Polishing planning method of pipeline polishing device, control terminal and welding seam polishing system

Abstract

The invention discloses a pipeline grinding device grinding planning method, a control terminal and a weld joint grinding system. The method comprises the steps that S10, three-dimensional coordinate information of a target weld joint section is obtained; s20, fitting a weld joint section curve of the target weld joint section according to the three-dimensional coordinate information; s30, layering is conducted in the radial direction of the pipeline based on the weld joint section curve, so that a plurality of layers to be polished are obtained; s40, the polishing directions of any two adjacent to-be-polished layers in the multiple to-be-polished layers are set to be opposite to each other; wherein the polishing direction is the circumferential anticlockwise direction of the pipeline or the circumferential clockwise direction of the pipeline; and S50, the width of each to-be-polished layer is determined based on the weld joint section curve, and the number of polishing times corresponding to the width of each to-be-polished layer is set according to the width of each to-be-polished layer. The polishing frequency and the polishing direction of the pipeline polishing device can be automatically planned, and the polishing quality and the polishing efficiency of the pipeline polishing device can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of metal cladding in nuclear power plants, and in particular to a pipeline grinding device grinding planning method, a control terminal and a weld grinding system. Background Art

[0002] In a nuclear power plant, after the pipeline is welded, there is a certain excess height in the weld. The excess height will increase the resistance to the fluid medium and cause stress concentration, thereby reducing the performance and service life of the weld. Therefore, the weld needs to be polished to remove the excess height.

[0003] At present, due to the uneven distribution of weld sizes and paths on pipelines, the number and intensity of grinding are also different. In addition, the current pipeline grinding device lacks flexibility in path planning during the welding process. Therefore, it is necessary to manually specify or adjust the path or number of grindings remotely to ensure the grinding effect. However, manual operation is extremely labor-intensive, and the final grinding effect is greatly affected by the experience and subjective judgment of the staff. There is also a certain risk of human error, which is not conducive to the economy and stability of nuclear power plants. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a pipeline grinding device grinding planning method, a control terminal and a weld grinding system.

[0005] The technical solution adopted by the present invention to solve the technical problem is: constructing a pipeline grinding device grinding planning method, comprising:

[0006] S10, obtaining the three-dimensional coordinate information of the target weld segment;

[0007] S20, fitting a weld cross-section curve of the target weld segment according to the three-dimensional coordinate information;

[0008] S30, performing layering in the radial direction of the pipeline based on the weld cross-section curve to obtain a plurality of layers to be polished;

[0009] S40, setting the polishing directions of any two adjacent layers to be polished in the plurality of layers to be polished to be opposite to each other; wherein the polishing direction is the counterclockwise direction of the circumference of the pipeline or the clockwise direction of the circumference of the pipeline;

[0010] S50. Determine the width of each of the layers to be polished based on the weld cross-section curve, and set a corresponding number of polishing times according to the width of each of the layers to be polished.

[0011] Preferably, in S10, the three-dimensional coordinate information includes the coordinates of the left measurement point of the starting end, the coordinates of the right measurement point of the starting end, the coordinates of the highest point of the starting end, the coordinates of the left measurement point of the terminal, the coordinates of the right measurement point of the terminal and the coordinates of the highest point of the terminal;

[0012] Among them, the coordinates of the left measurement point at the starting end are the coordinates of the leftmost endpoint on the starting end boundary line of the target weld segment; the coordinates of the right measurement point at the starting end are the coordinates of the rightmost endpoint on the starting end boundary line of the target weld segment; the coordinates of the highest point at the starting end are the coordinates of the endpoint on the starting end boundary line of the target weld segment with the largest vertical distance from the pipeline surface; the coordinates of the left measurement point at the terminal end are the coordinates of the leftmost endpoint on the terminal boundary line of the target weld segment; the coordinates of the right measurement point at the terminal end are the coordinates of the rightmost endpoint on the terminal boundary line of the target weld segment; the coordinates of the highest point at the terminal end are the coordinates of the endpoint on the terminal boundary line of the target weld segment with the largest vertical distance from the pipeline surface.

