Laser welding machine control method and system and intelligent terminal

Abstract

The invention relates to a laser welding machine control method and system and an intelligent terminal, and relates to the technical field of laser welding machines, and the method comprises the steps that welding head position information, pressure detection information on a placing table and image detection information are obtained; analyzing and determining pipeline specification information according to the image detection information and preset pipeline characteristics; flange specification information is analyzed and determined according to the pressure detection information and the pipeline specification information; welding path information is analyzed and determined according to the pipeline specification information and the flange specification information; and according to the corresponding relation of the welding head position information, the welding path information and preset welding control information, welding control information corresponding to the welding head position information and the welding path information is determined, and the welding control information is output to a laser welding machine for welding. The welding device has the effect of improving the welding efficiency of pipelines and flanges of different specifications.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding machines, and in particular, to a control method, system and intelligent terminal for a laser welding machine. Background Art

[0002] A laser welding machine is a welding device that uses a laser beam with a high energy density as a heat source. The laser welding machine focuses the laser beam on the material surface, causing the material to quickly melt and fuse together to achieve the purpose of welding. Laser welding machines are widely used in automobile manufacturing, aerospace, electronic assembly, medical device manufacturing, the jewelry industry, etc.

[0003] In order to facilitate the connection of pipes with other components, flanges are generally welded at the ends of the pipes. Currently, a flange is generally connected to the end of a pipe by a laser welding machine. The operator places the pipe and flange to be welded at appropriate positions on the placement table, and after making the gap and alignment between the pipe and flange meet the requirements, the pipe and flange are fixed using a fixture or bracket. Then, the operator pre-sets the welding path according to the gap between the pipe and flange, and the laser welding machine moves along the welding path for welding, thereby welding and fixing the flange to the pipe.

[0004] When using a laser welding machine to weld a flange to a pipe, the operator needs to pre-set the welding path according to the gap between the pipe and flange and then perform the moving welding. When welding pipes and flanges of different specifications, the operator needs to set the welding path one by one, resulting in low welding efficiency. Summary of the Invention

[0005] In order to improve the welding efficiency of pipes and flanges of different specifications, the present invention provides a control method, system and intelligent terminal for a laser welding machine.

[0006] In a first aspect, the present invention provides a control method for a laser welding machine, adopting the following technical solution: A control method for a laser welding machine includes: Obtaining welding head position information, pressure detection information on the placement table, and image detection information; Analyzing and determining pipe specification information based on the image detection information and a preset pipe feature analysis; Analyzing and determining flange specification information based on the pressure detection information and the pipe specification information; Analyzing and determining welding path information based on the pipe specification information and the flange specification information; Determining welding control information corresponding to the welding head position information and the welding path information according to the corresponding relationship between the welding head position information, the welding path information and the preset welding control information, and outputting the welding control information to the laser welding machine for welding.

[0007] Optionally, the method for determining the pipeline specification information includes: Identifying pipeline detection information from the image detection information based on preset pipeline features; Retrieving the pipeline edge curve and the pipeline width value based on the pipeline detection information; Determining whether the pipeline edge curve is a straight line; If it is, determining the straight pipe specification information corresponding to the pipeline width value according to the corresponding relationship between the pipeline width value and the preset straight pipe specification information, and using the straight pipe specification information as the pipeline specification information; If not, retrieving the curve bending angle value based on the pipeline edge curve; Calculating the difference between two curve bending angle values and using it as the curve bending angle deviation value; Analyzing and determining the elbow pipe specification information according to the curve bending angle deviation value and the pipeline width value, and using the elbow pipe specification information as the pipeline specification information.

[0008] Optionally, the method for determining the elbow pipe specification information includes: Determining the image acquisition deviation angle value corresponding to the curve bending angle deviation value according to the corresponding relationship between the curve bending angle deviation value and the preset image acquisition deviation angle value; Retrieving the relative position point at the bottom of the pipeline based on the pipeline detection information; Analyzing and determining the comprehensive acquisition deviation angle value according to the relative position point at the bottom of the pipeline and the image acquisition deviation angle value; Determining the deviation angle width selection reference value corresponding to the comprehensive acquisition deviation angle value according to the corresponding relationship between the comprehensive acquisition deviation angle value and the preset deviation angle width selection reference value; Selecting the pipeline width value corresponding to the pipeline edge curve based on the deviation angle width selection reference value and using it as the selected width value; Determining the selected width specification information corresponding to the selected width value according to the corresponding relationship between the selected width value and the preset selected width specification information, and using the selected width specification information as the elbow pipe specification information.

[0009] Optionally, the method for determining the comprehensive acquisition deviation angle value includes: Determining the actual position point at the bottom of the pipeline corresponding to the relative position point at the bottom of the pipeline according to the corresponding relationship between the relative position point at the bottom of the pipeline and the preset actual position point at the bottom of the pipeline; Obtaining the image acquisition position point; Calculating the height difference between the image acquisition position point and the actual position point at the bottom of the pipeline and using it as the image acquisition height value; Determine the acquisition height influence value corresponding to the image acquisition height value according to the corresponding relationship between the image acquisition height value and the preset acquisition height influence value; Calculate the sum value between the image acquisition deviation angle value and the acquisition height influence value as the acquisition deviation angle correction value, and use the acquisition deviation angle correction value as the acquisition deviation angle comprehensive value.

