Obstacle position determination method and device, electronic equipment and storage medium

Abstract

The invention provides an obstacle position determination method and device, electronic equipment and a storage medium. The method comprises the steps that a line laser sensor is used for scanning a pipe to obtain groove point cloud data of the pipe; according to the groove point cloud data, the position of a groove obstacle of the pipe is determined; and the groove obstacle position is sent to the machining system, so that the machining system conducts pipe welding seam breaking according to the groove obstacle position, that is, the groove obstacle position is automatically determined according to the groove point cloud data of the pipe, automatic pipe welding seam breaking is achieved according to the groove obstacle position, and the pipe welding seam breaking efficiency is improved. Therefore, the generation requirement is met; moreover, a technician does not need to manually operate the mechanical arm, so that the situation that the mechanical arm of the technician operates improperly to cause the risks of collision, collision and the like is avoided, the safety of pipe welding seam breakage is improved, an enterprise does not need to spend time to train the technician, and therefore the pipe machining cost of the enterprise is reduced.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a method, device, electronic equipment and storage medium for determining the position of an obstacle. Background Art

[0002] During the groove weld welding process of a pipe (eg, a box column), a technician is required to manually control a robot arm to reach the groove weld breaking position of the pipe and manually mark the groove weld breaking position in the processing system to break the pipe weld.

[0003] However, for longer box columns, there are many obstacles at the groove weld. It takes a long time for technicians to interrupt the pipe welds through the above-mentioned pipe weld interruption method. The efficiency of pipe weld interruption is extremely low and it is difficult to meet production requirements. Secondly, if the technicians operate the mechanical arm improperly, it is very easy to cause risks such as collision and collision, and the safety of pipe processing is low. Finally, the above-mentioned pipe weld interruption method requires enterprises to provide relevant technical training to technicians before they can take up their posts, which increases the company's pipe processing costs. Therefore, how to improve the efficiency and safety of pipe weld interruption and reduce the company's pipe processing costs are urgent problems to be solved. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for determining the position of an obstacle, which can solve the problems of low efficiency and low safety of interrupting a pipe weld and high pipe processing cost of an enterprise.

[0005] According to a first aspect of the present invention, a method for determining a position of an obstacle is provided, the method comprising:

[0006] Use a line laser sensor to scan the pipe to obtain the groove point cloud data of the pipe;

[0007] Determine the location of the pipe groove obstacle according to the groove point cloud data;

[0008] The groove obstacle position is sent to a processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position.

[0009] According to a second aspect of the present invention, there is provided a device for determining the position of an obstacle, the device comprising:

[0010] The pipe scanning module is used to scan the pipe using a line laser sensor to obtain the pipe groove point cloud data;

[0011] A position determination module, used to determine the position of the groove obstacle of the pipe according to the groove point cloud data;

[0012] The position sending module is used to send the position of the groove obstacle to the processing system, so that the processing system interrupts the pipe weld according to the position of the groove obstacle.

[0013] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory.

[0014] The memory is used to store codes and related data;

[0015] The processor is used to execute the code in the memory to implement the method for determining the position of an obstacle as described in any one of the embodiments of the present invention.

[0016] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for determining a position of an obstacle as described in any one of the embodiments of the present invention.

[0017] In the embodiment of the present invention, a line laser sensor is used to scan a pipe (for example, a box column) to obtain the groove point cloud data of the pipe, and the groove obstacle position of the pipe (the groove weld interruption position) is automatically determined according to the groove point cloud data, and then the groove obstacle position is sent to the processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position, that is, the groove obstacle position is automatically determined according to the groove point cloud data of the pipe, and the automatic pipe weld interruption is realized according to the groove obstacle position, without the need for the technician to manually control the robot arm to reach the groove weld interruption position of the pipe and manually in the processing system. The groove weld interruption position is marked in the processing system to realize the pipe weld interruption, which improves the efficiency of pipe weld interruption and meets the generation requirements; and since there is no need for technicians to manually operate the robotic arm, the risks of collision, collision with people, etc. caused by improper operation of the robotic arm by technicians are avoided, thereby improving the safety of pipe weld interruption; finally, since technicians do not need to operate the robotic arm and manually input the groove obstacle position in the processing system, automatic pipe weld interruption can be realized, so the company does not need to spend time training technicians, thereby reducing the company's pipe processing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a flow chart of a method for determining the position of an obstacle provided by an embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of an obstacle position mark provided by an embodiment of the present invention;

[0021] Figure 3 is another flowchart of the method for determining the position of an obstacle provided by an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of point cloud completion provided by an embodiment of the present invention;

[0023] Figure 5 is a structural schematic diagram of an obstacle location determination device provided by an embodiment of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0028] Figure 1The present invention provides a flowchart of a method for determining the location of an obstacle provided by an embodiment of the present invention. The method can be performed by a device for determining the location of an obstacle, and the device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer, a server, etc. The following embodiments will be described by taking the device integrated into an electronic device as an example. Figure 1 , the method may specifically include the following steps:

[0029] Step 101: Scan the pipe using a line laser sensor to obtain the groove point cloud data of the pipe.

