixed end pipe fitting and the mobile end pipe fitting to obtain a first fixed end port image and a first mobile end port image; analyzing the first fixed end port image and the first mobile end port image through the control terminal, and generating a control instruction; and rotating the fixed end pipe fitting and moving the movable end pipe fitting according to the control instruction. According to the embodiment of the invention, automatic pipeline alignment can be realized, the working efficiency is improved, the working intensity is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of engineering installation technology, and in particular to a pipeline alignment method and device, electronic equipment and storage medium. Background Art

[0002] In the related technology, pipe alignment is still in the manual alignment stage, which requires manual assembly before setting up automatic welding equipment for automated welding. Among them, manual assembly requires multiple adjustments to ensure the uniformity of assembly parameters. During the peak construction period, it will increase the workload, reduce labor efficiency, and fail to meet construction needs. To a certain extent, it restricts welding efficiency and quality.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to propose a pipeline alignment method and device, an electronic device and a storage medium, aiming to realize automated pipeline alignment and improve work efficiency.

[0005] To achieve the above object, an embodiment of the present application provides a pipeline alignment method, which includes the following steps:

[0006] Obtaining fixed end pipe fitting information, wherein the fixed end pipe fitting information includes size, shape and position;

[0007] Determine the mobile end pipe fitting according to the fixed end pipe fitting information, and move the mobile end pipe fitting to the mobile end pipe fitting position, wherein the mobile end pipe fitting position is determined according to the position of the fixed end pipe fitting;

[0008] Scanning is performed between the fixed end pipe fitting and the movable end pipe fitting to obtain a first fixed end port image and a first movable end port image;

[0009] Analyzing the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction;

[0010] The fixed end pipe is rotated and the movable end pipe is moved according to the control instruction.

[0011] In some embodiments, the method further comprises:

[0012] Scanning between the fixed end pipe fitting and the movable end pipe fitting to obtain a second fixed end port image and a second movable end port image;

[0013] Determine whether the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements. If not, use the second fixed-end port image as the first fixed-end port image and the second mobile-end port image as the first mobile-end port image. Return to analyze the fixed-end port image and the mobile-end port image through the control terminal to generate a control instruction step until the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements.

[0014] In some embodiments, the obtaining of fixed end pipe fitting information includes:

[0015] Determine the fixed end fittings;

[0016] Scanning the fixed end pipe fitting information;

[0017] Generate data instructions according to the fixed end pipe fitting information through the control terminal;

[0018] Move the fixed-end pipe fitting according to the data instruction by a grabbing robot;

[0019] Scan and obtain the information of the fixed-end pipe after the movement.

[0020] In some embodiments, scanning between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image includes:

[0021] A visual scanner is used to perform circumferential detection between the fixed-end pipe and the movable-end pipe to obtain a first fixed-end port image and a first movable-end port image, wherein the first fixed-end port image and the first movable-end port image are three-dimensional angiography images.

[0022] In some embodiments, the analyzing the first fixed-end port image and the first mobile-end port image by the control terminal to generate a control instruction includes:

[0023] Extracting first port information of the first fixed-end port image and the first mobile-end port image through a control terminal;

[0024] Calculating a first port error according to the first port information by a control terminal, wherein the first port error includes at least one of an angle error, a roundness error, and a coaxiality error, and the first port error is used to generate a control instruction;

[0025] A control instruction is generated by a control terminal according to the first port error.

[0026] In some embodiments, the determining whether the second fixed-end port image and the second mobile-end port image meet preset accuracy requirements includes:

[0027] Calculating a second port error between the second fixed-end port image and the second movable-end port image, wherein the second port error includes at least one of an angle error, a roundness error, and a coaxiality error, and the second port error is used to determine whether a preset accuracy requirement is met;

[0028] Obtaining a preset error threshold;

[0029] If the second port error is less than or equal to the preset error threshold, determining that the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirement;

[0030] If the second port error is greater than the preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image do not meet the preset accuracy requirement.

[0031] In some embodiments, the method further comprises:

[0032] If the second fixed end port image and the second mobile end port image meet the preset accuracy requirement, moving the mobile end to the first positioning point;

[0033] Performing a first gap uniformity inspection on the fixed end pipe fitting and the movable end pipe fitting;

[0034] If the first gap uniformity inspection is passed, the movable end is moved to the second positioning point, and a second gap uniformity inspection is performed on the fixed end pipe and the movable end pipe;

[0035] If the second gap uniformity inspection is passed, welding work is performed on the fixed end pipe fitting and the movable end pipe fitting.