[0013] Preferably, in S20, fitting a weld cross-section curve of the target weld segment according to the three-dimensional coordinate information comprises:

[0014] Determine the x-axis coordinate of the left one of the starting end left measurement point coordinate and the terminal end left measurement point coordinate as the first endpoint coordinate of the weld cross-section curve on the negative x-axis;

[0015] Determine the x-axis coordinate of the righter one of the starting end right measurement point coordinate and the terminal end right measurement point coordinate as the second endpoint coordinate of the weld cross-section curve on the positive x-axis;

[0016] Determine the third endpoint coordinate of the weld cross-section curve on the positive half axis of the z-axis by using the z-axis coordinate of the larger height coordinate of the highest point coordinate of the starting end and the highest point coordinate of the terminal end;

[0017] A cosine curve is fitted, which gradually increases from the first endpoint coordinate to the third endpoint coordinate and then gradually decreases from the third endpoint coordinate to the second endpoint coordinate, so as to obtain the weld cross-section curve.

[0018] Preferably, in S10, obtaining the three-dimensional coordinate information of the target weld segment includes:

[0019] Photographing the target weld segment by a depth camera to obtain an image and height information of the target weld segment;

[0020] The image and the height information are analyzed to extract the starting end left measurement point coordinates, the starting end right measurement point coordinates, the starting end highest point coordinates, the terminal left measurement point coordinates, the terminal right measurement point coordinates and the terminal highest point coordinates.

[0021] Preferably, in S30, the stratification in the radial direction of the pipeline based on the weld cross-section curve comprises:

[0022] On the z-axis of the weld cross-section curve, the weld cross-section curve is divided into equal distances from small to large based on a first set height to obtain the plurality of layers to be polished.

[0023] Preferably, the first set height ranges from 1 mm to 3 mm.

[0024] Preferably, in S50, setting the number of grinding times corresponding to the width of each layer to be grinded includes:

[0025] For each of the layers to be polished, the following steps are performed: determining whether the width of the layer to be polished is less than 1; when the width of the layer to be polished is less than 1, setting the number of polishing times for the layer to be polished to 1; and when the width of the layer to be polished is not less than 1, determining the integer value of the width of the layer to be polished as the corresponding number of polishing times.

[0026] Preferably, the pipeline grinding device grinding planning method further includes: S60, according to the grinding direction and the grinding times of each layer to be polished, controlling the pipeline grinding device to grind the target weld segment layer by layer from top to bottom in the radial direction of the pipeline.

[0027] Preferably, in the S60, it further includes:

[0028] When the lowest layer to be polished is reached, the average height of the target weld segment is obtained in real time;

[0029] Determine whether the average height is less than or equal to a second set height, and stop grinding when the average height is less than or equal to the second set height.

[0030] Preferably, the second set height is 0.1 mm.

[0031] Preferably, before S10, the method further includes:

[0032] S01. Dividing the weld on the pipeline along the circumference of the pipeline equally based on a set segmentation value to obtain a plurality of weld segments;

[0033] S02, determining a section of the weld that has not been polished as a target weld section;

[0034] After S60, the method further includes: S70, determining whether there is an unpolished weld segment, and when there is an unpolished weld segment, returning to S02.

[0035] The present invention also constructs a control terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned pipeline grinding device grinding planning method are implemented.

[0036] The present invention also constructs a weld grinding system, including a pipeline grinding device and the control terminal mentioned above.