[0030] Among them, the line laser sensor is a sensor that uses a laser beam for measurement, and is generally used in industrial applications such as measurement, cutting or marking. In the embodiment of the present invention, since the line laser sensor can provide a laser beam with a larger width within a certain range, it is suitable for processing or scanning a large area. Therefore, scanning the pipe with the line laser sensor can improve the acquisition speed of the groove point cloud data of the pipe.

[0031] A groove is a shape in which the edge of a workpiece is processed with a specific shape and angle when welding or connecting workpieces. The function of the groove is to provide a better joint surface for welding, increase the strength of the weld, and allow the welding material to penetrate into the joint. The groove point cloud data can be understood as the point cloud of the groove area of ​​the pipe; the groove point cloud data can include multiple point cloud lines and multiple groove feature information, one point cloud line corresponds to one groove feature information, and each point cloud line includes a line number identification. The point cloud line can be understood as a line composed of multiple points. The groove feature information can be understood as the attribute parameters of the pipe groove corresponding to each point cloud line. The groove feature information may include but is not limited to one or more of the groove width, groove angle, groove area, groove depth, left and right end points of the groove, and the bottom point of the groove.

[0032] In an optional embodiment, a parameter input interface may be displayed so that the user (technician) can input the scanning parameters of the line laser sensor in the parameter input interface; then the scanning parameters are obtained, and the line laser sensor is controlled to scan the pipe according to the scanning parameters to obtain the groove point cloud data of the pipe. The scanning parameters may include but are not limited to one or more of the groove angle of the pipe, the scanning height of the line laser sensor, the scanning speed, etc.

[0033] Step 102, determining the location of the groove obstacle of the pipe according to the groove point cloud data.

[0034] Among them, groove obstacles can be understood as objects that do not need to be welded at the groove of the pipe. Groove obstacles may include but are not limited to one or more of bosses, welds, electroslag holes, etc. Boss refers to a protruding, circular or polygonal structural part, which is usually used to provide support, fixation or connection components. Bosses can increase the strength of parts and can also be used for positioning or alignment. Welds refer to connection points formed after welding. Electroslag holes refer to holes that may be caused by unstable current, inappropriate welding parameters, etc. during electroslag melting welding. Electroslag welding is an efficient welding method suitable for large structures, but the presence of electroslag holes will reduce the strength of the welded joint and affect the integrity of the structure.

[0035] In an optional embodiment, point cloud processing can be performed on multiple point cloud lines according to the groove feature information to obtain a target point cloud; the boss line, weld point line and electroslag hole line at the groove of the pipe are determined according to the target point cloud and the groove feature information of the target point cloud; multiple starting point coordinates and multiple end point coordinates of the boss line, weld point line and electroslag hole line are obtained according to the line number identification of the boss line, the line number identification of the weld point line and the line number identification of the electroslag hole line; the position of the groove obstacle is determined according to the multiple starting point coordinates and the multiple end point coordinates.

[0036] Among them, the target point cloud can be understood as the point cloud obtained after point cloud processing of multiple point cloud lines; the target point cloud line includes multiple target point cloud lines. The boss line can be understood as the point cloud line corresponding to the boss. The weld point line can be understood as the point cloud line corresponding to the weld point. The electroslag hole line can be understood as the point cloud line corresponding to the electroslag hole. The line number identifier can be understood as the number of the point cloud line, which is used as a sequence feature to distinguish each point cloud line. The starting point coordinates can be understood as the starting point coordinates of each point cloud line in the target point cloud. The end point coordinates can be understood as the end point coordinates of each point cloud line in the target point cloud. Each point cloud line can also include a flag position identifier. The flag position identifier can be understood as the integrity identifier of the point cloud line. The flag position identifier can be one or more of numbers, letters, text, etc. Among them, the line number identifier and the flag position identifier have different representation forms.

[0037] In this embodiment, point cloud processing is performed on multiple point cloud lines to obtain a target point cloud according to the groove feature information, which may include: filtering the multiple point cloud lines to obtain multiple first point cloud lines, reducing the influence of noise points existing in the multiple point cloud lines on the accuracy of determining the position of the obstacle, and improving the accuracy of the obstacle position; then, according to the first groove width of the multiple first point cloud lines, half-boss point cloud filtering is performed on the multiple first point cloud lines to obtain multiple second point cloud lines, reducing the influence of the half-boss point cloud on determining the position of the obstacle, and improving the accuracy of the obstacle position; then, according to the flag position identification and line number identification of the multiple second point cloud lines, the multiple second point cloud lines are filtered. The cloud line is completed to obtain multiple third point cloud lines, so as to improve the integrity of the second point cloud line, and then improve the integrity of the target point cloud, thereby improving the accuracy of the determined obstacle position, so as to avoid the low integrity of the target point cloud due to the lack of part of the point cloud in the second point cloud line, and then according to the target point cloud with low integrity and the groove feature information of the target point cloud, the accuracy of the determined obstacle position is low; finally, the groove slope point cloud is filtered for the multiple third point cloud lines to obtain the target point cloud, so as to filter the point cloud outside the groove, retain the point cloud of the obstacle inside the groove, and reduce the interference of the point cloud outside the groove in determining the obstacle position.

