Pipe polishing device, polishing planning method, control terminal and weld polishing system
By acquiring the three-dimensional coordinate information of the weld, fitting the weld cross-sectional curve, and setting the grinding direction in layers, the problem of weld excess height in nuclear power plants was solved, automated pipeline grinding was realized, grinding quality and efficiency were improved, and human resources were saved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA NUCLEAR POWER ENGINEERING COMPANY LTD
- Filing Date
- 2025-02-11
- Publication Date
- 2026-06-19
AI Technical Summary
In nuclear power plants, weld reinforcement increases fluid medium resistance and stress concentration. Existing pipe grinding equipment lacks flexibility, relies on manual operation, and is susceptible to human error, affecting economic efficiency and stability.
By acquiring the three-dimensional coordinate information of the target weld segment, fitting the weld section curve, setting opposite grinding directions in layers, and setting the number of grinding times according to the layer width, the grinding path of the pipeline grinding device can be automatically planned.
The automated pipe grinding process has improved grinding quality and efficiency, saved manpower, and enhanced the economic benefits of nuclear power plants.
Smart Images
Figure CN119952560B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of metal cladding technology in nuclear power plants, and in particular to a grinding planning method, control terminal and weld grinding system for a pipe grinding device. Background Technology
[0002] In nuclear power plants, after the pipelines are welded, there is a certain amount of weld excess. This excess can 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 ground to remove the weld excess.
[0003] Currently, due to the uneven size and path distribution of welds on pipelines, the number of grinding operations and the intensity of grinding also vary. Moreover, the current pipeline grinding equipment lacks flexibility in path planning during the grinding process. Therefore, it is necessary to manually specify or adjust the path or the number of grinding operations 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, and there is 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 grinding planning method, a control terminal and a weld grinding system for a pipe grinding device.
[0005] The technical solution adopted by this invention to solve its technical problem is: constructing a pipe grinding device grinding planning method, including:
[0006] S10. Obtain the three-dimensional coordinate information of the target weld segment;
[0007] S20. Fit the weld cross-section curve of the target weld segment based on the three-dimensional coordinate information;
[0008] S30. Based on the weld cross-sectional curve, the pipe is divided into layers in the radial direction to obtain several layers to be ground.
[0009] S40. Set the grinding directions of any two adjacent layers to be ground to be opposite to each other; wherein the grinding direction is either the counterclockwise direction of the pipe or the clockwise direction of the pipe.
[0010] S50. Determine the width of each layer to be ground based on the weld cross-section curve, and set the corresponding number of grinding times according to the width of each layer to be ground.
[0011] Preferably, in step S10, the three-dimensional coordinate information includes 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 end, the right measurement point at the end, and the highest point at the end.
[0012] Wherein, the coordinates of the left measuring point at the starting end are the coordinates of the leftmost endpoint on the boundary line of the starting end of the target weld segment; the coordinates of the right measuring point at the starting end are the coordinates of the rightmost endpoint on the boundary line of the starting end of the target weld segment; the coordinates of the highest point at the starting end are the coordinates of the endpoint on the boundary line of the starting end of the target weld segment that has the greatest vertical distance from the pipe surface; the coordinates of the left measuring point at the end are the coordinates of the leftmost endpoint on the boundary line of the end of the target weld segment; the coordinates of the right measuring point at the end are the coordinates of the rightmost endpoint on the boundary line of the end of the target weld segment; and the coordinates of the highest point at the end are the coordinates of the endpoint on the boundary line of the end of the target weld segment that has the greatest vertical distance from the pipe surface.
[0013] Preferably, in step S20, fitting the weld cross-sectional curve of the target weld segment based on the three-dimensional coordinate information includes:
[0014] The leftmost coordinate of the left measurement point coordinate at the starting end and the left measurement point coordinate at the terminal end is determined as the first endpoint coordinate of the weld section curve on the negative x-axis.
[0015] The x-axis coordinate of the rightmost of the coordinates of the starting right measurement point and the terminal right measurement point is determined as the second endpoint coordinate of the weld section curve on the positive x-axis.
[0016] The coordinate of the third endpoint of the weld section curve on the positive z-axis is determined by the z-axis coordinate of the larger of the height coordinates of the highest point of the starting end and the highest point of the terminal end.
[0017] A cosine curve is fitted from the coordinates of the first endpoint to the coordinates of the third endpoint, and then from the coordinates of the third endpoint to the coordinates of the second endpoint, so as to obtain the weld cross-section curve.