[0037] The technical solution of the present invention is implemented by acquiring the three-dimensional coordinate information of the target weld segment, then fitting the weld cross-section curve of the target weld segment according to the three-dimensional coordinate information, then layering is performed in the radial direction of the pipeline based on the weld cross-section curve to obtain a plurality of layers to be polished; then the polishing directions of any two adjacent layers to be polished among the plurality of layers to be polished are set to be opposite polishing directions, and finally the width of each layer to be polished is determined based on the weld cross-section curve, so that the number of polishings corresponding to the width of each layer to be polished is set, thereby realizing automatic planning of the number of polishings and the polishing direction of the pipeline polishing device, helping the pipeline polishing device to efficiently remove protrusions in the weld, and making a smooth transition between the weld position and the parent materials on both sides, solving the problems of autonomous path planning and intelligent polishing of the pipeline polishing device, and helping to save human resources of nuclear power plants, and improve polishing quality, polishing efficiency and economic benefits of nuclear power plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0039] Figure 1 is a flowchart of a pipeline grinding planning method of a grinding device in some embodiments of the present invention;

[0040] Figure 2 is a schematic diagram of the structure of the weld after circumferential segmentation in some embodiments of the present invention;

[0041] Figure 3 yes Figure 2 The structural diagram of the enlarged part A in the middle;

[0042] Figure 4 is a schematic diagram of a weld cross-section curve in some embodiments of the present invention;

[0043] Figure 5 is a schematic diagram of a grinding path after path planning of a target weld segment in some embodiments of the present invention;

[0044] Figure 6 is a circuit structure block diagram of a control terminal in some embodiments of the present invention. DETAILED DESCRIPTION

[0045] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0046] It should be noted that the flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0047] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0048] Figure 1 The present invention is a flowchart of a pipeline grinding device grinding planning method in some embodiments of the present invention. The pipeline grinding device grinding planning method is applied to a control terminal in a pipeline grinding device of a nuclear power plant. The control terminal can automatically plan the grinding path of the pipeline grinding device, remove the protrusions in the weld, and make the weld position smoothly transition with the parent materials on both sides. Figure 1 As shown, the pipeline polishing device polishing planning method includes step S10, step S20, step S30, step S40 and step S50.

[0049] Step S10 includes: obtaining the three-dimensional coordinate information of the target weld segment. In this step, the three-dimensional coordinate information can represent the structural information of the target weld segment, and can include the length, width and height of the target weld segment, and the purpose of obtaining the three-dimensional coordinate information is to automatically specify the grinding operation path and grinding times of the pipeline grinding device according to the structure of the target weld segment in the subsequent steps.

[0050] In the traditional welding process, the width of the weld is narrow at the top and wide at the bottom. When the length of the weld is short, the circumferential contour line where the weld connects to the pipeline can be regarded as a straight line. Of course, due to the uneven characteristics of the weld, the longer the weld length is, the more difficult it is to regard the circumferential contour line as a straight line. Therefore, in this step, the target weld segment is a weld segment whose length does not exceed the set length. Among them, the set length can be set according to actual needs. The smaller the set length, the closer the circumferential contour line is generally to a straight line, so the grinding effect is better, but the control terminal needs to determine the amount of calculation in the path planning process. It should be noted that the width of the weld refers to the length of the weld in the axial direction of the pipeline, the length of the weld refers to the length of the weld in the circumferential direction of the pipeline, and the height of the weld refers to the length of the weld in the radial direction of the pipeline.

[0051] In some embodiments, the three-dimensional coordinate information may include the coordinates of the left measurement point of the starting end, the coordinates of the right measurement point of the starting end, the coordinates of the highest point of the starting end, the coordinates of the left measurement point of the terminal, the coordinates of the right measurement point of the terminal, and the coordinates of the highest point of the terminal. Figure 3 As shown, the coordinates of the left measurement point at the starting end are the coordinates of the leftmost endpoint L1 on the starting end boundary line 102 of the target weld segment. The coordinates of the right measurement point at the starting end are the coordinates of the rightmost endpoint R1 on the starting end boundary line 102 of the target weld segment. The coordinates of the highest point at the starting end are the coordinates of the endpoint (not shown) on the starting end boundary line of the target weld segment with the largest vertical distance from the pipeline surface. The coordinates of the left measurement point at the terminal end are the coordinates of the leftmost endpoint L2 on the terminal boundary line 103 of the target weld segment; the coordinates of the right measurement point at the terminal end are the coordinates of the rightmost endpoint R2 on the terminal boundary line 103 of the target weld segment; the coordinates of the highest point at the terminal end are the coordinates of the endpoint (not shown) on the terminal boundary line of the target weld segment with the largest vertical distance from the pipeline surface.