[0038] In this embodiment, the boss line, weld point line and electroslag hole line at the groove of the pipe are determined according to the target point cloud and the groove feature information of the target point cloud, which can include: obtaining the target groove endpoints of multiple target point cloud lines according to the line number identification of multiple target point cloud lines, and determining the boss line and weld point line according to the target groove endpoints of multiple target point cloud lines; determining the electroslag hole line according to the groove width and line number identification of multiple target point cloud lines.

[0039] In this embodiment, determining the position of the slope obstacle based on multiple starting point coordinates and multiple end point coordinates can include: grouping the multiple starting point coordinates and multiple end point coordinates according to line numbers to obtain target coordinate pairs of multiple target point cloud lines, and determining the target coordinate pairs of the multiple target point cloud lines as the position of the slope obstacle.

[0040] Step 103, sending the groove obstacle position to the processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position.

[0041] In an optional implementation, the location of the groove obstacle can be saved in a file of a preset format and sent to the processing system in the form of a file; wherein the file format may include but is not limited to a JSON (JavaScript Object Notation) file. JSON is an open standard file format and data exchange format that is easy to read and write, and is also easy for machines to parse and generate.

[0042] In the embodiment of the present invention, a line laser sensor is used to scan a pipe (for example, a box column) to obtain the groove point cloud data of the pipe, and the groove obstacle position of the pipe (the groove weld interruption position) is automatically determined according to the groove point cloud data, and then the groove obstacle position is sent to the processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position, that is, the groove obstacle position is automatically determined according to the groove point cloud data of the pipe, and the automatic pipe weld interruption is realized according to the groove obstacle position, without the need for the technician to manually control the robot arm to reach the groove weld interruption position of the pipe and manually in the processing system. The groove weld interruption position is marked in the processing system to realize the pipe weld interruption, which improves the efficiency of pipe weld interruption and meets the generation requirements; and since there is no need for technicians to manually operate the robotic arm, the risks of collision, collision with people, etc. caused by improper operation of the robotic arm by technicians are avoided, thereby improving the safety of pipe weld interruption; finally, since technicians do not need to operate the robotic arm and manually input the groove obstacle position in the processing system, automatic pipe weld interruption can be realized, so the company does not need to spend time training technicians, thereby reducing the company's pipe processing costs.

[0043] In some embodiments, after the groove obstacle position is sent to the processing system so that the processing system interrupts the pipe weld according to the groove obstacle position, it can also include: marking the obstacle position on the target point cloud according to the groove obstacle position, so that the technicians can verify the obstacle position and troubleshoot problems according to the obstacle position mark.

[0044] In an optional implementation, the point cloud line to which the obstacle position belongs can be marked to obtain a point cloud line marking diagram corresponding to the obstacle position. The marking form can be to adjust the color of the point cloud line to a preset marking color, which is different from the initial color of the target point cloud line. In this way, a visual attribute is added to the obstacle position mark, and the technician can more quickly locate the obstacle position according to the preset marking color to verify the obstacle position and troubleshoot problems, thereby improving the speed of obstacle position verification and troubleshooting, and thus improving the efficiency of pipe weld interruption.

[0045] For example, the preset marking color is red, the initial color of the target point cloud line is green, the obstacle is a welding point, and the point cloud line (i.e., the welding point line) to which the obstacle position belongs is marked, and the following is obtained: Figure 2 The solder joint line marking diagram shown.

[0046] The following further describes the method for determining the location of an obstacle provided by an embodiment of the present invention. Figure 3 As shown, Figure 3 FIG. 4 is another flow chart of a method for determining the position of an obstacle provided by an embodiment of the present invention, which may specifically include the following steps:

[0047] Step 201: Scan the pipe using a line laser sensor to obtain the groove point cloud data of the pipe.

[0048] Step 202: Filter the multiple point cloud lines to obtain multiple first point cloud lines.

[0049] In an optional implementation, a mean filtering method may be used to filter the multiple point cloud lines to filter out outliers in the multiple point cloud lines.

[0050] In other embodiments, other filtering methods may be used to filter the multiple point cloud lines to filter out outliers in the multiple point cloud lines. Other filtering methods may include but are not limited to one or more of median filtering, smoothing filtering, radius filtering, etc.