[0036] To achieve the above object, another aspect of the embodiment of the present application provides a pipeline alignment device, the device comprising:

[0037] A fixed end acquisition module, used to acquire fixed end pipe fitting information, wherein the fixed end pipe fitting information includes size, shape and position;

[0038] A mobile end determination module, used to determine the mobile end pipe according to the fixed end pipe information, and move the mobile end pipe to the mobile end pipe position, wherein the mobile end pipe position is determined according to the position of the fixed end pipe;

[0039] A scanning module, used for scanning between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image;

[0040] An analysis module, configured to analyze the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction;

[0041] A control module is used to rotate the fixed end pipe and move the movable end pipe according to the control instruction.

[0042] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above-mentioned method when executing the computer program.

[0043] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0044] The embodiments of the present application include at least the following beneficial effects: the present application provides a pipeline alignment method and device, an electronic device and a storage medium, the scheme obtains fixed-end pipe fitting information; determines the mobile-end pipe fitting according to the fixed-end pipe fitting information, and moves the mobile-end pipe fitting to the mobile-end pipe fitting position; scans between the fixed-end pipe fitting and the mobile-end pipe fitting to obtain a first fixed-end port image and a first mobile-end port image; analyzes the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction; rotates the fixed-end pipe fitting and moves the mobile-end pipe fitting according to the control instruction to realize automatic pipeline alignment, improve work efficiency, reduce manual work intensity, and improve engineering construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of a pipeline alignment method provided in an embodiment of the present application;

[0046] Figure 2 is a flow chart of welding steps of a pipeline alignment method provided in an embodiment of the present application;

[0047] Figure 3 yes Figure 1 Flow chart of step S101 in FIG.

[0048] Figure 4 yes Figure 1 Flow chart of step S104 in FIG.

[0049] Figure 5 yes Figure 2 Flow chart of step S202 in FIG.

[0050] Figure 6 is a flow chart of the pipeline pairing method provided in an embodiment of the present application applied to a pipeline pairing system;

[0051] Figure 7 It is a schematic diagram of the structure of the pipeline group pair system provided in an embodiment of the present application;

[0052] Figure 8 It is a schematic diagram of a straight tube mobile terminal provided in an embodiment of the present application;

[0053] Fig. 9 It is a schematic diagram of the moving end of the bent pipe provided in an embodiment of the present application;

[0054] Fig.10 It is a schematic diagram of a facade mobile terminal provided in an embodiment of the present application;

[0055] Fig.11 This is a schematic diagram of the welding of U-shaped pipes in the same plane provided in an embodiment of the present application;

[0056] Fig.12 This is a schematic diagram of the welding of unequal-surface Z-shaped pipes provided in an embodiment of the present application;

[0057] Fig.13 is a schematic diagram of a pipeline group pairing system provided in an embodiment of the present application;

[0058] Fig.14 is a schematic diagram of the structure of a pipeline alignment device provided in an embodiment of the present application;

[0059] Fig.15 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0061] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0062] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0064] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0065] 1) Pipeline Fit-up / Pipe Spoo l Fit-up: During the installation, welding or assembly of pipelines, multiple pipe segments or pipe fittings are precisely docked and fixed to achieve the correct connection and proper fit of the pipeline system. The process of pipeline fitting usually includes the steps of docking, positioning, supporting, and adjusting the pipelines, with the purpose of ensuring the accurate installation of the pipelines and avoiding stress concentration, leakage or non-compliance with design requirements.

[0066] In the related technology, pipe alignment is still in the manual alignment stage, which requires manual assembly before setting up automatic welding equipment for automated welding. Among them, manual assembly requires multiple adjustments to ensure the uniformity of assembly parameters. During the peak construction period, it will increase the workload, reduce labor efficiency, and fail to meet construction needs. To a certain extent, it restricts welding efficiency and quality.

[0067] In summary, the technical problems existing in the relevant technologies need to be improved.

[0068] In view of this, a pipeline alignment method, device, equipment and medium are provided in an embodiment of the present application. The scheme obtains fixed-end pipe fitting information; determines the mobile-end pipe fitting according to the fixed-end pipe fitting information, and moves the mobile-end pipe fitting to the mobile-end pipe fitting position; scans between the fixed-end pipe fitting and the mobile-end pipe fitting to obtain a first fixed-end port image and a first mobile-end port image; analyzes the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction; rotates the fixed-end pipe fitting and moves the mobile-end pipe fitting according to the control instruction to achieve automated pipeline alignment, improve work efficiency, reduce manual work intensity, and improve engineering construction efficiency.

[0069] The pipeline alignment method provided in the embodiment of the present application relates to the field of engineering installation technology. The pipeline alignment method provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a car terminal, etc., but is not limited to this; the server side can be configured as an independent physical server, or it can be configured as a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application that implements the pipeline alignment method, etc., but is not limited to the above forms.

[0070] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0071] Figure 1 is an optional flow chart of the pipeline alignment method provided in an embodiment of the present application. Figure 1 The method may include but is not limited to steps S101 to S105.

[0072] Step S101, obtaining fixed end pipe fitting information.