[0010] Optionally, the method for determining the flange specification information includes: Determine the specification gravity value corresponding to the pipeline specification information according to the corresponding relationship between the pipeline specification information and the preset specification gravity value; Retrieve the pressure detection value and the pressure area value based on the pressure detection information; Determine the initial pressure area specification information corresponding to the pressure area value according to the corresponding relationship between the pressure area value and the preset initial pressure area specification information; Retrieve the initial specification gravity range based on the initial pressure area specification information; Calculate the difference between the pressure detection value and the specification gravity value as the flange gravity value; Calculate the quotient value between the flange gravity value and the pressure area value as the gravity unit value; Determine the selected specification information according to the falling situation of the gravity unit value in the initial specification gravity range, and use the selected specification information as the flange specification information.

[0011] Optionally, the method for determining the selected specification information includes: Use the specification corresponding to the gravity unit value falling within the initial specification gravity range as the selected initial specification information; Retrieve the initial specification count value based on the selected initial specification information; Judge whether the initial specification count value is only one; If so, use the selected initial specification information as the selected specification information; If not, retrieve the initial specification shape information based on the selected initial specification information; Retrieve the pressure detection shape information based on the pressure detection information; Analyze the deviation between the pressure detection shape information and the initial specification shape information as the shape deviation value; Sort the shape deviation values from small to large, and use the selected initial specification information corresponding to the first sorted shape deviation value as the selected specification information.

[0012] Optionally, the method for determining the welding path information includes: Retrieve the pipeline welding path information based on the pipeline specification information; Retrieve the flange welding path information based on the flange specification information; Determine whether the pipeline welding path information is consistent with the flange welding path information; If so, use the pipeline welding path information as the welding path information; If not, analyze the deviation between the pipeline welding path information and the flange welding path information and use it as the path deviation information; Based on the path deviation information, retrieve the deviation distance value and the deviation position point; Calculate the distance value between two adjacent deviation position points and use it as the deviation position distance value; Analyze and determine the adjustment distance value based on the deviation distance value and the deviation position distance value; Based on the comparison result between the adjustment distance value and the preset initial path selection reference value, determine the initial selected path information; Based on the adjustment distance value, perform path adjustment on the deviation position point to obtain the path adjustment information, and combine the path adjustment information with the initial selected path information as the welding path information.

[0013] Optionally, the method for determining the adjustment distance value includes: Based on the preset adjustment distance value calculation formula, analyze and calculate the deviation distance value and the deviation position distance value to obtain the adjustment distance value, where the adjustment distance value calculation formula is , is the adjustment distance value, is the deviation distance value, is the preset deviation distance unit influence value, is the deviation position distance value, is the preset deviation position distance influence value.

[0014] In a second aspect, the present invention provides a laser welding machine control system, adopting the following technical solution: A laser welding machine control system includes: An acquisition module, configured to acquire the welding head position information, pressure detection information, image detection information, and image acquisition position point; A memory, configured to store the program of the laser welding machine control method as described in the first aspect; A processor, configured to load and execute the program in the memory and implement the laser welding machine control method as described in the first aspect.

[0015] In a third aspect, the present invention provides an intelligent terminal, adopting the following technical solution: An intelligent terminal includes a memory and a processor, and a computer program capable of being loaded and executed by the processor and implementing the laser welding machine control method as described in the first aspect is stored on the memory.

[0016] In summary, the present invention includes at least one of the following beneficial technical effects: 1. By obtaining the position information of the welding head, the pressure detection information, and the image detection information, analyzing and determining the pipe specification information through the image detection information, and then analyzing and determining the flange specification information through the pressure detection information and the pipe specification information, so as to analyze and determine the welding path information. Query and determine the welding control information through the welding head position information and the welding path information and output it to the laser welding machine for welding. Thus, after the operator places the pipe and the flange on the placement table, the welding path is automatically generated and welded, thereby improving the welding efficiency of pipes and flanges of different specifications; 2. Identify the pipe detection information from the image detection information through the pipe characteristics and retrieve the pipe edge curve and the pipe width value. Then, judge whether the pipe edge curve is a straight line. When it is a straight line, query and determine the straight pipe specification information through the pipe width value and use it as the pipe specification information. When it is not a straight line, retrieve the curve bending angle value through the pipe edge curve, and calculate the curve bending angle deviation value. Analyze and determine the elbow pipe specification information through the curve bending angle deviation value and the pipe width value and use it as the pipe specification information, thereby improving the accuracy of the obtained pipe specification information; 3. Query and determine the image acquisition deviation angle value through the curve bending angle deviation value, retrieve the relative position point at the bottom of the pipe through the pipe detection information, analyze and determine the comprehensive acquisition deviation angle value through the relative position point at the bottom and the image acquisition deviation angle value, then query and determine the reference value for selecting the deviation angle width through the comprehensive acquisition deviation angle value, select the pipe width value corresponding to the pipe edge curve and use it as the selected width value, and query and determine the selected width specification information through the selected width value and use it as the elbow pipe specification information, thereby improving the accuracy of the obtained elbow pipe specification information. Description of the Drawings