[0051] Step 203 , according to the first groove widths of the plurality of first point cloud lines, half-boss point cloud filtering is performed on the plurality of first point cloud lines to obtain a plurality of second point cloud lines.

[0052] Since the groove width of the half-boss point cloud is smaller than the average groove width, and the groove feature information corresponding to each point cloud line includes the groove width, in an optional embodiment, the half-boss point cloud can be filtered for multiple first point cloud lines according to the first groove widths of the multiple first point cloud lines to obtain multiple second point cloud lines.

[0053] In this embodiment, according to the first groove width of the plurality of first point cloud lines, filtering the plurality of first point cloud lines by half-section boss point cloud to obtain the plurality of second point cloud lines may include: when the first groove width is greater than the preset groove width, deleting the first point cloud lines whose first groove width is greater than the preset width from the plurality of first point cloud lines to obtain the plurality of second point cloud lines. The first groove width may be understood as the groove width corresponding to each point cloud line included in the first point cloud line. The preset groove width may be understood as the preset average groove width.

[0054] Step 204 , performing point cloud completion on the plurality of second point cloud lines according to the marker identifiers and line number identifiers of the plurality of second point cloud lines to obtain a plurality of third point cloud lines.

[0055] In an optional implementation, when the flag is identified as a preset flag, the second point cloud line whose flag is identified as a preset flag can be determined as the point cloud line to be completed; according to the line numbering flag of the point cloud line to be completed, the groove endpoints in the adjacent point cloud lines of the point cloud line to be completed are obtained from multiple second point cloud lines; the groove endpoints are added to the point cloud line to be completed to obtain a third point cloud line, so that the point cloud line to be completed can be completed more accurately according to the groove endpoints in the adjacent point cloud lines of the point cloud line to be completed, so that the point cloud line to be completed can have the corresponding groove endpoints, thereby improving the integrity of the point cloud line to be completed and the integrity of the groove features of the point cloud line to be completed. Among them, the preset flag can be understood as the flag of a preset incomplete point cloud line.

[0056] For example, Figure 4 The second point cloud line to which the green point in belongs is the point cloud line to be completed that lacks the groove endpoint. The groove endpoints in the adjacent point cloud lines of the point cloud line to be completed can be obtained from multiple second point cloud lines, and the groove endpoints can be added to the point cloud line to be completed to obtain the third point cloud line. Figure 4 The red point in the figure is the endpoint of the groove of the point cloud line to be completed.

[0057] Step 205 , filtering the groove slope point cloud of the plurality of third point cloud lines to obtain a target point cloud.

[0058] In an optional embodiment, the point normal vector of each point included in each third point cloud line can be determined; the baseline normal vector is obtained; multiple vector angles between the point normal vector of each point and the baseline normal vector are determined; based on the multiple vector angles, the groove bevel points in the third point cloud line are determined; the groove bevel points are deleted from the multiple third point cloud lines to obtain the target point cloud, and based on the vector angle between the baseline normal vector and the point normal vector, the groove bevel points can be deleted more quickly and accurately to obtain the target point cloud, filter the point cloud outside the groove, retain the point cloud of the obstacle inside the groove, and reduce the interference of the point cloud outside the groove in determining the position of the obstacle.

[0059] In this embodiment, a neighborhood method may be used to calculate the point normal vector of each point included in the third point cloud line.

[0060] Specifically, the first coordinate of any point included in each third point cloud line is obtained, and then the second coordinate of any two points within a preset radius is obtained based on the first coordinate, a plane equation is constructed based on the first coordinate and the second coordinate, and the normal vector of the point where the first coordinate is located is determined based on the plane equation.

[0061] Step 206 , obtaining target groove endpoints of the multiple target point cloud lines according to the line number identifiers of the multiple target point cloud lines.

[0062] Step 207 , determining the boss line and the weld point line according to the target groove endpoints of the plurality of target point cloud lines.

[0063] In the field of laser processing technology, the vertical moving axis of the laser cutter is generally defined as the Z axis. The vertical distance between each point on the point cloud line corresponding to the weld or boss and the top surface of the tube is greater than the preset distance. The vertical distance can be understood as the distance from each point on the target point cloud line to the target groove endpoint in the Z axis direction. The preset distance can be understood as the distance from the preset weld to the top surface of the tube in the Z axis direction. The vertical distance between each point on the point cloud line corresponding to the weld or boss and the top surface of the tube in the Z axis direction is the same as the distance between each point on the point cloud line corresponding to the weld or boss and the groove endpoint corresponding to the point cloud line in the Z axis direction. Therefore, in an optional implementation, the vertical distance from each point on the target point cloud line to the target groove endpoint can be determined; when the vertical distance is less than the preset distance, the point whose vertical distance is less than the preset distance is determined as a candidate point; the first number of points on the target point cloud line is determined, and the second number of candidate points is determined; the point ratio is determined according to the first number of points and the second number of points; when the point ratio is greater than the preset point ratio, the target point cloud line corresponding to the candidate point whose point ratio is greater than the preset point ratio is determined as a boss line or a weld point line. Among them, the candidate point can be understood as a point on the target point cloud line whose vertical distance to the target groove endpoint is less than the preset distance. The first number of points can be understood as the total number of points on the target point cloud line. The second number of points can be understood as the total number of candidate points on the target point cloud line.