[0018] Preferably, in step S10, obtaining the three-dimensional coordinate information of the target weld segment includes:
[0019] The target weld segment is captured by a depth camera to obtain images and height information of the target weld segment;
[0020] The image and height information are analyzed 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.
[0021] Preferably, in S30, the layering of the pipe radially based on the weld cross-section curve includes:
[0022] On the z-axis of the weld cross-section curve, the weld cross-section curve is divided at equal intervals based on a first set height from small to large, so as to obtain the plurality of grinding layers.
[0023] Preferably, the range of the first set height is 1 mm to 3 mm.
[0024] Preferably, in step S50, setting the number of polishing passes corresponding to the width of each layer to be polished includes:
[0025] For each layer to be polished, the following steps are performed: determine whether the width of the layer to be polished is less than 1 mm. If the width of the layer to be polished is less than 1 mm, set the polishing count of the layer to be polished to 1 time. If the width of the layer to be polished is not less than 1 mm, determine the integer part of the width of the layer to be polished as the corresponding polishing count.
[0026] Preferably, the grinding planning method of the pipe grinding device further includes: S60, according to the grinding direction and the number of grinding times of each of the layers to be ground, controlling the pipe grinding device to grind the target weld segment layer by layer from top to bottom in the radial direction of the pipe.
[0027] Preferably, in S60, the following is further included:
[0028] When grinding reaches the bottommost layer to be ground, 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 the second set height. If the average height is less than or equal to the second set height, stop polishing.
[0030] Preferably, the second set height is 0.1 mm.
[0031] Preferably, before S10, the method further includes:
[0032] S01. Divide the weld seam on the pipeline into equal parts along the circumference of the pipeline based on the set segmentation value to obtain several weld seam segments.
[0033] S02. Identify the section of weld that has not been ground as the target weld section;
[0034] Following S60, the procedure further includes: S70, determining whether there is an unpolished weld segment, and if 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, it implements the steps of the above-described pipe grinding device grinding planning method.
[0036] The present invention also constructs a weld grinding system, including a pipe grinding device and the control terminal described above.
[0037] The technical solution of this invention involves acquiring the three-dimensional coordinate information of the target weld segment, then fitting the weld cross-sectional curve of the target weld segment based on the three-dimensional coordinate information, and then dividing the pipeline radially into several layers to be ground based on the weld cross-sectional curve. Next, the grinding directions of any two adjacent layers to be ground are set to opposite directions. Finally, the width of each layer to be ground is determined based on the weld cross-sectional curve, and the corresponding number of grinding passes is set according to the width of each layer. This achieves automatic planning of the grinding passes and directions of the pipeline grinding device, helping the pipeline grinding device to efficiently remove protrusions in the weld and ensuring a smooth transition between the weld position and the base material on both sides. This solves the problem of autonomous path planning and intelligent grinding in pipeline grinding devices, helping to save human resources in nuclear power plants and improve grinding quality, grinding efficiency, and the economic benefits of nuclear power plants. Attached Figure Description
[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:
[0039] Figure 1 This is a flowchart of the grinding planning method of the pipe grinding device in some embodiments of the present invention;
[0040] Figure 2 This is a schematic diagram of the structure after the weld seam is segmented circumferentially in some embodiments of the present invention;
[0041] Figure 3 yes Figure 2 Enlarged structural diagram of part A in the middle;
[0042] Figure 4 This is a schematic diagram of the weld cross-sectional curve in some embodiments of the present invention;
[0043] Figure 5 This is a schematic diagram of the grinding path after the target weld segment path planning in some embodiments of the present invention;
[0044] Figure 6 This is a circuit structure block diagram of the control terminal in some embodiments of the present invention. Detailed Implementation
[0045] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
[0046] It should be noted that the flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.
[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 can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.
[0048] Figure 1 This is a flowchart illustrating the grinding planning method of a pipe grinding device in some embodiments of the present invention. This method is applied to the control terminal of a pipe grinding device in a nuclear power plant. The control terminal can automatically plan the grinding path of the pipe grinding device, remove protrusions in the weld, and ensure a smooth transition between the weld position and the base material on both sides. Figure 1 As shown, the grinding planning method of the pipe grinding device includes steps S10, S20, S30, S40 and S50.