[0052] It should be understood that, in the present invention, the directions or positional relationships indicated by "left", "right", "up", "down", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0053] In some embodiments, the three-dimensional coordinate information can be obtained in the following manner: photographing the target weld segment with a depth camera to obtain an image of the target weld segment and height information; analyzing the image and height information to extract the coordinates of the left measurement point at the starting end, the right measurement point at the starting end, the highest point at the starting end, the left measurement point at the terminal, the right measurement point at the terminal, and the highest point at the terminal. In this embodiment, the depth camera can measure the distance from the object in its photographed image to the camera body, that is, the depth camera can be directed to the target weld segment (that is, the depth camera photographs the target weld segment at a downward angle perpendicular to the surface of the pipeline), and the relevant image and the height information corresponding to the image can be measured. Specifically, the depth camera can first photograph the starting end of the target weld segment to obtain the height information of the starting end boundary line, and then analyze the height information of the starting end boundary line to identify the weld and the mother material of the pipeline. Figure 3 Taking the embodiment as an example, after identifying the weld and the mother material of the pipe, the leftmost endpoint of the weld can be determined as the left measurement point of the starting end, the rightmost endpoint of the weld can be determined as the right measurement point of the starting end, and the point on the starting end boundary line closest to the camera body can be determined as the highest point of the starting end. Similarly, the coordinates of the terminal left measurement point, the terminal right measurement point and the terminal highest point can be determined at the terminal boundary line.

[0054] Further, the weld and the mother material of the pipe can be determined and distinguished in the following manner: the distance from each pixel point on the radial direction of the pipe of the boundary line (including the starting point boundary line and the terminal boundary line) to the depth camera body is analyzed to determine the maximum distance as the distance from the mother material of the pipe to the camera body, and the distance threshold of the mother material of the pipe is determined according to the maximum distance, and the actual object corresponding to each pixel point on the boundary line that is not less than the distance threshold is determined as the mother material of the pipe, and the actual object corresponding to each pixel point on the boundary line that is less than the distance threshold is determined as the weld. It is easy to understand that since the weld is a material welded on the surface of the pipe, the distance from the weld to the depth camera body is theoretically less than the distance from the mother material of the pipe to the depth camera body, so the pixel point on the boundary line farthest from the camera body can be determined as the mother material of the pipe. Although the surface of the mother material of the pipe is flat, the distance from the mother material of the pipe to the camera body is theoretically consistent, but considering the influence of factors such as the measurement error of the depth camera, the defects on the surface of the mother material of the pipe, and the error in the shooting angle of the depth camera, the pixel points corresponding to the mother material of the pipe may not all be kept at the maximum distance, so the maximum distance needs to be compensated to improve the recognition accuracy. The compensation method may include: subtracting the set compensation value from the maximum distance or multiplying the maximum distance by the set compensation factor (the set compensation factor is less than 1) to obtain the distance threshold. The staff can adaptively set the set compensation value and the set compensation factor according to the actual situation. In addition, the value of the z-axis variable in the coordinates of the left measurement point of the terminal or the coordinates of the highest point of the terminal can be equal to the distance threshold minus the distance from the highest point of the starting end to the depth camera body.

[0055] Of course, the existing laser scanning, structured light scanning and other technologies can also be used to determine the three-dimensional shape of the target weld segment, and then Figure 3 By determining the coordinates of each position measurement point, the three-dimensional coordinate information can also be obtained, but the algorithm of this embodiment is simpler and more efficient, and can effectively reduce the amount of calculation of the processor.