[0064] Specifically, the first Z-axis coordinates of each point on the target point cloud line and the second Z-axis coordinates of the groove endpoint are obtained, and the vertical distances from each point on the target point cloud line to the target groove endpoint are determined based on the first Z-axis coordinates and the second Z-axis coordinates. The point ratio is obtained by dividing the number of the second points by the number of the first points.

[0065] For example, the target point cloud line includes S1, the number of points in S1 is N1, the preset distance is L, and the preset point ratio is K. S1 includes point A, the first Z-axis coordinate of point A is Z1, and the second Z-axis coordinate of the groove endpoint corresponding to S1 is Z2; the vertical distance from point A on S1 to the target groove endpoint is L1=|Z1-Z2|, that is, the vertical distance is the absolute value of the difference between the first Z-axis coordinate and the second Z-axis coordinate; L1<L, then point A can be determined as a candidate point; the process of determining whether other points on S1 are candidate points is the same as that of candidate point A, and will not be repeated. Finally, the second number of candidate points on S1 is N2, the first number of points on S1 is N1, and the point ratio K1=N2 / N1. Assuming K1>K, that is, the point ratio is greater than the preset point ratio, it can be determined that S1 corresponding to candidate point A is a boss line or a weld line.

[0066] Step 208, determining the electroslag hole line according to the groove width and line number identification of the plurality of target point cloud lines.

[0067] In an optional embodiment, the adjacent point cloud lines of the target point cloud line can be obtained according to the line number identification of multiple target point cloud lines; the second groove width of the target point cloud line can be obtained according to the line number identification of the target point cloud, and the third groove width of the adjacent point cloud line can be obtained according to the line number identification of the adjacent point cloud line; the electroslag hole line is determined according to the second groove width and the third groove width, so that according to the groove width change of the second groove width of the target point cloud line and the third groove width of the adjacent point cloud line, it is possible to more accurately determine whether the second groove width of the target point cloud line has a groove span mutation, and then determine the target point cloud line with a groove width mutation as the electroslag hole line, thereby improving the accuracy of the determined electroslag hole line, thereby improving the accuracy of automatic interruption of the pipe weld.

[0068] In this embodiment, determining the electroslag hole line according to the second groove width and the third groove width may include: determining the width difference between the second groove width and the third groove width; when the width difference is greater than the preset width difference, determining the target point cloud line with the width difference greater than the preset width difference as the electroslag hole line, so that it is possible to more accurately determine whether the second groove width of the target point cloud line has a groove span mutation according to the width difference. Among them, the second groove width can be understood as the groove width corresponding to the target point cloud line. The third groove width can be understood as the groove width corresponding to the adjacent point cloud line of the target point cloud line.

[0069] Step 209 , obtaining multiple starting point coordinates and multiple end point coordinates of the boss line, the weld point line and the electroslag hole line according to the line number identification of the boss line, the line number identification of the weld point line and the line number identification of the electroslag hole line.

[0070] Step 210, determining the position of the obstacle at the groove according to the multiple starting point coordinates and the multiple end point coordinates.

[0071] Step 211, sending the groove obstacle position to the processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position.

[0072] Step 212: Mark the obstacle position on the target point cloud according to the position of the obstacle at the slope.

[0073] In the embodiment of the present invention, a line laser sensor is used to scan a pipe (for example, a box column) to obtain the groove point cloud data of the pipe, and the groove obstacle position of the pipe (the groove weld interruption position) is automatically determined according to the groove point cloud data, and then the groove obstacle position is sent to the processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position, that is, the groove obstacle position is automatically determined according to the groove point cloud data of the pipe, and the automatic pipe weld interruption is realized according to the groove obstacle position, without the need for the technician to manually control the robot arm to reach the groove weld interruption position of the pipe and manually in the processing system. The groove weld interruption position is marked in the processing system to realize the pipe weld interruption, which improves the efficiency of pipe weld interruption and meets the generation requirements; and since there is no need for technicians to manually operate the robotic arm, the risks of collision, collision with people, etc. caused by improper operation of the robotic arm by technicians are avoided, thereby improving the safety of pipe weld interruption; finally, since technicians do not need to operate the robotic arm and manually input the groove obstacle position in the processing system, automatic pipe weld interruption can be realized, so the company does not need to spend time training technicians, thereby reducing the company's pipe processing costs.

