Method and system for planning multi-axis motion trail of intersecting line of connecting pipe and barrel of pressure vessel

Abstract

The invention relates to a pressure vessel connecting pipe and barrel intersecting line multi-axis motion trail planning method and system, and the method comprises the following steps: obtaining image information of a to-be-detected part, carrying out the analysis processing of the image information of the to-be-detected part, and obtaining a space intersecting line region of the to-be-detected part; modeling the space intersecting line area to obtain a three-dimensional mathematical model of the space intersecting line area; performing motion trail fitting based on the three-dimensional mathematical model to obtain a motion model; determining a linkage control mode; and performing linkage control according to the linkage control mode and the motion model to obtain a multi-axis motion track. By means of the method, accurate planning of the movement track of the intersecting line of the pressure window connecting pipe and the barrel can be achieved, and therefore the acceptable fitting degree is provided for the ultrasonic probe frame.

Description

Technical Field

[0001] The present invention relates to the technical field of reactor pressure vessel inspection, and more specifically, to a multi-axis motion trajectory planning method and system for the intersection line of a pressure vessel nozzle and a cylinder body. Background Art

[0002] Currently, new requirements have been put forward for the in-service inspection of reactor pressure vessels: ultrasonic inspections in a total of 6 directions from the cylinder side and the nozzle side of the weld between the reactor pressure vessel nozzle and the cylinder body have been added; ultrasonic inspection of the inner fillet area of the reactor pressure vessel nozzle has been added; the radiographic inspection of the weld between the reactor pressure vessel nozzle and the safety end has been reduced, and only ultrasonic inspection is performed; the complete in-service inspection items of the reactor pressure vessel can be allocated in multiple overhaul rounds according to a certain proportion.

[0003] The contour of the inner fillet area of the reactor pressure vessel nozzle is a space curve formed by the intersection of the reactor pressure vessel cylinder body and the outlet nozzle. Due to its large undulation in the Z-axis direction of the cross-section, the traditional probe holder design cannot overcome its depth change, resulting in an unsatisfactory coupling effect. Therefore, on the premise of adjusting the probe holder design, a path planning algorithm should also be written at the control end to compensate for the influence of depth change on probe coupling. In view of the important position of the reactor pressure vessel in the nuclear power plant system, strict requirements are put forward for the stability of the control system and the accuracy of positioning when designing automation equipment for it. However, in the existing solutions, the motion trajectory of the intersection line of the pressure vessel nozzle and the cylinder body is not accurately planned, and thus an acceptable fitting degree cannot be provided for the ultrasonic probe holder. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a multi-axis motion trajectory planning method and system for the intersection line of a pressure vessel nozzle and a cylinder body in view of the problems existing in the prior art.

[0005] The technical solution adopted by the present invention to solve its technical problems is to construct a multi-axis motion trajectory planning method for the intersection line of a pressure vessel nozzle and a cylinder body, including the following steps:

[0006] Obtain the image information of the part to be inspected, and analyze and process the image information of the part to be inspected to obtain the spatial intersection line area of the part to be inspected;

[0007] Model the spatial intersection line area to obtain a three-dimensional mathematical model of the spatial intersection line area;

[0008] Perform motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model;

[0009] Determine the linkage control mode;

[0010] Perform linkage control according to the described linkage control mode and the motion model to obtain a multi-axis motion trajectory.

[0011] In the method for planning the multi-axis motion trajectory of the intersection line between the nozzle and the shell of a pressure vessel according to the present invention, the modeling of the spatial intersection line region to obtain the three-dimensional mathematical model of the spatial intersection line region includes:

[0012] Establish a three-dimensional coordinate system with the intersection point of the axis of the pipe and the axis of the shell as the origin based on the spatial intersection line region;

[0013] Perform modeling based on the three-dimensional coordinate system, the radius of the shell, the radius of the pipe, the rotational speed of the ultrasonic probe in the pipe, and the angle of each point on the intersection line relative to the center of the pipe to obtain the three-dimensional mathematical model.

[0014] In the method for planning the multi-axis motion trajectory of the intersection line between the nozzle and the shell of a pressure vessel according to the present invention, the motion model is a two-dimensional polar coordinate equation.

[0015] In the method for planning the multi-axis motion trajectory of the intersection line between the nozzle and the shell of a pressure vessel according to the present invention, the obtaining of the motion model by performing motion trajectory fitting based on the three-dimensional mathematical model includes:

[0016] Determine the relationship between the two-axis motion axes based on the three-dimensional mathematical model;

[0017] Perform motion trajectory fitting according to the relationship between the two-axis motion axes to obtain the motion model.

[0018] In the method for planning the multi-axis motion trajectory of the intersection line between the nozzle and the shell of a pressure vessel according to the present invention, the motion model is:

[0019] θ = ωt;

[0020]

[0021] Where θ is the angle of each point on the intersection line relative to the center of the pipe, ω is the rotational speed of the ultrasonic probe on the inner wall of the pipe, t is the running time, R is the radius of the shell; r is the radius of the pipe, and z is the retraction amount of the ultrasonic probe in the pipe.