[0017] Figure 1 is the flowchart of the method for controlling the laser welding machine according to the embodiment of the present application; Figure 2 is the flowchart of the method for determining the pipe specification information according to the embodiment of the present application; Figure 3 is the flowchart of the method for determining the elbow pipe specification information according to the embodiment of the present application; Figure 4 is the flowchart of the method for determining the comprehensive acquisition deviation angle value according to the embodiment of the present application; Figure 5 is the flowchart of the method for determining the flange specification information according to the embodiment of the present application; Figure 6 is the flowchart of the method for determining the selected specification information according to the embodiment of the present application; Figure 7It is a flowchart of a method for determining welding path information according to an embodiment of the present application. Detailed implementation manners

[0018] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0019] A method for controlling a laser welding machine obtains the position information of the welding head, pressure detection information, image detection information, and image acquisition position points, and then analyzes and determines the welding control information in real time and outputs it to the laser welding machine for welding, thereby improving the welding efficiency of pipes and flanges of different specifications.

[0020] An embodiment of the present invention discloses a method for controlling a laser welding machine. Refer to Figure 1 , a method for controlling a laser welding machine includes: Step S100: Obtain the position information of the welding head, pressure detection information on the placement table, and image detection information.

[0021] Among them, the position information of the welding head refers to the position information of the welding head of the laser welding machine at the current time, and the position information of the welding head is obtained by querying from the laser welding machine. The pressure detection information refers to the pressure information detected on the placement table of the laser welding machine, and the pressure detection information is detected and obtained by a pressure sensor preset on the placement table. The image detection information refers to the image information of the placement table of the laser welding machine detected, and the image detection information is detected and obtained by an image acquisition device preset on the laser welding machine. The image acquisition device can be a camera.

[0022] Step S200: Analyze and determine the pipe specification information according to the image detection information and the preset pipe features.

[0023] Among them, the pipe features refer to the appearance features such as the shape and color of the pipe, and the pipe features are obtained by pre-input by the operator. The pipe specification information refers to the specification information of the pipe to be welded. By analyzing the image detection information and the preset pipe features, the pipe specification information is determined, which is convenient for subsequent use.

[0024] Step S300: Analyze and determine the flange specification information according to the pressure detection information and the pipe specification information.

[0025] Among them, the flange specification information refers to the specification information of the flange to be welded. By analyzing the pressure detection information and the pipe specification information, the flange specification information is determined, which is convenient for subsequent use.

[0026] Step S400: Analyze and determine the welding path information according to the pipe specification information and the flange specification information.

[0027] Among them, the welding path information refers to the path information that the welding head needs to move when welding the pipeline and the flange. By analyzing the pipeline specification information and the flange specification information, the welding path information is determined, which is convenient for subsequent use.

[0028] Step S500: According to the correspondence between the welding head position information, the welding path information and the preset welding control information, determine the welding control information corresponding to the welding head position information and the welding path information, and output the welding control information to the laser welding machine for welding.

[0029] Among them, the welding control information refers to the control information used to control the welding head of the laser welding machine to weld the pipeline and the flange. The welding control information is obtained by querying from a database storing the correspondence between the welding head position information, the welding path information and the welding control information. This database is obtained and stored through the operator's experiments. By querying and determining the welding control information based on the welding head position information and the welding path information, and outputting the welding control information to the laser welding machine for welding, the welding path can be automatically generated and welded after the operator places the pipeline and the flange on the placement table, thereby improving the welding efficiency for pipelines and flanges of different specifications.

[0030] In Figure 1 the shown step S200, in order to further ensure the rationality of the pipeline specification information, it is necessary to perform a further separate analysis and calculation on the pipeline specification information, specifically through Figure 2 the steps shown for detailed description.

[0031] Referring to Figure 2 , the method for determining the pipeline specification information includes the following steps: Step S210: Identify the pipeline detection information from the image detection information based on the preset pipeline features.

[0032] Among them, the pipeline detection information refers to the pipeline information in the detection image. The image detection information is identified through the pipeline features, and the edge curve and width and other parameters in the identified image are used as the pipeline detection information, which is convenient for subsequent use.

[0033] Step S220: Retrieve the pipeline edge curve and the pipeline width value based on the pipeline detection information.

[0034] Among them, the pipeline edge curve refers to the curve corresponding to the pipeline edge, and the pipeline width value refers to the width value corresponding to each position point in the pipeline edge curve. Retrieving the pipeline edge curve and the pipeline width value through the pipeline detection information is convenient for subsequent use.

[0035] Step S230: Determine whether the pipeline edge curve is a straight line. If it is, execute step S240; if not, execute step S250.

[0036] Among them, by judging whether the edge curve of the pipeline is a straight line, it is judged whether the width of the pipeline is uniform.

[0037] Step S240: According to the correspondence between the pipeline width value and the preset straight pipe specification information, determine the straight pipe specification information corresponding to the pipeline width value, and use the straight pipe specification information as the pipeline specification information.