[0074] Figure 5 FIG. 1 is a schematic diagram of a device for determining the position of an obstacle provided in an embodiment of the present invention. The device is suitable for executing a method for determining the position of an obstacle provided in an embodiment of the present invention. Figure 5 As shown, the device may specifically include:

[0075] The pipe scanning module 301 is used to scan the pipe using a line laser sensor to obtain the groove point cloud data of the pipe;

[0076] A position determination module 302 is used to determine the position of the groove obstacle of the pipe according to the groove point cloud data;

[0077] The position sending module 303 is used to send the position of the groove obstacle to the processing system, so that the processing system interrupts the pipe weld according to the position of the groove obstacle.

[0078] Optionally, the groove point cloud data includes multiple point cloud lines and multiple groove feature information, one point cloud line corresponds to one groove feature information, each point cloud line includes a line number identifier, and the position determination module 302 is specifically used to:

[0079] According to the groove feature information, performing point cloud processing on the plurality of point cloud lines to obtain a target point cloud;

[0080] Determine the boss line, the welding point line and the electroslag hole line at the groove of the pipe according to the target point cloud and the groove feature information of the target point cloud;

[0081] According to the line number identification of the boss line, the line number identification of the weld point line and the line number identification of the electroslag hole line, a plurality of starting point coordinates and a plurality of end point coordinates of the boss line, the weld point line and the electroslag hole line are obtained;

[0082] The position of the slope obstacle is determined according to the multiple starting point coordinates and the multiple end point coordinates.

[0083] Optionally, each point cloud line further includes a marker, and the position determination module 302 performs point cloud processing on the plurality of point cloud lines according to the groove feature information to obtain a target point cloud, including:

[0084] Filtering the plurality of point cloud lines to obtain a plurality of first point cloud lines;

[0085] According to the first groove widths of the plurality of first point cloud lines, filtering the plurality of first point cloud lines by half-section boss point cloud to obtain a plurality of second point cloud lines;

[0086] According to the mark position identifiers and line number identifiers of the plurality of second point cloud lines, point cloud completion is performed on the plurality of second point cloud lines to obtain a plurality of third point cloud lines;

[0087] The plurality of third point cloud lines are subjected to groove slope point cloud filtering to obtain a target point cloud.

[0088] Optionally, the position determination module 302 performs half-boss point cloud filtering on the plurality of first point cloud lines according to the first groove width of the plurality of first point cloud lines to obtain the plurality of second point cloud lines, including:

[0089] When the first groove width is greater than a preset groove width, the plurality of second point cloud lines are obtained by deleting first point cloud lines whose first groove width is greater than the preset width from the plurality of first point cloud lines.

[0090] Optionally, the position determination module 302 performs point cloud completion on the plurality of second point cloud lines according to the flag identifiers and line number identifiers of the plurality of second point cloud lines to obtain a plurality of third point cloud lines, including:

[0091] When the flag position is identified as a preset flag, determining the second point cloud line whose flag position is identified as the preset flag as the point cloud line to be completed;

[0092] According to the line number identification of the point cloud line to be completed, acquiring the groove endpoints in the adjacent point cloud lines of the point cloud line to be completed from the plurality of second point cloud lines;

[0093] The groove endpoint is added to the point cloud line to be completed to obtain the third point cloud line.

[0094] Optionally, the position determination module 302 performs groove slope point cloud filtering on the plurality of third point cloud lines to obtain a target point cloud, including:

[0095] Determine a point normal vector of each point included in each third point cloud line;

[0096] Get the base normal vector;

[0097] Determine a plurality of vector angles between the point normal vector of each point and the reference normal vector;

[0098] Determine the groove slope point in the third point cloud line according to the multiple vector angles;

[0099] The target point cloud is obtained by deleting the groove slope point from the plurality of third point cloud lines.

[0100] Optionally, the position determination module 302 determines the groove bevel point in the third point cloud line according to the multiple vector angles, including:

[0101] The point in the third point cloud line corresponding to the point normal vector whose vector angle is greater than the preset angle is determined as the groove slope point.

[0102] Optionally, the target point cloud includes a plurality of target point cloud lines, and the position determination module 302 determines the boss line, the weld point line and the electroslag hole line at the groove of the pipe according to the target point cloud and the groove feature information of the target point cloud, including:

[0103] According to the line number identifiers of the plurality of target point cloud lines, the target groove endpoints of the plurality of target point cloud lines are obtained;

[0104] Determining the boss line and the weld point line according to the target groove endpoints of the plurality of target point cloud lines;

[0105] The electroslag hole line is determined according to the groove widths and line number identifiers of the multiple target point cloud lines.