[0049] Step S10 includes: acquiring the three-dimensional coordinate information of the target weld segment. In this step, the three-dimensional coordinate information can characterize the structural information of the target weld segment, including its length, width, and height. The purpose of acquiring the three-dimensional coordinate information is to enable subsequent steps to automatically specify the grinding operation path and grinding times of the pipe grinding device based on the structure of the target weld segment.
[0050] In traditional welding processes, the weld width is narrower at the top and wider at the bottom. When the weld length is short, the circumferential outline of the weld connecting to the pipe can be considered a straight line. However, due to the unevenness of the weld, the longer the weld, the less likely the circumferential outline can be considered a straight line. Therefore, in this step, the target weld segment is a segment whose length does not exceed the set length. The set length can be adjusted according to actual needs. A smaller set length generally results in a circumferential outline closer to a straight line, leading to better grinding results, but also increasing the computational load in the path planning process at the control terminal. It should be noted that the weld width refers to the axial length of the weld in the pipe, the weld length refers to the circumferential length of the weld in the pipe, and the weld height refers to the radial length of the weld in the pipe.
[0051] In some embodiments, the three-dimensional coordinate information may include 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 end, the right measurement point at the end, and the highest point at the end. Wherein, as... 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 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 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) with the greatest vertical distance from the pipe surface on the starting boundary line of the target weld segment. The coordinates of the left measurement point at the end are the coordinates of the leftmost endpoint L2 on the end boundary line 103 of the target weld segment; the coordinates of the right measurement point at the end are the coordinates of the rightmost endpoint R2 on the end boundary line 103 of the target weld segment; the coordinates of the highest point at the end are the coordinates of the endpoint (not shown) with the greatest vertical distance from the pipe surface on the end boundary line of the target weld segment.
[0052] It should be understood that in this invention, the orientation or positional relationship indicated by "left", "right", "up", "down", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this technical solution, rather than indicating that the device or element referred to must have a specific orientation, and therefore should not be construed as a limitation of this invention.
[0053] In some embodiments, three-dimensional coordinate information can be obtained by: capturing images of the target weld segment using a depth camera to obtain an image of the target weld segment and its 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 end, the right measurement point at the end, and the highest point at the end. In this embodiment, the depth camera can measure the distance from the object in its captured image to the camera body, that is, the depth camera can be positioned directly above the target weld segment (i.e., the depth camera captures the target weld segment at a downward angle perpendicular to the pipe surface) to measure the relevant image and the corresponding height information. Specifically, the depth camera can first capture 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 pipe base material, and then... Figure 3 For example, after identifying the weld and the main material of the pipe, the leftmost end of the weld can be determined as the left measurement point of the starting end, the rightmost end of the weld can be determined as the right measurement point of the starting end, and the point on the boundary line of the starting end that is closest to the camera body can be determined as the highest point of the starting end. Similarly, the coordinates of the left measurement point of the terminal, the right measurement point of the terminal, and the highest point of the terminal can be determined at the boundary line of the terminal.
[0054] Furthermore, the distinction between weld seams and the pipe's base material can be made as follows: Analyze the distances from each pixel point on the radial direction of the pipe along the boundary line (including the starting and ending boundary lines) to the depth camera body. Determine the maximum distance as the distance from the pipe's base material to the camera body. Based on the maximum distance, determine a distance threshold for the pipe's base material. Identify the actual objects corresponding to pixels on the boundary line whose distance is not less than the threshold as the pipe's base material, and identify the actual objects corresponding to pixels on the boundary line whose distance is less than the threshold as weld seams. It's easy to understand that since the weld seam is welded to the pipe surface, the distance from the weld seam to the depth camera body is theoretically less than the distance from the pipe's base material to the depth camera body. Therefore, the pixel point farthest from the camera body on the boundary line can be identified as the pipe's base material. Although the surface of the pipe's base material is flat, and theoretically the distance from the pipe's base material to the camera body should be consistent, factors such as depth camera measurement errors, defects on the surface of the pipe's base material, and errors in the depth camera's shooting angle may cause the pixels corresponding to the pipe's base material to not all maintain the maximum distance. Therefore, compensation for the maximum distance is needed to improve recognition accuracy. Compensation methods may include subtracting a set compensation value from the maximum distance or multiplying the maximum distance by a set compensation factor (the set compensation factor is less than 1) to obtain a distance threshold. Operators can adaptively set the set compensation value and compensation factor according to actual conditions. Additionally, the z-axis variable in the coordinates of the left measurement point or 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, existing technologies such as laser scanning and structured light scanning can also be used to determine the three-dimensional shape of the target weld segment, and then based on... Figure 3 Determining the coordinates of each measurement point can also yield the aforementioned three-dimensional coordinate information, but the algorithm in this embodiment is simpler and more efficient, effectively reducing the computational load on the processor.