[0038] Among them, the straight pipe specification information refers to the specification information corresponding to a straight pipeline. The straight pipe specification information is obtained by querying from a database storing the correspondence between the pipeline width value and the straight pipe specification information, and this database is obtained by querying pipeline-related websites. When the edge curve of the pipeline is a straight line, it indicates that the width of the pipeline is uniform at this time. Therefore, the straight pipe specification information is determined by querying through the pipeline width value and used as the pipeline specification information, thereby improving the accuracy of the obtained pipeline specification information.

[0039] Step S250: Based on the pipeline edge curve, retrieve the curve bending angle value.

[0040] Among them, the curve bending angle value refers to the curvature value corresponding to the situation where the pipeline edge curve is bent. When the pipeline edge curve is not a straight line, it indicates that the width of the pipeline is not uniform at this time. Therefore, the curve bending angle value is retrieved through the pipeline edge curve for subsequent use.

[0041] Step S260: Calculate the difference between two curve bending angle values and use it as the curve bending angle deviation value.

[0042] Among them, the curve bending angle deviation value refers to the deviation value when there is a deviation in the curvature corresponding to the two pipeline edge curves of the pipeline. By calculating the difference between two curve bending angle values and using it as the curve bending angle deviation value, it is convenient for subsequent use.

[0043] Step S270: Analyze and determine the elbow pipe specification information based on the curve bending angle deviation value and the pipeline width value, and use the elbow pipe specification information as the pipeline specification information.

[0044] Among them, the elbow pipe specification information refers to the specification information corresponding to a bent pipeline. By analyzing the curve bending angle deviation value and the pipeline width value, the elbow pipe specification information is determined and used as the pipeline specification information, improving the accuracy of the obtained pipeline specification information.

[0045] In Figure 2 In step S270 shown, in order to further ensure the rationality of the elbow pipe specification information, it is necessary to conduct a further separate analysis and calculation on the elbow pipe specification information. Specifically, it is described in detail through Figure 3 the steps shown.

[0046] Reference Figure 3 The method for determining the elbow pipe specification information includes the following steps: Step S271: Determine the image acquisition deviation angle value corresponding to the curve bending angle deviation value according to the corresponding relationship between the curve bending angle deviation value and the preset image acquisition deviation angle value.

[0047] Among them, the image acquisition deviation angle value refers to the angle value corresponding to the angle deviation between the image acquisition detection and the pipeline. The image acquisition deviation angle value is obtained by querying from a database storing the corresponding relationship between the curve bending angle deviation value and the image acquisition deviation angle value. This database is obtained and stored after experiments. Querying and determining the image acquisition deviation angle value through the curve bending angle deviation value is convenient for subsequent use.

[0048] Step S272: Retrieve the relative position point at the bottom of the pipeline based on the pipeline detection information.

[0049] Among them, the relative position point at the bottom of the pipeline refers to the relative position point of the position where one end of the pipeline close to the placement table is located in the image. Retrieving the relative position point at the bottom of the pipeline through the pipeline detection information is convenient for subsequent use.

[0050] Step S273: Analyze and determine the comprehensive value of the acquisition deviation angle based on the relative position point at the bottom and the image acquisition deviation angle value.

[0051] Among them, the comprehensive value of the acquisition deviation angle refers to the comprehensive value generated after the angle deviation during image acquisition. By analyzing the relative position point at the bottom and the image acquisition deviation angle value, the comprehensive value of the acquisition deviation angle is determined, which is convenient for subsequent use.

[0052] Step S274: Determine the reference value for selecting the deviation angle width corresponding to the comprehensive value of the acquisition deviation angle according to the corresponding relationship between the comprehensive value of the acquisition deviation angle and the preset reference value for selecting the deviation angle width.

[0053] Among them, the reference value for selecting the deviation angle width refers to the reference value used when selecting the pipeline width value. The reference value for selecting the deviation angle width is obtained by querying from a database storing the corresponding relationship between the comprehensive value of the acquisition deviation angle and the reference value for selecting the deviation angle width. This database is obtained after the operator's pre-input. Querying and determining the reference value for selecting the deviation angle width through the comprehensive value of the acquisition deviation angle is convenient for subsequent use.

[0054] Step S275: Select the pipeline width value corresponding to the pipeline edge curve based on the reference value for selecting the deviation angle width and use it as the selected width value.

[0055] Among them, by using the reference value of the deviation angle width to select the pipe width value at the corresponding position on the pipe edge curve, and taking the selected pipe width value as the selected width value, it is convenient for subsequent use.

[0056] Step S276: According to the corresponding relationship between the selected width value and the preset selected width specification information, determine the selected width specification information corresponding to the selected width value, and take the selected width specification information as the elbow specification information.

[0057] Among them, the selected width specification information refers to the specification information corresponding to the pipe based on the selected width value. The selected width specification information is obtained by querying from a database storing the corresponding relationship between the selected width value and the selected width specification information, and this database is obtained through the operator's pre-input. By querying with the selected width value to determine the selected width specification information and taking the selected width specification information as the elbow specification information, the accuracy of the obtained elbow specification information is improved.