[0106] Optionally, the position determination module 302 determines the boss line and the weld point line according to the target groove endpoints of the plurality of target point cloud lines, including:

[0107] Determine the vertical distance from each point on the target point cloud line to the target groove endpoint;

[0108] When the vertical distance is less than the preset distance, determining the point whose vertical distance is less than the preset distance as a candidate point;

[0109] Determine a first number of points on the target point cloud line, and determine a second number of candidate points;

[0110] determining a point ratio according to the first point quantity and the second point quantity;

[0111] When the point ratio is greater than a preset point ratio, the target point cloud line corresponding to the candidate point whose point ratio is greater than the preset point ratio is determined as the boss line or the welding point line.

[0112] Optionally, the position determination module 302 determines the electroslag hole line according to the groove width and line number identifier of the plurality of target point cloud lines, including:

[0113] Acquire adjacent point cloud lines of the target point cloud line according to line number identifiers of the plurality of target point cloud lines;

[0114] Acquire a second groove width of the target point cloud line according to the line number identifier of the target point cloud, and acquire a third groove width of the adjacent point cloud line according to the line number identifier of the adjacent point cloud line;

[0115] The electroslag hole line is determined according to the second groove width and the third groove width.

[0116] Optionally, the position determination module 302 determines the electroslag hole line according to the second groove width and the third groove width, including:

[0117] Determining a width difference between the second groove width and the third groove width;

[0118] When the width difference is greater than a preset width difference, the target point cloud line whose width difference is greater than the preset width difference is determined as the electroslag hole line.

[0119] Furthermore, the device also includes a position marking module, which is used to:

[0120] The obstacle position is marked on the target point cloud according to the position of the slope obstacle.

[0121] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0122] The obstacle position determination device provided in the embodiment of the present invention can use a line laser sensor to scan a pipe (for example, a box column) to obtain the groove point cloud data of the pipe, and automatically determine the groove obstacle position of the pipe (the groove weld interruption position) according to the groove point cloud data, and then send the groove obstacle position to the processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position, that is, the groove obstacle position is automatically determined according to the groove point cloud data of the pipe, and the automatic pipe weld interruption is realized according to the groove obstacle position, without the need for the technician to manually control the robot arm to reach the groove weld interruption of the pipe. The position of the groove weld is manually determined and the groove weld interruption position is manually marked in the processing system to realize the pipe weld interruption, which improves the efficiency of the pipe weld interruption and meets the generation requirements. In addition, since the technicians do not need to manually operate the robotic arm, the risks of collision, collision and other risks caused by improper operation of the robotic arm by the technicians are avoided, thereby improving the safety of pipe weld interruption. Finally, since the technicians do not need to operate the robotic arm and manually input the groove obstacle position in the processing system, automatic pipe weld interruption can be realized, so the company does not need to spend time training technicians, thereby reducing the company's pipe processing costs.

[0123] Figure 6 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0124] Please refer to Figure 6 , an electronic device 50 is provided, comprising:

[0125] a processor 51; and

[0126] A memory 52, used to store executable instructions of the processor;

[0127] The processor 51 is configured to execute the above-mentioned method by executing the executable instructions.

[0128] The processor 51 can communicate with the memory 52 via a bus 53 .

[0129] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0130] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the position of an obstacle, characterized in that: The method comprises: Use a line laser sensor to scan the pipe to obtain the groove point cloud data of the pipe; Determine the location of the pipe groove obstacle according to the groove point cloud data; The groove obstacle position is sent to a processing system, so that the processing system interrupts the pipe weld according to the groove obstacle position.

2. The method according to claim 1, characterized in that The groove point cloud data includes a plurality of point cloud lines and a plurality of groove feature information, one point cloud line corresponds to one groove feature information, each point cloud line includes a line number identification, and the groove obstacle position of the pipe is determined according to the groove point cloud data, including: According to the groove feature information, performing point cloud processing on the plurality of point cloud lines to obtain a target point cloud; Determine the boss line, the welding point line and the electroslag hole line at the groove of the pipe according to the target point cloud and the groove feature information of the target point cloud; According to the line number identification of the boss line, the line number identification of the weld point line and the line number identification of the electroslag hole line, a plurality of starting point coordinates and a plurality of end point coordinates of the boss line, the weld point line and the electroslag hole line are obtained; The position of the slope obstacle is determined according to the multiple starting point coordinates and the multiple end point coordinates.

3. The method according to claim 2, characterized in that Each point cloud line also includes a flag mark. According to the groove feature information, point cloud processing is performed on the multiple point cloud lines to obtain a target point cloud, including: Filtering the plurality of point cloud lines to obtain a plurality of first point cloud lines; According to the first groove widths of the plurality of first point cloud lines, filtering the plurality of first point cloud lines by half-section boss point cloud to obtain a plurality of second point cloud lines; According to the flag position identifiers and line number identifiers of the plurality of second point cloud lines, point cloud completion is performed on the plurality of second point cloud lines to obtain a plurality of third point cloud lines; The plurality of third point cloud lines are subjected to groove slope point cloud filtering to obtain a target point cloud.