[0073] Specifically, the pipe fittings are pipelines, and the fixed-end pipe fittings information includes size, shape and position. The fixed-end pipe fittings include straight pipes, curved pipes and vertical surfaces.

[0074] In some embodiments, the fixed end pipe is determined; the fixed end pipe information is scanned; a data instruction is generated according to the fixed end pipe information by a control terminal; the fixed end pipe is moved according to the data instruction by a grasping robot; and the fixed end pipe information after the movement is obtained by scanning.

[0075] Among them, the camera photography system at the four corners of the buffer area works to collect data on the fixed-end pipe fittings, record the shape, diameter, length and position information of the fixed-end pipe fittings, and feed back to the control terminal. After comparing the data information database, the control terminal makes data instructions to convey to the grasping robot, and the grasping robot moves the fixed-end pipe fittings according to the data instructions.

[0076] It can be understood that the information of the fixed end pipe fitting after the movement is obtained.

[0077] In this embodiment, the fixed-end pipe fitting information is obtained to prepare for the subsequent determination of the mobile-end pipe fitting.

[0078] Step S102, determining the mobile end pipe according to the fixed end pipe information, and moving the mobile end pipe to the mobile end pipe position.

[0079] Specifically, the position of the movable end pipe fitting is determined according to the position of the fixed end pipe fitting, and the movable end pipe fitting includes a straight pipe, a curved pipe and a vertical surface.

[0080] In some embodiments, the size and shape of the movable end tube is determined according to the size and shape of the fixed end tube.

[0081] Furthermore, the position of the movable end pipe fitting is determined according to the position of the fixed end pipe fitting.

[0082] Optionally, the position of the movable end pipe fitting is determined according to the position of the fixed end pipe fitting and the initial distance between the pipe fittings.

[0083] In this embodiment, the mobile end pipe is determined according to the fixed end pipe information, and the mobile end pipe is moved to the mobile end pipe position, which can automate the selection and movement of the mobile end pipe, prepare for the subsequent pipe alignment, and help reduce manual work and improve work efficiency.

[0084] Step S103, scanning is performed between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image.

[0085] In some embodiments, an image acquisition device is used to shoot between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image, wherein the first fixed end port image and the first movable end port image can be a two-dimensional image or a three-dimensional image.

[0086] Optionally, a circumferential detection is performed between the fixed end pipe and the movable end pipe by a visual scanner to obtain a three-dimensional angiography image.

[0087] Furthermore, the first fixed-end port image and the first mobile-end port image are subjected to image preprocessing, wherein a filter may be used to remove noise in the image, and image enhancement may be used to improve the recognizability of the port shape.

[0088] In this embodiment, scanning is performed between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image, which is beneficial for subsequent pipe control through image features and improves reliability and automation.

[0089] Step S104: analyzing the first fixed-end port image and the first mobile-end port image by the control terminal to generate a control instruction.

[0090] In some embodiments, the first port information of the first fixed port image and the first mobile port image is extracted by the control terminal; the first port error is calculated by the control terminal according to the first port information. The first port error includes at least one of an angle error, a roundness error, and a coaxiality error, and the first port error is used to generate a control instruction; the control instruction is generated by the control terminal according to the first port error.

[0091] It is understandable that the fixed end port can only rotate, while the movable end port can both rotate and move.

[0092] Step S105, rotating the fixed end pipe fitting and moving the movable end pipe fitting according to the control instruction.

[0093] In some embodiments, the fixed end pipe is rotated according to the control instruction through the fixed end, and the movable end pipe is moved according to the control instruction through the movable end.

[0094] It is understandable that after rotating the fixed-end pipe fitting and moving the movable-end pipe fitting, the accuracy of the moved pipe fitting can be verified. If the verification fails, the fixed-end pipe fitting and the movable-end pipe fitting are readjusted.

[0095] Specifically, after rotating the fixed-end pipe fitting and moving the mobile-end pipe fitting, a second fixed-end port image and a second mobile-end port image are obtained by scanning between the fixed-end pipe fitting and the mobile-end pipe fitting; it is determined whether the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements, if not, the second fixed-end port image is used as the first fixed-end port image, and the second mobile-end port image is used as the first mobile-end port image, and the fixed-end port image and the mobile-end port image are analyzed by the control terminal, and a control instruction step is generated until the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements.

[0096] It should be noted that if the accuracy verification is passed, the gap uniformity verification will be carried out, and if the verification is passed, welding will be automatically performed.

[0097] Furthermore, if the second fixed end port image and the second mobile end port image meet the preset accuracy requirements, the mobile end is moved to the first positioning point, and a first gap uniformity check is performed on the fixed end pipe fitting and the mobile end pipe fitting. If the first gap uniformity check passes, the mobile end is moved to the second positioning point, and a second gap uniformity check is performed on the fixed end pipe fitting and the mobile end pipe fitting. If the second gap uniformity check passes, welding work is performed on the fixed end pipe fitting and the mobile end pipe fitting.