[0058] In Figure 3 In the shown step S273, in order to further ensure the rationality of collecting the comprehensive deviation angle value, it is necessary to conduct a further separate analysis and calculation on the collected comprehensive deviation angle value, which is specifically described in detail through the Figure 4 shown steps.

[0059] Referring to Figure 4 , the determination method of the comprehensive deviation angle value includes the following steps: Step S2731: According to the corresponding relationship between the relative position point at the bottom of the pipe and the preset actual position point at the bottom of the pipe, determine the actual position point at the bottom of the pipe corresponding to the relative position point at the bottom of the pipe.

[0060] Among them, the actual position point at the bottom of the pipe refers to the actual position point of the position where the pipe is close to the placement table end. The actual position point at the bottom of the pipe is obtained by querying from a database storing the corresponding relationship between the relative position point at the bottom of the pipe and the actual position point at the bottom of the pipe, and this database is obtained through the operator's pre-input. By querying with the relative position point at the bottom of the pipe to determine the actual position point at the bottom of the pipe, it is convenient for subsequent use.

[0061] Step S2732: Obtain the image acquisition position point.

[0062] Among them, the image acquisition position point refers to the position point where the image acquisition device is located when image acquisition is performed at the current time. The image acquisition position point is detected and obtained through a position sensor preset on the image acquisition device.

[0063] Step S2733: Calculate the height difference between the image acquisition position point and the actual position point at the bottom of the pipe and take it as the image acquisition height value.

[0064] Among them, the image acquisition height value refers to the height deviation value between the image acquisition device and the bottom end of the pipeline during image acquisition. By calculating the height difference between the image acquisition position point and the actual position point of the pipeline bottom and using it as the image acquisition height value, it is convenient for subsequent use.

[0065] Step S2734: According to the corresponding relationship between the image acquisition height value and the preset acquisition height influence value, determine the acquisition height influence value corresponding to the image acquisition height value.

[0066] Among them, the acquisition height influence value refers to the influence degree value of the acquisition height on the acquisition angle deviation. The acquisition height influence value is obtained by querying from a database storing the corresponding relationship between the image acquisition height value and the acquisition height influence value. This database is obtained and stored through experiments. Determining the acquisition height influence value by querying the image acquisition height value is convenient for subsequent use.

[0067] Step S2735: Calculate the sum value between the image acquisition deviation angle value and the acquisition height influence value and use it as the acquisition deviation angle correction value, and use the acquisition deviation angle correction value as the acquisition deviation angle comprehensive value.

[0068] Among them, the acquisition deviation angle correction value refers to the correction value after correcting the deviation angle during image acquisition. By calculating the sum value between the image acquisition deviation angle value and the acquisition height influence value and using it as the acquisition deviation angle correction value, and using the acquisition deviation angle correction value as the acquisition deviation angle comprehensive value, the accuracy of the obtained acquisition deviation angle comprehensive value can be improved.

[0069] In Figure 1 In step S300 shown, in order to further ensure the rationality of the flange specification information, it is necessary to perform further separate analysis and calculation on the flange specification information. Specifically, it is described in detail through the Figure 5 steps shown.

[0070] Referring to Figure 5 , the method for determining the flange specification information includes the following steps: Step S310: According to the corresponding relationship between the pipeline specification information and the preset specification gravity value, determine the specification gravity value corresponding to the pipeline specification information.

[0071] Among them, the specification gravity value refers to the gravity value generated under the pipeline's specification. The specification gravity value is obtained by querying from a database storing the corresponding relationship between the pipeline specification information and the specification gravity value. This database is obtained by querying relevant pipeline websites. Determining the specification gravity value by querying the pipeline specification information is convenient for subsequent use.

[0072] Step S320: Based on the pressure detection information, retrieve the pressure detection value and the pressure area value.

[0073] Among them, the pressure detection value refers to the pressure value detected on the placement table of the laser welding machine, and the pressure area value refers to the area value corresponding to the pressure detected on the placement table of the laser welding machine. Retrieving the pressure detection value and the pressure area value through the pressure detection information facilitates subsequent use.

[0074] Step S330: Determine the initial pressure area specification information corresponding to the pressure area value according to the correspondence between the pressure area value and the preset initial pressure area specification information.

[0075] Among them, the initial pressure area specification information refers to the initial specification information corresponding to the flange of the pressure area. The initial pressure area specification information is obtained by querying from a database storing the correspondence between the pressure area value and the initial pressure area specification information, and this database is obtained by querying relevant flange websites. Querying and determining the initial pressure area specification information through the pressure area value facilitates subsequent use.

[0076] Step S340: Retrieve the initial specification gravity range based on the initial pressure area specification information.

[0077] Among them, the initial specification gravity range refers to the reference range where the gravity generated per unit area of the flange under the initial specification is located. Retrieving the initial specification gravity range through the initial pressure area specification information facilitates subsequent use.

[0078] Step S350: Calculate the difference between the pressure detection value and the specification gravity value and use it as the flange gravity value.