[0056] Step S20 includes: fitting a weld cross-section curve of the target weld segment according to the three-dimensional coordinate information.

[0057] In some embodiments, the weld cross-section curve of the target weld segment can be fitted in the following manner: the x-axis coordinate of the leftmost coordinate of the starting end left measurement point coordinate and the terminal left measurement point coordinate is determined as the first endpoint coordinate of the weld cross-section curve on the negative half axis of the x-axis; the x-axis coordinate of the rightmost coordinate of the starting end right measurement point coordinate and the terminal right measurement point coordinate is determined as the second endpoint coordinate of the weld cross-section curve on the positive half axis of the x-axis; the z-axis coordinate of the larger height coordinate of the starting end highest point coordinate and the terminal highest point coordinate is determined as the third endpoint coordinate of the weld cross-section curve on the positive half axis of the z-axis; a cosine curve is fitted that gradually increases from the first endpoint coordinate to the third endpoint coordinate and then gradually decreases from the third endpoint coordinate to the second endpoint coordinate to obtain the weld cross-section curve.

[0058] Due to the irregularity of the target weld segment, the actual cross-section of the target weld segment may not be in the shape of a cosine curve. However, due to the influence of traditional welding technology, the width of the weld is generally narrow at the top and wide at the bottom, and the slope is irregular, so the cross-section will not be a standard triangle, but the whole is similar to a triangle. For this, this embodiment fits a cosine curve that increases first and then decreases and is symmetrical on the left and right based on the first endpoint coordinates, the second endpoint coordinates, and the third endpoint coordinates as the weld cross-section curve. The shape of the weld cross-section curve can be referred to Figure 4 It should be noted that the advantage of using the cosine curve is that the cosine curve can envelop the standard triangle constructed with the coordinates of the first to third endpoints, but it will not envelop the standard triangle too conservatively, and can envelop the actual cross-section of the target weld segment as appropriately as possible, so as to avoid insufficient or excessive grinding in the work planned in the subsequent steps, thereby improving the grinding quality.

[0059] Step S30 includes: performing layering in the radial direction of the pipeline based on the weld cross-section curve to obtain a plurality of layers to be polished.

[0060] In some embodiments, the weld cross-section curve can be layered in the radial direction of the pipeline in the following manner: on the z-axis of the weld cross-section curve, the weld cross-section curve is divided into equal distances from small to large based on the first set height until it cannot be divided, so as to obtain a plurality of layers to be polished. Figure 4 Taking the embodiment as an example, the weld cross-section curve can be divided equally from bottom to top on the z-axis of the weld cross-section curve based on the first set height to obtain multiple layers to be polished. However, after the equal-distance division, there will generally be a remainder, that is, the thickness or height of the topmost layer to be polished is not greater than the first set height. However, as long as the height of the topmost layer to be polished is less than or equal to the first set height, the division can be stopped.

[0061] Optionally, the first set height may range from 1 mm to 3 mm, and the first set height is preferably 2 mm. Of course, the staff may also operate the human-computer interaction device to adaptively set the first set height based on actual conditions.

[0062] Step S40 includes: setting the grinding directions of any two adjacent layers to be polished in the plurality of layers to be polished to opposite grinding directions; wherein the grinding direction is the counterclockwise direction of the circumference of the pipeline or the clockwise direction of the circumference of the pipeline. It should be noted that since the direction of the grinding wheel in the pipeline polishing device is fixed, if the layers to be polished are polished in the same direction, the risk of welding slag being left on the polished surface in a certain direction will increase, and the polishing effect will be poor. After each replacement of the layers to be polished, the grinding direction is changed, which can effectively avoid welding slag being left.

[0063] Step S50 includes: determining the width of each layer to be polished based on the weld cross-section curve, so as to set a corresponding number of polishing times according to the width of each layer to be polished.