[0098] Steps S101 to S105 shown in the embodiment of the present application are as follows: obtaining fixed-end pipe fitting information; determining the mobile-end pipe fitting according to the fixed-end pipe fitting information, and moving the mobile-end pipe fitting to the mobile-end pipe fitting position; scanning between the fixed-end pipe fitting and the mobile-end pipe fitting to obtain a first fixed-end port image and a first mobile-end port image; analyzing the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction; rotating the fixed-end pipe fitting and moving the mobile-end pipe fitting according to the control instruction to achieve automated pipeline alignment, improve work efficiency, reduce manual work intensity, and improve engineering construction efficiency.

[0099] See also Figure 2 In some embodiments, the pipeline alignment method provided in the embodiment of the present application further includes a welding step, and the welding step may include but is not limited to steps S201 to S206:

[0100] Step S201, scanning between the fixed end pipe and the movable end pipe to obtain a second fixed end port image and a second movable end port image;

[0101] In some embodiments, an image acquisition device is used to shoot between the fixed end pipe and the movable end pipe to obtain a second fixed end port image and a second movable end port image, wherein the second fixed end port image and the second movable end port image can be two-dimensional images or three-dimensional images.

[0102] Optionally, a circumferential detection is performed between the fixed end pipe and the movable end pipe by a visual scanner to obtain a three-dimensional angiography image.

[0103] Step S202, determine whether the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements. If not, use the second fixed-end port image as the first fixed-end port image, and use the second mobile-end port image as the first mobile-end port image. Return to analyze the fixed-end port image and the mobile-end port image through the control terminal to generate a control instruction step until the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements.

[0104] In some embodiments, the second port error between the second fixed-end port image and the second mobile-end port image is calculated, and the second port error is used to determine whether the preset accuracy requirement is met; a preset error threshold is obtained; if the second port error is less than or equal to the preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirement; if the second port error is greater than the preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image do not meet the preset accuracy requirement. The second port error includes at least one of an angle error, a roundness error, and a coaxiality error.

[0105] It is understandable that the type of the preset error threshold corresponds to the second port error. Exemplarily, the second port error includes angle error, roundness error and coaxiality error, and the preset error threshold also includes angle error threshold, roundness error threshold and coaxiality error threshold.

[0106] Among them, if the angle error is less than or equal to the angle error threshold, the roundness error is less than or equal to the roundness error threshold and the coaxiality error is less than or equal to the coaxiality error threshold, it is determined that the second fixed end port image and the second mobile end port image do not meet the preset accuracy requirements.

[0107] Step S203: if the second fixed end port image and the second mobile end port image meet the preset accuracy requirement, the mobile end is moved to the first positioning point.

[0108] Specifically, the first positioning point may be predetermined, or may be dynamically adjusted according to an application scenario or user demand.

[0109] Exemplarily, the first positioning point may be a point 5 cm from the fixed end.

[0110] Step S204: Perform a first gap uniformity inspection on the fixed end pipe fitting and the movable end pipe fitting.

[0111] In some embodiments, pipeline gap information of the fixed-end pipe fitting and the movable-end pipe fitting is collected, and a first gap uniformity check is performed based on the pipeline gap information.

[0112] Optionally, a laser scanner is used to collect pipeline gap information of the fixed end pipe fitting and the movable end pipe fitting.

[0113] Furthermore, the pipeline gap information is compared with the ideal gap data to obtain a first gap uniformity inspection result.

[0114] Optionally, based on the gap distribution map of the pipeline gap information, it is determined whether there is a uniformity problem to obtain a first gap uniformity inspection result.

[0115] Step S205: if the first gap uniformity check is passed, the movable end is moved to the second positioning point, and a second gap uniformity check is performed on the fixed end pipe and the movable end pipe.

[0116] Specifically, the second positioning point may be predetermined, or may be dynamically adjusted according to an application scenario or user demand.

[0117] Exemplarily, the second positioning point may be a point 5 mm from the fixed end.

[0118] In some embodiments, pipeline gap information of the fixed-end pipe fitting and the movable-end pipe fitting is collected, and a second gap uniformity inspection is performed based on the pipeline gap information.

[0119] Optionally, a laser scanner is used to collect pipeline gap information of the fixed end pipe fitting and the movable end pipe fitting.

[0120] Furthermore, the pipeline gap information is compared with the ideal gap data to obtain a second gap uniformity inspection result.

[0121] Optionally, based on the gap distribution map of the pipeline gap information, it is determined whether there is a uniformity problem to obtain a second gap uniformity inspection result.

[0122] Step S206: If the second gap uniformity check passes, welding is performed on the fixed end pipe fitting and the movable end pipe fitting.

[0123] In some embodiments, if the second gap uniformity check passes, the scanned pipeline gap information is transmitted to the control terminal, and the control terminal makes an instruction and sends it to the welding robot. After the welding robot receives the pipeline gap information, it performs welding work on the pipeline.