[0056] Step S20 includes: fitting the weld cross-section curve of the target weld segment based on the three-dimensional coordinate information.
[0057] In some embodiments, the weld cross-sectional 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 and the terminal left measurement point is determined as the first endpoint coordinate of the weld cross-sectional curve on the negative x-axis; the x-axis coordinate of the rightmost coordinate of the starting end right measurement point and the terminal right measurement point is determined as the second endpoint coordinate of the weld cross-sectional curve on the positive 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-sectional curve on the positive z-axis; a cosine curve 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 is fitted to obtain the weld cross-sectional curve.
[0058] Due to the irregularity of the target weld segment, the actual cross-section of the target weld segment may not be a cosine curve. However, influenced by traditional welding techniques, the width of the weld is generally narrower at the top and wider at the bottom, and the slope is irregular. Therefore, the cross-section will not be a standard triangle, but the overall shape is similar to a triangle. To address this, this embodiment fits a cosine curve that first increases and then decreases based on the coordinates of the first, second, and third endpoints, and is symmetrical from left to right, as the weld cross-section curve. The shape of the weld cross-section curve can be referenced. Figure 4 It should be noted that the advantage of using a cosine curve is that it can enclose the standard triangle constructed by the coordinates of the first to third endpoints, but it will not enclose the standard triangle too conservatively. It can enclose the actual cross-section of the target weld segment as appropriately as possible. This can avoid insufficient or excessive grinding in the subsequent planned work, thereby improving the grinding quality.
[0059] Step S30 includes: layering the pipe radially based on the weld cross-section curve to obtain several layers to be ground.
[0060] In some embodiments, the pipe can be layered radially based on the weld cross-section curve as follows: On the z-axis of the weld cross-section curve, the curve is divided at equal intervals based on a first predetermined height, from smallest to largest, until it cannot be further divided, thus obtaining several layers to be ground. Figure 4 For example, in the embodiment, the weld cross-section curve can be divided at equal intervals from bottom to top based on a first set height on the z-axis to obtain multiple layers to be ground. However, after equal interval division, there will generally be a remainder, that is, the thickness or height of the uppermost layer to be ground is not greater than the first set height. But as long as the height of the uppermost layer to be ground is less than or equal to the first set height, the division can be stopped.
[0061] Optionally, the range of the first set height can be from 1 mm to 3 mm, and the first set height is preferably 2 mm. Of course, the staff can also operate the human-computer interaction device to adaptively set the first set height based on the actual situation.
[0062] Step S40 includes setting the grinding directions of any two adjacent layers to be ground to be opposite to each other; wherein the grinding direction is either counterclockwise or clockwise around the pipe. It should be noted that since the grinding wheel rotation in the pipe grinding device is fixed, grinding each layer in the same direction increases the risk of weld slag residue remaining on the grinding surface in a certain direction, resulting in poor grinding effect. Changing the grinding direction after each layer is replaced effectively avoids weld slag residue.
[0063] Step S50 includes: determining the width of each layer to be ground based on the weld cross-section curve, so as to set the corresponding number of grinding times according to the width of each layer to be ground.
[0064] In some embodiments, the width of each layer to be sanded can be determined by defining the distance between the two bottom boundary endpoints of each layer as its corresponding width. Figure 4 Taking the embodiment as an example, the bottommost layer to be ground intersects the x-axis, meaning its two corresponding bottom boundary endpoints are the first endpoint and the second endpoint, respectively. Therefore, the width of the bottommost layer to be ground is equal to the absolute value of the x-axis coordinate of the first endpoint plus the absolute value of the x-axis coordinate of the second endpoint. Further, for the next lower layer to be ground, after knowing that the ordinate is equal to a first set height of 1 unit, substituting the first set height into the weld section curve yields the x-axis variables of the two bottom boundary endpoints of the next lower layer to be ground. Adding the absolute values of these two x-axis variables gives the corresponding width. Understandably, the methods for determining the width of other layers to be ground can refer to the above method, and will not be elaborated further here.