[0064] In some embodiments, the width of each layer to be polished can be determined by the following method: the distance between the two bottom boundary endpoints of each layer to be polished is determined as the corresponding width. Figure 4 For example, the bottom layer to be polished intersects with the x-axis, that is, its corresponding two lower bottom boundary endpoints are the first endpoint and the second endpoint respectively, so the width of the bottom layer to be polished is equal to the absolute value of the x-axis coordinate of the first endpoint coordinate plus the absolute value of the x-axis coordinate of the second endpoint coordinate; further, for the second lower layer to be polished, after knowing that the vertical coordinate is equal to the first set height of 1 unit, the first set height is substituted into the weld cross-section curve, and the x-axis variables of the two lower bottom boundary endpoints of the second lower layer to be polished can be obtained, and the absolute values ​​of these two x-axis variables are added to obtain the corresponding width. It can be understood that the method for determining the width of other layers to be polished can refer to the above method, which will not be repeated here.

[0065] In some embodiments, the number of grinding times corresponding to the width of each layer to be polished can be set in the following manner: for each layer to be polished, it is determined whether the width of the layer to be polished is less than 1. When the width of the layer to be polished is less than 1, the number of grinding times of the layer to be polished is set to 1. When the width of the layer to be polished is not less than 1, the integer value of the width of the layer to be polished is determined as the number of grinding times corresponding to the layer to be polished. It should be noted that the number of grinding times is positively correlated with the width of the layer to be polished. Figure 4 For example, the setting of grinding direction and grinding times can refer to the following table:

[0066] Weld height coordinate Width of the layer to be polished Grinding direction Grinding times 10mm 0.1mm Circumferential clockwise 1 8mm 4.7mm Circumferential counterclockwise 4 6mm 6.7mm Circumferential clockwise 6 4mm 8.4mm Circumferential counterclockwise 8 2mm 10mm Circumferential clockwise 10 0.1mm 11.4mm Circumferential counterclockwise 11

[0067] It can be seen from the above table that when the width of a layer to be polished is "JK mm" (J is a natural number greater than 0), the number of polishing times of the layer to be polished will be set to J times.

[0068] Of course, the staff can also customize the number of times each layer to be polished is polished by operating the human-computer interaction device.

[0069] In some embodiments, Figure 1 As shown, the pipeline grinding device grinding planning method may further include step S60. Step S60 includes: according to the grinding direction and grinding times of each layer to be polished, controlling the pipeline grinding device to grind the target weld segment layer by layer from top to bottom in the radial direction of the pipeline. In this step, the path of the pipeline grinding device can refer to Figure 5 The path 30 in FIG. It should be noted that when the same layer to be polished is polished, the polishing direction of each polishing is kept consistent.

[0070] Since there is a certain error in the measured height of the weld, in order to avoid unnecessary damage to the mother material of the pipe when grinding the weld, in some embodiments, step S60 may also include: when grinding to the lowest layer to be polished, obtaining the average height of the target weld segment in real time; judging whether the average height is less than or equal to the second set height, and stopping the grinding when the average height is less than or equal to the second set height to complete the grinding task of the target weld segment. In this embodiment, since the pipeline grinding device gradually grinds from the starting end to the terminal or from the terminal to the starting end during grinding, the average height of the starting end boundary line and the terminal boundary line of the lowest layer to be polished can be used as the average height, so that there is no need to measure the overall height of the target weld segment and then calculate the average value, which helps to simplify the algorithm. The height information of the starting end boundary line and the terminal boundary line can be measured by a depth camera to measure the height of each point on the boundary line, and then the average value is calculated to obtain the average height.

[0071] It should be noted that when the average height is less than or equal to the second set height, even if the set number of grinding times is not reached, grinding will be stopped immediately to avoid damage to the mother material of the pipe.