[0124] See also Figure 3 In some embodiments, step S101 may include but is not limited to steps S301 to S305:

[0125] Step S301, determining the fixed end pipe fitting.

[0126] In some embodiments, the size and shape of the fixed end pipe is determined by the user.

[0127] Step S302, scanning fixed end pipe information.

[0128] In some embodiments, the camera photography system at the four corners of the buffer area is operated to collect data on the fixed-end pipe fittings, record the shape, diameter, length and position information of the pipe fittings, and feed back to the control terminal.

[0129] Step S303, generating a data instruction according to the fixed end pipe fitting information through the control terminal.

[0130] It should be noted that the 3D information of the pipe fittings is collected and calibrated in advance, and a three-dimensional data information library is established to provide a data basis for the subsequent determination of the type of pipe fittings.

[0131] In step S303 of some embodiments, the control terminal compares the fixed-end pipe information with the data information library and generates a data instruction to transmit to the grasping robot, and the grasping robot starts working.

[0132] Step S304, moving the fixed end pipe fitting by the grabbing robot according to the data instruction.

[0133] In step S304 of some embodiments, a grabbing robot that matches the size type of the fixed-end pipe grabs the fixed-end pipe from the fixed-end pipe position and moves the fixed-end pipe according to the data instruction.

[0134] Step S305, scanning to obtain the information of the fixed end pipe after the movement.

[0135] In step S305 of some embodiments, the information of the fixed-end pipe after the movement is obtained by scanning with a visual inspection robot.

[0136] See also Figure 4 In some embodiments, step S104 may include but is not limited to steps S401 to S403:

[0137] Step S401: extracting first port information of a first fixed-end port image and a first mobile-end port image through a control terminal.

[0138] In step S401 of some embodiments, the control terminal detects the edge of the pipe port in the first fixed end port image and the first movable end port image by using a contour detection algorithm or a Hough transform algorithm.

[0139] Step S402: calculating a first port error according to the first port information by controlling the terminal.

[0140] Specifically, the first port error includes at least one of an angle error, a roundness error, and a coaxiality error, and the first port error is used to generate a control instruction.

[0141] Optionally, the center point of the first fixed end port and the center point of the first movable end port are calculated, and then the translation vector (ie, coaxiality error) of the centers of the two ports is calculated.

[0142] Optionally, the rotation angle of the first fixed end port and the rotation angle of the first movable end port are calculated, and then the rotation angle difference (ie, angle error) between the two ports is calculated.

[0143] Optionally, the rotation angle of the first fixed end port and the roundness value of the first movable end port are calculated, and then the roundness errors of the two ports are calculated.

[0144] Step S403: Generate a control instruction according to the first port error through the control terminal.

[0145] In step S403 of some embodiments, a control instruction is generated by at least one of a translation vector, a roundness error, and a rotation angle difference.

[0146] See also Figure 5 In some embodiments, step S202 may also include but is not limited to steps S501 to S504:

[0147] Step S501, calculating a second port error between a second fixed-end port image and a second mobile-end port image.

[0148] Specifically, the second port error includes at least one of an angle error, a roundness error and a coaxiality error. The second port error is used to determine whether a preset accuracy requirement is met after the pipe is moved.

[0149] Optionally, the center point of the second fixed end port and the center point of the second movable end port are calculated, and then the translation vector (ie, coaxiality error) of the centers of the two ports is calculated.

[0150] Optionally, the rotation angle of the second fixed end port and the rotation angle of the second movable end port are calculated, and then the rotation angle difference (ie, angle error) between the two ports is calculated.

[0151] Optionally, the rotation angle of the second fixed end port and the roundness value of the second movable end port are calculated, and then the roundness errors of the two ports are calculated.

[0152] Step S502: obtaining a preset error threshold.

[0153] In step S502 of some embodiments, a preset error threshold corresponding to the second port error is obtained.

[0154] It is understandable that the type of the preset error threshold corresponds to the second port error. Exemplarily, the second port error includes angle error, roundness error and coaxiality error, and the preset error threshold also includes angle error threshold, roundness error threshold and coaxiality error threshold.

[0155] Step S503: If the second port error is less than or equal to a preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image meet a preset accuracy requirement.

[0156] In step S503 of some embodiments, if the second port errors are all less than or equal to the corresponding preset error thresholds, it is determined that the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirement.

[0157] Optionally, the second port error is fused to obtain a fusion error; if the fusion error is less than or equal to a corresponding preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image meet preset accuracy requirements.

[0158] Among them, the fusion can adopt weighted fusion, and different weights are selected for different errors.

[0159] Step S504: if the second port error is greater than a preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image do not meet the preset accuracy requirement.

[0160] In step S503 of some embodiments, if any second port error is greater than the corresponding preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image do not meet the preset accuracy requirement.