[0065] In some embodiments, the number of polishing passes can be set according to the width of each layer to be polished in the following way: For each layer to be polished, determine whether the width of the layer to be polished is less than 1 mm. If the width of the layer to be polished is less than 1 mm, set the number of polishing passes to 1. If the width of the layer to be polished is not less than 1 mm, determine the integer part of the width of the layer to be polished as the corresponding number of polishing passes. It should be noted that the number of polishing passes is positively correlated with the width of the layer to be polished. Figure 4 Taking the following embodiment as an example, the settings for the polishing direction and number of polishing passes can be found in the table below:
[0066]
[0067] As shown in the table above, when the width of a layer to be polished is "JK millimeters" (J is a natural number greater than 0), the number of polishing times for that layer will be set to J times.
[0068] Of course, staff can also customize the number of polishing cycles for each layer by operating the human-computer interaction device.
[0069] In some embodiments, such as Figure 1 As shown, the pipe grinding planning method may further include step S60. Step S60 includes: according to the grinding direction and number of grinding passes for each layer to be ground, controlling the pipe grinding device to grind the target weld segment layer by layer from top to bottom in the radial direction of the pipe. In this step, the path of the pipe grinding device can be referenced... Figure 5 Path 30 in the diagram. It should be noted that when polishing the same layer, the polishing direction is consistent each time.
[0070] Because there is a certain error in the measurement height of the weld, in order to avoid unnecessary damage to the pipe base material during weld grinding, in some embodiments, step S60 may further include: when grinding to the bottommost layer to be ground, acquiring the average height of the target weld segment in real time; determining whether the average height is less than or equal to a second set height; if the average height is less than or equal to the second set height, stopping grinding to complete the grinding task of the target weld segment. In this embodiment, since the pipe grinding device grinds gradually from the starting end to the end or from the end to the starting end during grinding, the average height of the starting end boundary line and the ending end boundary line of the bottommost layer to be ground can be used as the average height. This eliminates the 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 ending end 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 can be 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, grinding will stop immediately even if the set number of grinding cycles has not been reached, in order to avoid damage to the pipe material.
[0072] Due to factors such as measurement height error, grinding wheel quality, and wear, the average height of the target weld segment may be significantly different from the second set height after the set number of grinding passes when grinding the bottommost layer. To address this, in some embodiments, step S60 may further include: if, after grinding the bottommost layer, the average height is still greater than the second set height after all grinding passes have been exhausted, then continue grinding with the pipe grinding device until the real-time average height is less than or equal to the second set height. The second set height can 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, steps S01 and S02 may be included before step S10.
[0074] Step S01 includes: dividing the weld seam on the pipeline into equal parts along the circumference of the pipeline based on a set segmentation value to obtain several weld seam segments. (See also...) Figure 2 This step divides the weld into several segments to ensure that the circumferential outline of each weld segment connecting to both sides of the pipe is as close to a straight line as possible. This prevents the irregular shape of excessively long weld segments from causing significant deviations from a straight line during subsequent grinding, which could lead to inaccurate determination of the grinding cycle and ultimately affect the grinding quality. The segment value can be set to 10, meaning the arc length of each weld segment is 1 / 10 of the entire weld.
[0075] Step S02 includes: identifying one of the unpolished weld segments as the target weld segment.
[0076] Accordingly, such as Figure 1 As shown, step S60 may be followed by step S70. Step S70 includes: determining whether there is an unpolished weld segment; if there is an unpolished weld segment, returning to step S02.
[0077] Understandably, this invention enables the automatic planning of the number of grinding cycles and the grinding direction of the pipe grinding device, helping the pipe grinding device to efficiently remove protrusions in the weld and make the weld position smoothly transition with the base material on both sides. It solves the problem of autonomous path planning and intelligent grinding of the pipe grinding device, which helps to save human resources in nuclear power plants, improve 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, it implements the steps of the pipe grinding device grinding planning method provided in the embodiments of the present invention.
[0079] The present invention also provides a weld grinding system, including a pipe grinding device, a human-machine interaction unit, and a control terminal provided in the embodiments of the present invention.
[0080] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0081] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.
[0082] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.
[0083] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.
Claims
1. A method for planning the grinding process of a pipe grinding device, characterized in that, include: S10. Obtain the three-dimensional coordinate information of the target weld segment; S20. Fit the weld cross-section curve of the target weld segment based on the three-dimensional coordinate information; S30. Based on the weld cross-sectional curve, the pipe is divided into layers in the radial direction to obtain several layers to be ground. S40. Set the grinding directions of any two adjacent layers to be ground to be opposite to each other; wherein the grinding direction is either the counterclockwise direction of the pipe or the clockwise direction of the pipe. S50. Determine the width of each layer to be ground based on the weld cross-section curve, and set the corresponding number of grinding times according to the width of each layer to be ground.