4. The method according to claim 3, characterized in that The method of filtering the plurality of first point cloud lines by half-cut boss point cloud according to the first groove width of the plurality of first point cloud lines to obtain the plurality of second point cloud lines comprises: When the first groove width is greater than a preset groove width, the plurality of second point cloud lines are obtained by deleting first point cloud lines whose first groove width is greater than the preset width from the plurality of first point cloud lines.

5. The method according to claim 3, characterized in that: The step of performing point cloud completion on the plurality of second point cloud lines according to the flag position identifiers and line number identifiers of the plurality of second point cloud lines to obtain a plurality of third point cloud lines includes: When the flag position is identified as a preset flag, determining the second point cloud line whose flag position is identified as the preset flag as the point cloud line to be completed; According to the line number identification of the point cloud line to be completed, acquiring the groove endpoints in the adjacent point cloud lines of the point cloud line to be completed from the plurality of second point cloud lines; The groove endpoint is added to the point cloud line to be completed to obtain the third point cloud line.

6. The method according to claim 3, characterized in that The filtering of the groove slope point cloud of the plurality of third point cloud lines to obtain the target point cloud includes: Determine a point normal vector of each point included in each third point cloud line; Get the base normal vector; Determine a plurality of vector angles between the point normal vector of each point and the reference normal vector; Determine the groove slope point in the third point cloud line according to the multiple vector angles; The target point cloud is obtained by deleting the groove slope point from the plurality of third point cloud lines.

7. The method according to claim 6, characterized in that Determining the groove slope point in the third point cloud line according to the multiple vector angles includes: The point in the third point cloud line corresponding to the point normal vector whose vector angle is greater than the preset angle is determined as the groove slope point.

8. The method according to claim 2, characterized in that: The target point cloud includes a plurality of target point cloud lines, and the method of determining the boss line, the welding point line and the electroslag hole line at the groove of the pipe according to the target point cloud and the groove feature information of the target point cloud includes: According to the line number identifiers of the plurality of target point cloud lines, the target groove endpoints of the plurality of target point cloud lines are obtained; Determining the boss line and the weld point line according to the target groove endpoints of the plurality of target point cloud lines; The electroslag hole line is determined according to the groove widths and line number identifiers of the multiple target point cloud lines.

9. The method according to claim 8, characterized in that The step of determining the boss line and the weld point line according to the target groove endpoints of the plurality of target point cloud lines comprises: Determine the vertical distance from each point on the target point cloud line to the target groove endpoint; When the vertical distance is less than the preset distance, determining the point whose vertical distance is less than the preset distance as a candidate point; Determine a first number of points on the target point cloud line, and determine a second number of candidate points; determining a point ratio according to the first point quantity and the second point quantity; When the point ratio is greater than a preset point ratio, the target point cloud line corresponding to the candidate point whose point ratio is greater than the preset point ratio is determined as the boss line or the welding point line.

10. The method according to claim 8, characterized in that Determining the electroslag hole line according to the groove width and line number identification of the plurality of target point cloud lines includes: Acquire adjacent point cloud lines of the target point cloud line according to line number identifiers of the plurality of target point cloud lines; Acquire a second groove width of the target point cloud line according to the line number identifier of the target point cloud, and acquire a third groove width of the adjacent point cloud line according to the line number identifier of the adjacent point cloud line; The electroslag hole line is determined according to the second groove width and the third groove width.

11. The method according to claim 10, characterized in that The step of determining the electroslag hole line according to the second groove width and the third groove width includes: Determining a width difference between the second groove width and the third groove width; When the width difference is greater than a preset width difference, the target point cloud line whose width difference is greater than the preset width difference is determined as the electroslag hole line.

12. The method according to claim 2, characterized in that: After sending the groove obstacle position to the processing system so that the processing system interrupts the pipe weld according to the groove obstacle position, the method further includes: The obstacle position is marked on the target point cloud according to the position of the slope obstacle.

13. A device for determining the position of an obstacle, characterized in that: The device comprises: The pipe scanning module is used to scan the pipe using a line laser sensor to obtain the pipe groove point cloud data; A position determination module, used to determine the position of the groove obstacle of the pipe according to the groove point cloud data; The position sending module is used to send the position of the groove obstacle to the processing system, so that the processing system interrupts the pipe weld according to the position of the groove obstacle.

14. An electronic device, characterized in that: Including processor and memory, The memory is used to store codes and related data; The processor is used to execute the code in the memory to implement the obstacle location determination method according to any one of claims 1 to 12.

15. A storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for determining the position of an obstacle according to any one of claims 1 to 12 is implemented.

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