[0161] Optionally, the second port error is fused to obtain a fusion error; if the fusion error is greater than a corresponding preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image do not meet preset accuracy requirements.

[0162] Figure 6 is an optional flow chart of the pipeline pairing method provided in the embodiment of the present application applied to the pipeline pairing system, wherein the pipeline pairing system structure schematic diagram is as shown in FIG. Figure 7 As shown, Figure 6 The method may include, but is not limited to, the following steps:

[0163] Step 1: Collect data on the pipeline, record the shape, diameter, length and location information of the pipe, and transmit the data instructions to the grasping robot to start working.

[0164] It should be noted that the 3D pipeline diagram is designed by BI M, and the 3D pipeline diagram is divided into a U-shaped layout in the same plane and a Z-shaped layout in different planes. The data information is imported into the control terminal.

[0165] In some embodiments, the cameras at the four corners of the buffer area realize linear calibration of the photographed area by photographing the calibration plate. The infrared backlight source works, and the pictures taken by the four industrial cameras are calibrated and spliced ​​together. A reference picture is formed when no product is placed. Various types of pipes are placed, and the 3D information of the pipes is collected and calibrated, and a three-dimensional data information library is established to provide a data basis for subsequent determination of the type of pipes.

[0166] Furthermore, the camera photography system at the four corners of the buffer area collects data on the pipeline, records the shape, diameter, length and position information of the pipe, and feeds it back to the control terminal. After comparing the data information library, the control terminal makes data instructions to convey to the grasping robot, and the grasping robot starts working.

[0167] Step 2: Based on the relevant data fed back by the camera, the mobile terminal moves the docked pipes to the designated location.

[0168] In some embodiments, after the fixed end receives the pipe from the grabbing robot, the visual inspection robot receives the signal to confirm the position of the fixed end. The visual inspection robot collects information such as the pipe size (diameter, length), shape (straight pipe, bend at any angle) and position coordinates, and feeds it back to the control terminal. After comparing the data information library, the control terminal makes a data instruction to convey the pipe bending mobile end. After the pipe bending mobile end moves to the corresponding position coordinates, it receives the bend to be welded and then performs the pipeline docking work.

[0169] Specifically, the moving end includes a straight tube moving end, a curved tube moving end and a vertical moving end. For example, the straight tube moving end schematic diagram is as follows: Figure 8 As shown, the schematic diagram of the moving end of the elbow is as follows Fig. 9 As shown, the schematic diagram of the facade mobile terminal is as follows Fig.10 shown.

[0170] Step 3: Align the two pipes through visual inspection.

[0171] In some embodiments, a visual inspection robot scanner enters between two workpieces for circumferential inspection. After scanning, two three-dimensional radiographic images of the ports are obtained. The image information is transmitted to the control terminal for comparative inspection and analysis. After analysis, an instruction is issued, and the fixed end rotates the pipe fitting according to the instruction requirements, and the movable end of the bending pipe adjusts the position up, down, left, and right according to the instruction requirements.

[0172] Step 4: Repeat the visual inspection to meet the accuracy requirements.

[0173] In some embodiments, a second scan is performed to confirm after the adjustment is completed. If the requirements are not met, the adjustment is continued until the design requirements are met.

[0174] Furthermore, the visual inspection robot scanner enters the ranging mode to check the uniformity of the gap until it meets the design requirements.

[0175] Step 5: The welding robot works to fix the two pipes.

[0176] In some embodiments, if both the secondary scan and the gap uniformity check are passed, the welding robot fixes the two pipes.

[0177] Specifically, after the visual inspection robot completes the inspection and scanning of the pipeline alignment and the gap after alignment and meets the design requirements, the scanned gap information is transmitted to the control terminal, and the control terminal makes an instruction and sends it to the welding robot. After the welding robot receives the pipeline gap information, it performs welding work on the pipeline.

[0178] Furthermore, after the welding is completed, the terminal sends information to the grasping robot to perform the next welding work.

[0179] It should be noted that the U-shaped pipe welding is performed on the same plane. Among them, the terminal sends information to the grasping robot for the next grasping work. After the visual inspection robot scans the coordinate information, the control terminal sends information to the straight pipe mobile end. After the straight pipe mobile end moves to the corresponding position coordinate, it receives the pipe to be welded and then performs the pipe docking work. Then repeat the visual robot scanning work and the welding robot welding work, and then repeat the bending pipe welding work, and the U-shaped pipe welding on the same plane is completed. For example, the schematic diagram of the U-shaped pipe welding on the same plane is as follows Fig.11 As shown, wherein the arrows indicate the welding positions.