2. The pipe grinding device grinding planning method according to claim 1, characterized in that, In S10, the three-dimensional coordinate information includes 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 end, the right measurement point at the end, and the highest point at the end. Wherein, the coordinates of the left measuring point at the starting end are the coordinates of the leftmost endpoint on the boundary line of the starting end of the target weld segment; the coordinates of the right measuring point at the starting end are the coordinates of the rightmost endpoint on the boundary line of the starting end of the target weld segment; the coordinates of the highest point at the starting end are the coordinates of the endpoint on the boundary line of the starting end of the target weld segment that has the greatest vertical distance from the pipe surface; the coordinates of the left measuring point at the end are the coordinates of the leftmost endpoint on the boundary line of the end of the target weld segment; the coordinates of the right measuring point at the end are the coordinates of the rightmost endpoint on the boundary line of the end of the target weld segment; and the coordinates of the highest point at the end are the coordinates of the endpoint on the boundary line of the end of the target weld segment that has the greatest vertical distance from the pipe surface.
3. The grinding planning method of the pipe grinding device according to claim 2, characterized in that, In step S20, fitting the weld cross-sectional curve of the target weld segment based on the three-dimensional coordinate information includes: The leftmost coordinate of the left measurement point coordinate at the starting end and the left measurement point coordinate at the terminal end is determined as the first endpoint coordinate of the weld section curve on the negative x-axis. The x-axis coordinate of the rightmost of the coordinates of the starting right measurement point and the terminal right measurement point is determined as the second endpoint coordinate of the weld section curve on the positive x-axis. The coordinate of the third endpoint of the weld section curve on the positive z-axis is determined by the z-axis coordinate of the larger of the height coordinates of the highest point of the starting end and the highest point of the terminal end. A cosine curve is fitted from the coordinates of the first endpoint to the coordinates of the third endpoint, and then from the coordinates of the third endpoint to the coordinates of the second endpoint, so as to obtain the weld cross-section curve.
4. The pipe grinding device grinding planning method according to claim 2, characterized in that, In step S10, obtaining the three-dimensional coordinate information of the target weld segment includes: The target weld segment is captured by a depth camera to obtain images and height information of the target weld segment; The image and height information are analyzed 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.
5. The pipe grinding device grinding planning method according to claim 3, characterized in that, In S30, the step of layering the pipe radially 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 at equal intervals based on a first set height from small to large, so as to obtain the plurality of grinding layers.
6. The pipe grinding device grinding planning method according to claim 5, characterized in that, The range of the first set height is 1 mm to 3 mm.
7. The pipe grinding device grinding planning method according to claim 3, characterized in that, In step S50, setting the number of polishing passes corresponding to the width of each layer to be polished includes: For each layer to be polished, the following steps are performed: determine whether the width of the layer to be polished is less than 1 mm. If the width of the layer to be polished is less than 1 mm, set the polishing count of the layer to be polished to 1 time. If the width of the layer to be polished is not less than 1 mm, determine the integer part of the width of the layer to be polished as the corresponding polishing count.
8. The pipe grinding apparatus grinding planning method according to any one of claims 1 to 7, characterized in that, Also includes: S60. According to the grinding direction and the number of grinding times of each layer to be ground, control the pipe grinding device to grind the target weld segment layer by layer from top to bottom in the radial direction of the pipe.
9. The pipe grinding device grinding planning method according to claim 8, characterized in that, The S60 also includes: When grinding reaches the bottommost layer to be ground, the average height of the target weld segment is obtained in real time; Determine whether the average height is less than or equal to the second set height. If the average height is less than or equal to the second set height, stop polishing.
10. The pipe grinding device grinding planning method according to claim 9, characterized in that, The second set height is 0.1 mm.
11. The pipe grinding device grinding planning method according to claim 9, characterized in that, Before S10, it also includes: S01. Divide the weld seam on the pipeline into equal parts along the circumference of the pipeline based on the set segmentation value to obtain several weld seam segments. S02. Identify the section of weld that has not been ground as the target weld section; Following S60, the procedure further includes: S70, determining whether there is an unpolished weld segment, and if 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, it implements the steps of the grinding planning method of the pipe grinding apparatus according to any one of claims 1 to 11.
13. A weld grinding system, characterized in that, It includes a pipe grinding device and a control terminal as described in claim 12.