[0072] Affected by factors such as measurement height error, quality and loss of the grinding wheel, when grinding the lowest layer to be polished, after the set number of grindings, the average height of the target weld section may be far from the second set height. In view of this, in some embodiments, step S60 may also include: when grinding to the lowest layer to be polished, if the average height is still greater than the second set height after the number of grindings is exhausted, then continue to control the pipeline grinding device to grind until the average height obtained in real time is less than or equal to the second set height. The second set height may be 0.1 mm.

[0073] To ensure that the length of the target weld segment does not exceed the set length, such as Figure 1 As shown, step S01 and step S02 may be included before step S10.

[0074] Step S01 includes: dividing the weld on the pipeline along the circumference of the pipeline equally based on the set segmentation value to obtain a plurality of weld segments. Figure 2 In this step, the weld is divided into several weld segments to ensure that the circumferential contour line of each weld segment connecting the two sides of the pipe is as close to a straight line as possible. This can ensure that when grinding in the subsequent steps, the irregular shape of the weld segment will not cause a far deviation between the circumferential contour line and the straight line, thereby causing inaccurate determination of the number of grinding times, which ultimately affects the grinding quality. Among them, the segment value can be set to 10, that is, the arc length of each weld segment accounts for 1 / 10 of the entire weld.

[0075] Step S02 includes: determining a section of the weld that has not been ground as a target weld section.

[0076] Accordingly, if Figure 1 As shown, after step S60, step S70 may be further included. Step S70 includes: judging whether there is an unpolished weld segment, and when there is an unpolished weld segment, returning to step S02.

[0077] It can be understood that the present invention realizes automatic planning of the grinding times and grinding directions of the pipeline grinding device, helps the pipeline grinding device to efficiently remove protrusions in the weld, makes the weld position smoothly transition with the parent materials on both sides, solves the problems of autonomous path planning and intelligent grinding of the pipeline grinding device, helps to save human resources of nuclear power plants, and improves grinding quality, grinding efficiency and economic benefits of nuclear power plants.

[0078] like Figure 6 As shown, the present invention also provides a control terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the pipeline polishing device polishing planning method provided in an embodiment of the present invention are implemented.

[0079] The present invention also adopts a weld grinding system, which includes a pipeline grinding device, a human-computer interaction unit and a control terminal provided by an embodiment of the present invention.

[0080] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0081] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0082] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0083] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A pipeline grinding device grinding planning method, characterized in that: include: S10, obtaining the three-dimensional coordinate information of the target weld segment; S20, fitting a weld cross-section curve of the target weld segment according to the three-dimensional coordinate information; S30, performing layering in the radial direction of the pipeline based on the weld cross-section curve to obtain a plurality of layers to be polished; S40, setting the polishing directions of any two adjacent layers to be polished in the plurality of layers to be polished to be opposite to each other; wherein the polishing direction is the counterclockwise direction of the circumference of the pipeline or the clockwise direction of the circumference of the pipeline; S50. Determine the width of each of the layers to be polished based on the weld cross-section curve, and set a corresponding number of polishing times according to the width of each of the layers to be polished.

2. The pipeline polishing device polishing planning method according to claim 1 is characterized in that: In the S10, the three-dimensional coordinate information includes the coordinates of the left measurement point of the starting end, the coordinates of the right measurement point of the starting end, the coordinates of the highest point of the starting end, the coordinates of the left measurement point of the terminal, the coordinates of the right measurement point of the terminal and the coordinates of the highest point of the terminal; Among them, the coordinates of the left measurement point at the starting end are the coordinates of the leftmost endpoint on the starting end boundary line of the target weld segment; the coordinates of the right measurement point at the starting end are the coordinates of the rightmost endpoint on the starting end boundary line of the target weld segment; the coordinates of the highest point at the starting end are the coordinates of the endpoint on the starting end boundary line of the target weld segment with the largest vertical distance from the pipeline surface; the coordinates of the left measurement point at the terminal end are the coordinates of the leftmost endpoint on the terminal boundary line of the target weld segment; the coordinates of the right measurement point at the terminal end are the coordinates of the rightmost endpoint on the terminal boundary line of the target weld segment; the coordinates of the highest point at the terminal end are the coordinates of the endpoint on the terminal boundary line of the target weld segment with the largest vertical distance from the pipeline surface.