[0180] It should be noted that the Z-shaped pipe welding of different surfaces is performed. Among them, the terminal sends information to the grasping robot for the next grasping work. After the visual inspection robot scans the coordinate information, the control terminal sends information to the facade mobile terminal. After the facade mobile terminal moves to the corresponding position coordinates, it receives the pipe to be welded and then performs the pipe docking work. Then repeat the scanning work of the visual robot and the welding work of the welding robot, and the welding of the different surface Z-shaped pipe is completed. For example, the schematic diagram of the welding of different surface Z-shaped pipes is as follows Fig.12 As shown, wherein the arrows indicate the welding positions.

[0181] Step 6: The grasping robot moves the workpiece to the next workstation or assembly area.

[0182] In some embodiments, after welding is completed, the grabbing robot delivers the pipe to the next workstation or work area.

[0183] Specifically, the pipeline group system diagram is as follows Fig.13 As shown. Among them, the mark 1 represents the control terminal, which is used to control the entire pipeline group workstation; the mark 2 represents the infrared camera system, which uses 4 infrared cameras to perform linear calibration on the buffer area and collect pipe fitting information; the mark 3 represents the buffer area, which is the storage area for various polished pipe fittings; the mark 4 represents the grabbing robot, which is a robot that grabs pipe fittings and finished products; 5 represents the fixed end, which is a round fixed machine that first obtains pipe fitting clamping; 6 represents the visual inspection robot: a robot that detects pipe centering and welds; 7 represents the welding robot: a mobile robot that automatically welds pipes; 8 represents the bending mobile end, which is a mobile robot that clamps flat bending pipes; 9 represents the straight pipe mobile end. A mobile robot that clamps straight pipes; 10 represents the vertical mobile end, which is a robot that clamps vertical pipes for welding of z-shaped pipes with different planes.

[0184] For example, the visual hardware parameter table is shown in Table 1 below:

[0185] Table 1

[0186] Field of view near | medium | far 125|190|250 Measuring range 250 mm Optimal working distance 325 mm Vertical resolution (Z) 12-50 microns Horizontal resolution (Y) 66-138 microns Z Linearity 0.01% (0.1 μm / mm) Z repeatability 2.5 microns weight 480 g

[0187] For example, the operation data table is shown in Table 2 below:

[0188] Table 2

[0189]

[0190] In the embodiment of the present application, the intelligent control system controls various pipeline assembly robots to perform pipeline assembly, and uses a visual system and an automatic welding system to assist pipeline welding, thereby increasing work efficiency and reducing the intensity of later work. In addition, the various pipeline assembly robots are controlled to weld U-shaped pipelines on the same plane and Z-shaped pipelines on different planes. The assembly welding work during pipeline installation is reduced, and construction efficiency is improved. The embodiment of the present application has the following advantages:

[0191] 1. High reliability, high precision, intelligence, multi-mode, high efficiency and scalability;

[0192] 2. Improve intrinsic safety and reduce labor intensity and labor costs;

[0193] 3. Improve the quality of pipeline assembly and reduce the risk of finished product protection;

[0194] 4. High degree of automation, which can realize automatic adjustment of the X, Y and Z directions of the mobile terminal and realize automatic docking under the premise of ensuring accuracy;

[0195] 5. Compact layout, high space utilization, short process cycle interval and high operating efficiency;

[0196] 6. High flexibility: It can meet various pipeline layouts, namely different sizes, different shapes (straight pipes, elbows at any angle), different spatial layouts (plane, elevation) and continuous docking of multiple pipelines.

[0197] See also Fig.14 The embodiment of the present application also provides a pipeline alignment device, which can implement the above pipeline alignment method, and the device includes:

[0198] The fixed end acquisition module 1401 is used to acquire the fixed end pipe fitting information, which includes the size, shape and position;

[0199] The mobile end determination module 1402 is used to determine the mobile end pipe according to the fixed end pipe information, and move the mobile end pipe to the mobile end pipe position, and the mobile end pipe position is determined according to the position of the fixed end pipe;

[0200] The scanning module 1403 is used to scan between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image;

[0201] The analysis module 1404 is used to analyze the first fixed-end port image and the first mobile-end port image through the control terminal to generate a control instruction;

[0202] The control module 1405 is used to rotate the fixed end pipe and move the movable end pipe according to the control instruction.

[0203] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0204] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above pipeline alignment method when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0205] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0206] See also Fig.15 , Fig.15 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0207] The processor 1501 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0208] The memory 1502 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1502 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1502, and the processor 1501 calls and executes the pipeline alignment method of the embodiment of this application;

[0209] Input / output interface 1503, used to implement information input and output;

[0210] Communication interface 1504, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WI FI, Bluetooth, etc.);

[0211] A bus 1505 that transmits information between the various components of the device (e.g., the processor 1501, the memory 1502, the input / output interface 1503, and the communication interface 1504);

[0212] The processor 1501 , the memory 1502 , the input / output interface 1503 and the communication interface 1504 are connected to each other in communication within the device via the bus 1505 .

[0213] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned pipeline alignment method is implemented.