[0079] Among them, the flange gravity value refers to the actual gravity value generated by the flange on the placement table. Calculating the difference between the pressure detection value and the specification gravity value and using it as the flange gravity value facilitates subsequent use.

[0080] Step S360: Calculate the quotient of the flange gravity value and the pressure area value and use it as the gravity unit value.

[0081] Among them, the gravity unit value refers to the gravity value generated per unit area. Calculating the quotient of the flange gravity value and the pressure area value and using it as the gravity unit value facilitates subsequent use.

[0082] Step S370: Determine the selected specification information according to the falling situation of the gravity unit value within the initial specification gravity range, and use the selected specification information as the flange specification information.

[0083] Among them, the selected specification information refers to the specification information after selecting the specifications of the flange. By analyzing the falling situation of the gravity unit value within the initial specification gravity range, the selected specification information is determined, and the selected specification information is used as the flange specification information to improve the accuracy of the obtained flange specification information.

[0084] In Figure 5 In step S370 shown, in order to further ensure the rationality of the selected specification information, it is necessary to conduct a further separate analysis and calculation on the selected specification information. Specifically, it is described in detail through Figure 6 the steps shown.

[0085] Referring to Figure 6 , the method for determining the selected specification information includes the following steps: Step S371: Take the specification corresponding to the gravity unit value falling within the initial specification gravity range as the initially selected specification information.

[0086] Among them, the initially selected specification information refers to the specification information after the initial selection of the flange specifications. By selecting the specification corresponding to the gravity unit value falling within the initial specification gravity range and taking the selected specification as the initially selected specification information, it is convenient for subsequent use.

[0087] Step S372: Retrieve the initial specification quantity value based on the initially selected specification information.

[0088] Among them, the initial specification quantity value refers to the quantity value of the initially selected flange specifications. By selecting the initially selected specification information to retrieve the initial specification quantity value, it is convenient for subsequent use.

[0089] Step S373: Determine whether the initial specification quantity value is only one. If it is, execute step S374; if not, execute step S375.

[0090] Among them, by determining whether the initial specification quantity value is only one, it is thus determined whether there are multiple specifications that meet the conditions.

[0091] Step S374: Take the initially selected specification information as the selected specification information.

[0092] Among them, when the initial specification quantity value is only one, it indicates that there is only one specification that meets the conditions at this time. Therefore, the initially selected specification information is taken as the selected specification information.

[0093] Step S375: Retrieve the initial specification shape information based on the initially selected specification information.

[0094] Among them, the initial specification shape information refers to the shape information corresponding to the flange of the initial specification. When the value of the initial specification is not only one, it indicates that there are multiple specifications meeting the conditions at this time. Therefore, the initial specification shape information is retrieved by selecting the initial specification information, which is convenient for subsequent use.

[0095] Step S376: Retrieve the pressure detection shape information based on the pressure detection information.

[0096] Among them, the pressure detection shape information refers to the shape information corresponding to the pressure detected on the placement table of the laser welding machine. The pressure detection shape information is retrieved by the pressure detection information, which is convenient for subsequent use.

[0097] Step S377: Analyze the deviation between the pressure detection shape information and the initial specification shape information and use it as the shape deviation value.

[0098] Among them, the shape deviation value refers to the deviation degree value corresponding to the existence of shape deviation. By analyzing the deviation between the pressure detection shape information and the initial specification shape information, and determining the degree value of the deviation based on the deviation situation as the shape deviation value, it is convenient for subsequent use.

[0099] Step S378: Sort the shape deviation values from small to large, and use the selected initial specification information corresponding to the first sorted shape deviation value as the selected specification information.

[0100] Among them, by sorting the shape deviation values from small to large and using the selected initial specification information corresponding to the first sorted shape deviation value as the selected specification information, the accuracy of the obtained selected specification information is improved.

[0101] In Figure 1 In step S500 shown, in order to further ensure the rationality of the welding path information, it is necessary to perform a further separate analysis and calculation on the welding path information. Specifically, it is described in detail through the Figure 7 steps shown.

[0102] Referring to Figure 7 , the method for determining the welding path information includes the following steps: Step S510: Retrieve the pipeline welding path information based on the pipeline specification information.

[0103] Among them, the pipeline welding path information refers to the path information corresponding to welding according to the pipeline specification. The pipeline welding path information is retrieved by querying the pipeline circumference formed by the width corresponding to the pipeline specification information, which is convenient for subsequent use.

[0104] Step S520: Retrieve the flange welding path information based on the flange specification information.

[0105] Among them, the flange welding path information refers to the path information corresponding to welding according to the flange specifications. The flange welding path information is queried and retrieved through the flange circumference formed by the width corresponding to the flange specification information, which is convenient for subsequent use.

[0106] Step S530: Determine whether the pipeline welding path information is consistent with the flange welding path information. If it is, execute step S540; if not, execute step S550.

[0107] Among them, by judging whether the pipeline welding path information is consistent with the flange welding path information, it is determined whether welding can be directly carried out according to the pipeline welding path information.

[0108] Step S540: Take the pipeline welding path information as the welding path information.