3. The pipeline polishing device polishing planning method according to claim 2 is characterized in that: In the S20, fitting the weld cross-section curve of the target weld segment according to the three-dimensional coordinate information includes: Determine the x-axis coordinate of the left one of the starting end left measurement point coordinate and the terminal end left measurement point coordinate as the first endpoint coordinate of the weld cross-section curve on the negative x-axis; Determine the x-axis coordinate of the righter one of the starting end right measurement point coordinate and the terminal end right measurement point coordinate as the second endpoint coordinate of the weld cross-section curve on the positive x-axis; Determine the third endpoint coordinate of the weld cross-section curve on the positive half axis of the z-axis by using the z-axis coordinate of the larger height coordinate of the highest point coordinate of the starting end and the highest point coordinate of the terminal end; A cosine curve is fitted, which gradually increases from the first endpoint coordinate to the third endpoint coordinate and then gradually decreases from the third endpoint coordinate to the second endpoint coordinate, so as to obtain the weld cross-section curve.

4. The pipeline polishing device polishing planning method according to claim 2, characterized in that: In the step S10, the step of obtaining the three-dimensional coordinate information of the target weld segment includes: Photographing the target weld segment by a depth camera to obtain an image and height information of the target weld segment; The image and the height information are analyzed to extract the starting end left measurement point coordinates, the starting end right measurement point coordinates, the starting end highest point coordinates, the terminal left measurement point coordinates, the terminal right measurement point coordinates and the terminal highest point coordinates.

5. The pipeline polishing device polishing planning method according to claim 3, characterized in that: In the S30, the step of performing stratification in the radial direction of the pipeline based on the weld cross-section curve includes: On the z-axis of the weld cross-section curve, the weld cross-section curve is divided into equal distances from small to large based on a first set height to obtain the plurality of layers to be polished.

6. The pipeline polishing device polishing planning method according to claim 5, characterized in that: The first set height ranges from 1 mm to 3 mm.

7. The pipeline polishing device polishing planning method according to claim 3, characterized in that: In the step S50, setting the number of grinding times corresponding to the width of each layer to be grinded includes: For each of the layers to be polished, the following steps are performed: determining whether the width of the layer to be polished is less than 1; when the width of the layer to be polished is less than 1, setting the number of polishing times for the layer to be polished to 1; and when the width of the layer to be polished is not less than 1, determining the integer value of the width of the layer to be polished as the corresponding number of polishing times.

8. The pipeline polishing device polishing planning method according to any one of claims 1 to 7, characterized in that: Also includes: S60, according to the grinding direction and the grinding times of each layer to be ground, controlling the pipeline grinding device to grind the target weld segment layer by layer from top to bottom in the radial direction of the pipeline.

9. The pipeline polishing device polishing planning method according to claim 8, characterized in that: In the S60, it also includes: When the lowest layer to be polished is reached, the average height of the target weld segment is obtained in real time; Determine whether the average height is less than or equal to a second set height, and stop grinding when the average height is less than or equal to the second set height.

10. The pipeline polishing device polishing planning method according to claim 9, characterized in that: The second set height is 0.1 mm.

11. The pipeline polishing device polishing planning method according to claim 9, characterized in that: Before the S10, the method further includes: S01. Dividing the weld on the pipeline along the circumference of the pipeline equally based on a set segmentation value to obtain a plurality of weld segments; S02, determining a section of the weld that has not been polished as a target weld section; After S60, the method further includes: S70, determining whether there is an unpolished weld segment, and when there is an unpolished weld segment, returning to S02.

12. A control terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the pipeline grinding device grinding planning method according to any one of claims 1 to 11 are implemented.

13. A weld grinding system, characterized in that: It comprises a pipe polishing device and a control terminal as claimed in claim 12.

Images