[0214] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0215] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0216] The pipeline alignment method, pipeline alignment device, electronic device and storage medium provided in the embodiment of the present application obtain fixed end pipe fitting information; determine the mobile end pipe fitting according to the fixed end pipe fitting information, and move the mobile end pipe fitting to the mobile end pipe fitting position; scan between the fixed end pipe fitting and the mobile end pipe fitting to obtain the first fixed end port image and the first mobile end port image; analyze the first fixed end port image and the first mobile end port image through the control terminal to generate a control instruction; rotate the fixed end pipe fitting and move the mobile end pipe fitting according to the control instruction to realize automatic pipeline alignment, improve work efficiency, reduce manual work intensity, and improve engineering construction efficiency. .

[0217] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0218] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0219] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, 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.

[0220] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0221] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0222] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0223] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0224] The units described above 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0225] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0226] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0227] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A pipeline alignment method, characterized in that: The method comprises the following steps: Obtaining fixed end pipe fitting information, wherein the fixed end pipe fitting information includes size, shape and position; Determine the mobile end pipe fitting according to the fixed end pipe fitting information, and move the mobile end pipe fitting to the mobile end pipe fitting position, wherein the mobile end pipe fitting position is determined according to the position of the fixed end pipe fitting; Scanning is performed between the fixed end pipe fitting and the movable end pipe fitting to obtain a first fixed end port image and a first movable end port image; Analyzing the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction; The fixed end pipe is rotated and the movable end pipe is moved according to the control instruction.

2. The method according to claim 1, characterized in that The method further comprises: Scanning between the fixed end pipe fitting and the movable end pipe fitting to obtain a second fixed end port image and a second movable end port image; Determine whether the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements. If not, use the second fixed-end port image as the first fixed-end port image and the second mobile-end port image as the first mobile-end port image. Return to analyze the fixed-end port image and the mobile-end port image through the control terminal to generate a control instruction step until the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirements.

3. The method according to claim 1, characterized in that The obtaining of fixed end pipe fitting information includes: Determine the fixed end fittings; Scanning the fixed end pipe fitting information; Generate data instructions according to the fixed end pipe fitting information through the control terminal; Move the fixed-end pipe fitting according to the data instruction by a grabbing robot; Scan and obtain the information of the fixed-end pipe after the movement.

4. The method according to claim 1, characterized in that The scanning is performed between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image, including: A visual scanner is used to perform circumferential detection between the fixed-end pipe and the movable-end pipe to obtain a first fixed-end port image and a first movable-end port image, wherein the first fixed-end port image and the first movable-end port image are three-dimensional angiography images.

5. The method according to claim 1, characterized in that The step of analyzing the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction includes: Extracting first port information of the first fixed-end port image and the first mobile-end port image through a control terminal; Calculating a first port error according to the first port information by a control terminal, wherein the first port error includes at least one of an angle error, a roundness error, and a coaxiality error, and the first port error is used to generate a control instruction; A control instruction is generated by a control terminal according to the first port error.

6. The method according to claim 2, characterized in that The determining whether the second fixed-end port image and the second mobile-end port image meet preset accuracy requirements includes: Calculating a second port error between the second fixed-end port image and the second movable-end port image, wherein the second port error includes at least one of an angle error, a roundness error, and a coaxiality error, and the second port error is used to determine whether a preset accuracy requirement is met; Obtaining a preset error threshold; If the second port error is less than or equal to the preset error threshold, determining that the second fixed-end port image and the second mobile-end port image meet the preset accuracy requirement; If the second port error is greater than the preset error threshold, it is determined that the second fixed-end port image and the second mobile-end port image do not meet the preset accuracy requirement.

7. The method according to claim 2, characterized in that The method further comprises: If the second fixed end port image and the second mobile end port image meet the preset accuracy requirement, moving the mobile end to the first positioning point; Performing a first gap uniformity inspection on the fixed end pipe fitting and the movable end pipe fitting; If the first gap uniformity inspection is passed, the movable end is moved to the second positioning point, and a second gap uniformity inspection is performed on the fixed end pipe and the movable end pipe; If the second gap uniformity inspection is passed, welding work is performed on the fixed end pipe fitting and the movable end pipe fitting.

8. A pipeline alignment device, characterized in that: The device comprises: A fixed end acquisition module, used to acquire fixed end pipe fitting information, wherein the fixed end pipe fitting information includes size, shape and position; A mobile end determination module, used to determine the mobile end pipe according to the fixed end pipe information, and move the mobile end pipe to the mobile end pipe position, wherein the mobile end pipe position is determined according to the position of the fixed end pipe; A scanning module, used for scanning between the fixed end pipe and the movable end pipe to obtain a first fixed end port image and a first movable end port image; An analysis module, configured to analyze the first fixed-end port image and the first mobile-end port image through a control terminal to generate a control instruction; A control module is used to rotate the fixed end pipe and move the movable end pipe according to the control instruction.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images