[0109] Among them, when the pipeline welding path information is consistent with the flange welding path information, it means that welding can be directly carried out according to the pipeline welding path information at this time. Therefore, the pipeline welding path information is taken as the welding path information.

[0110] Step S550: Analyze the deviation situation between the pipeline welding path information and the flange welding path information and use it as the path deviation information.

[0111] Among them, the path deviation information refers to the deviation information when there is a deviation in the path. When the pipeline welding path information is not consistent with the flange welding path information, it means that welding cannot be directly carried out according to the pipeline welding path information at this time. Therefore, the deviation situation between the pipeline welding path information and the flange welding path information is analyzed and used as the path deviation information, which is convenient for subsequent use.

[0112] Step S560: Retrieve the deviation distance value and the deviation position point based on the path deviation information.

[0113] Among them, the deviation distance value refers to the distance value between two paths when there is a deviation in the path, and the deviation position point refers to the position point where there is a deviation in the path. The deviation distance value and the deviation position point are retrieved through the path deviation information, which is convenient for subsequent use.

[0114] Step S570: Calculate the distance value between adjacent two deviation position points and use it as the deviation position distance value.

[0115] Among them, the deviation position distance value refers to the distance value between two positions with path deviations. By calculating the distance value between adjacent two deviation position points and using it as the deviation position distance value, it is convenient for subsequent use.

[0116] Step S580: Analyze and determine the adjustment distance value based on the deviation distance value and the deviation position distance value.

[0117] Among them, the adjustment distance value refers to the adjustment value for adjusting the deviation distance. By analyzing the deviation distance value and the deviation position distance value, the adjustment distance value is determined for convenient subsequent use.

[0118] The method for determining the adjustment distance value includes: Analyze and calculate the deviation distance value and the deviation position distance value based on the preset adjustment distance value calculation formula to obtain the adjustment distance value.

[0119] Among them, the adjustment distance value calculation formula refers to the formula used to calculate the adjustment distance value, which is obtained after being pre-input by the operator. The adjustment distance value calculation formula is , is the adjustment distance value, is the deviation distance value, is the preset deviation distance unit influence value, is the deviation position distance value, is the preset deviation position distance influence value.

[0120] For example, when , , , , at this time the adjustment distance value .

[0121] Step S590: Based on the comparison result between the adjustment distance value and the preset initial path selection reference value, determine the initial selection path information.

[0122] Among them, the initial path selection reference value refers to the maximum distance value that can be tolerated when selecting the pipeline welding path, which is obtained after being pre-input by the operator. The initial selection path information refers to the path information for initial path selection. By analyzing the comparison result between the adjustment distance value and the preset initial path selection reference value, when the adjustment distance value is greater than the initial path selection reference value, the pipeline welding path information is used as the initial selection path information. When the adjustment distance value is not greater than the initial path selection reference value, the flange welding path information is used as the initial selection path information for convenient subsequent use.

[0123] Step S5A0: Based on the adjustment distance value, perform path adjustment on the deviation position point to obtain path adjustment information, and combine the path adjustment information with the initial selection path information as the welding path information.

[0124] Among them, the path adjustment information refers to the adjustment information for path adjustment. The distance adjustment of the position points passed by the path is performed through the adjustment distance value to obtain the path adjustment information, and then the path adjustment information is combined with the initially selected path information as the welding path information, thereby improving the accuracy of the obtained welding path information.

[0125] Based on the same inventive concept, an embodiment of the present invention provides a laser welding machine control system, including: An acquisition module, configured to acquire the welding head position information, pressure detection information, image detection information, and image acquisition position points; A memory, configured to store the program of the laser welding machine control method as described in any one of Figures 1 to 7 the above; A processor, configured to load and execute the program in the memory and implement the laser welding machine control method as described in any one of Figures 1 to 7 the above.

[0126] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, and the computer program is the laser welding machine control method as described in any one of Figures 1 to 7 the above.

[0127] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, 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 processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0128] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the inventive concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A laser welding machine control method, characterized in that: include: Obtain welding head position information, pressure detection information on the placement table, and image detection information; Determine pipeline specification information based on image detection information and preset pipeline feature analysis; Determine flange specification information based on pressure detection information and pipeline specification information; Analyze and determine welding path information based on pipeline specification information and flange specification information; According to the correspondence between the welding head position information, the welding path information and the preset welding control information, the welding control information corresponding to the welding head position information and the welding path information is determined, and the welding control information is output to the laser welding machine for welding.

2. The laser welding machine control method according to claim 1, characterized in that: Methods for determining pipe specification information include: identifying pipeline detection information from the image detection information based on preset pipeline features; Retrieve the pipeline edge curve and pipeline width value based on pipeline detection information; Determine whether the pipe edge curve is a straight line; If yes, then according to the correspondence between the pipeline width value and the preset straight pipe specification information, the straight pipe specification information corresponding to the pipeline width value is determined, and the straight pipe specification information is used as the pipeline specification information; If not, the curve bending angle value is retrieved based on the pipe edge curve; Calculate the difference between the two curve bending angle values ​​and use it as the curve bending angle deviation value; The pipe bending specification information is determined based on the curve bending angle deviation value and the pipe width value, and the pipe bending specification information is used as the pipe specification information.

3. The laser welding machine control method according to claim 2, characterized in that: Methods for determining the specification information of the bent pipe include: According to the correspondence between the curve bending angle deviation value and the preset image acquisition deviation angle value, the image acquisition deviation angle value corresponding to the curve bending angle deviation value is determined; Retrieve the relative position point of the pipeline bottom based on the pipeline detection information; Determine the comprehensive value of the acquisition deviation angle based on the analysis of the bottom relative position point and the image acquisition deviation angle value; According to the corresponding relationship between the collected deviation angle comprehensive value and the preset deviation angle width selection reference value, the deviation angle width selection reference value corresponding to the collected deviation angle comprehensive value is determined; A reference value is selected based on the deviation angle width to select a corresponding pipe width value on the pipe edge curve and use it as a selected width value; According to the correspondence between the selected width value and the preset selected width specification information, the selected width specification information corresponding to the selected width value is determined, and the selected width specification information is used as the bending pipe specification information.

4. The laser welding machine control method according to claim 3, characterized in that: The method for determining the comprehensive value of the acquisition deviation angle includes: According to the correspondence between the relative position point of the pipeline bottom and the preset actual position point of the pipeline bottom, the actual position point of the pipeline bottom corresponding to the relative position point of the pipeline bottom is determined; Get the image acquisition position point; Calculate the height difference between the image acquisition position point and the actual position point at the bottom of the pipeline and use it as the image acquisition height value; According to the correspondence between the image acquisition height value and the preset acquisition height influence value, the acquisition height influence value corresponding to the image acquisition height value is determined; The sum of the image acquisition deviation angle value and the acquisition height influence value is calculated and used as the acquisition deviation angle correction value, and the acquisition deviation angle correction value is used as the acquisition deviation angle comprehensive value.

5. The laser welding machine control method according to claim 1, characterized in that: Methods for determining flange specification information include: According to the correspondence between the pipeline specification information and the preset specification gravity value, the specification gravity value corresponding to the pipeline specification information is determined; Retrieve pressure detection value and pressure area value based on pressure detection information; According to the corresponding relationship between the pressure area value and the preset pressure area initial specification information, the pressure area initial specification information corresponding to the pressure area value is determined; Retrieve the initial specification gravity range based on the initial specification information of the pressure area; Calculate the difference between the pressure test value and the standard gravity value and use it as the flange gravity value; Calculate the quotient between the flange gravity value and the pressure area value and use it as the gravity unit value; The selected specification information is determined based on whether the gravity unit value falls within the initial specification gravity range, and the selected specification information is used as the flange specification information.

6. The laser welding machine control method according to claim 5, characterized in that: Methods for determining the selected specification information include: The specification corresponding to the gravity unit value falling into the initial specification gravity range is used as the selected initial specification information; Retrieve initial specification values ​​based on selected initial specification information; Determine whether the initial specification value is only one; If yes, the initial specification information is selected as the selected specification information; If not, then the initial specification shape information is retrieved based on the selected initial specification information; Retrieving pressure detection shape information based on the pressure detection information; Analyze the deviation between the pressure detection shape information and the initial specification shape information and use it as the shape deviation value; The shape deviation values ​​are sorted from small to large, and the initial specification information corresponding to the shape deviation value that ranks first is used as the selected specification information.

7. The laser welding machine control method according to claim 1, characterized in that: Methods for determining welding path information include: Retrieving pipeline welding path information based on pipeline specification information; Retrieve flange welding path information based on flange specification information; Determine whether the pipeline welding path information is consistent with the flange welding path information; If yes, the pipeline welding path information is used as welding path information; If not, then the deviation between the pipeline welding path information and the flange welding path information is analyzed and used as the path deviation information; Retrieve the deviation distance value and the deviation position point based on the path deviation information; Calculate the distance between two adjacent deviation position points and use it as the deviation position distance value; Determine the adjustment distance value based on the analysis of the deviation distance value and the deviation position distance value; Based on the comparison result between the adjusted distance value and the preset initial path selection reference value, the initial selected path information is determined; Based on the adjustment distance value, the path of the deviation position point is adjusted to obtain path adjustment information, and the path adjustment information is combined with the initially selected path information to serve as welding path information.

8. The laser welding machine control method according to claim 7, characterized in that: Methods for determining the adjustment distance value include: Based on the preset adjustment distance value calculation formula, the deviation distance value and the deviation position distance value are analyzed and calculated to obtain the adjustment distance value, wherein the adjustment distance value calculation formula is: , To adjust the distance value, is the deviation distance value, is the preset deviation distance unit impact value, is the deviation position distance value, It is the preset deviation position distance impact value.

9. A laser welding machine control system, characterized in that: include: An acquisition module is used to obtain welding head position information, pressure detection information, image detection information and image acquisition position points; A memory for storing a program of the laser welding machine control method according to any one of claims 1 to 8; A processor is configured to load and execute a program in a memory and implement a laser welding machine control method as claimed in any one of claims 1 to 8.

10. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the laser welding machine control method according to any one of claims 1 to 8.

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