[0022] In the method for planning the multi-axis motion trajectory of the intersection line between the nozzle and the shell of a pressure vessel according to the present invention, the linkage control mode is an electronic cam control mode;

[0023] The obtaining of the multi-axis motion trajectory by performing linkage control according to the linkage control mode and the motion model includes:

[0024] Determine the driving shaft and the driven shaft according to the electronic cam control mode;

[0025] Determine the motion mode of the follower shaft and the motion mode of the driving shaft according to the motion model;

[0026] Perform linkage control according to the motion mode of the follower shaft and the motion mode of the driving shaft to obtain the multi-axis motion trajectory.

[0027] In the multi-axis motion trajectory planning method for the intersection line of the pressure vessel nozzle and the cylinder in the present invention, the method further includes:

[0028] Superimpose the PID algorithm and the motion axis limit algorithm;

[0029] Perform control according to the PID algorithm and the motion axis limit algorithm to obtain the optimized path of the multi-axis motion trajectory.

[0030] The present invention also provides a multi-axis motion trajectory planning system for the intersection line of the pressure vessel nozzle and the cylinder, including: a DMC motion control card and a two-axis control system; the DMC motion control card includes: a core controller;

[0031] The core controller is used for:

[0032] Obtain the image information of the part to be inspected, and analyze and process the image information of the part to be inspected to obtain the spatial intersection line area of the part to be inspected;

[0033] Model the spatial intersection line area to obtain a three-dimensional mathematical model of the spatial intersection line area;

[0034] Perform motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model;

[0035] Determine the linkage control mode;

[0036] Output a linkage operation control signal according to the linkage control mode and the motion model;

[0037] The two-axis control system is used to perform linkage control according to the linkage operation control signal to obtain a multi-axis motion trajectory.

[0038] In the multi-axis motion trajectory planning system for the intersection line of the pressure vessel nozzle and the cylinder in the present invention, the core controller includes: a speed / acceleration feedforward module, a notch filter module, a low-pass filter module, and an integrally limited PID filter;

[0039] The speed / acceleration feedforward module is used to perform speed / acceleration feedforward control on the ultrasonic probe;

[0040] The notch filter module is used to perform notch filtering processing;

[0041] The low-pass filter module is used to perform low-pass filtering processing;

[0042] The integral-limited PID filter is used to perform integral-limited filtering processing.

[0043] In the multi-axis motion trajectory planning system for the intersection line of the pressure vessel nozzle and the cylinder described in the present invention, the core controller further includes: a PID algorithm module and a motion axis limit algorithm module;

[0044] The PID algorithm module is used to perform closed-loop control of the cam motion mode and the overall motion mode;

[0045] The motion axis limit algorithm module is used to perform safety protection control during the linkage motion process.

[0046] Implementing the multi-axis motion trajectory planning method and system for the intersection line of the pressure vessel nozzle and the cylinder of the present invention has the following beneficial effects: including the following steps: obtaining the image information of the part to be inspected, analyzing and processing the image information of the part to be inspected to obtain the spatial intersection line area of the part to be inspected; modeling the spatial intersection line area to obtain a three-dimensional mathematical model of the spatial intersection line area; performing motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model; determining the linkage control mode; performing linkage control according to the linkage control mode and the motion model to obtain a multi-axis motion trajectory. Through the present invention, accurate planning of the motion trajectory of the intersection line of the pressure window nozzle and the cylinder can be achieved, thereby providing an acceptable fit for the ultrasonic probe holder. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0048] Figure 1 is a flow chart of the multi-axis motion trajectory planning method for the intersection line of the pressure vessel nozzle and the cylinder provided by the present invention;

[0049] Figure 2 is a model of the spatial intersection line area provided by the present invention;

[0050] Figure 3 is a schematic diagram of the cam structure provided by the present invention;

[0051] Figure 4 is a schematic diagram of the cam shape provided by the present invention;

[0052] Figure 5 is a schematic diagram of the cam curve provided by the present invention;

[0053] Figure 6 is a functional block diagram of the multi-axis motion trajectory planning system for the intersection line of the pressure vessel nozzle and the cylinder provided by the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0055] Refer to Figure 1 , Figure 1 which is a flowchart of a preferred embodiment of the multi-axis motion trajectory planning method for the intersection line of the pressure vessel nozzle and the cylinder body provided by the present invention.

[0056] Specifically, as Figure 1 shown, the multi-axis motion trajectory planning method for the intersection line of the pressure vessel nozzle and the cylinder body includes the following steps:

[0057] Step S101: Obtain the image information of the part to be inspected, and analyze and process the image information of the part to be inspected to obtain the spatial intersection line area of the part to be inspected.

[0058] In the embodiment of the present invention, the part to be inspected is the inner fillet area of the pressure vessel nozzle. The present invention determines the spatial intersection line area of the part to be inspected by obtaining the image information of the part to be inspected and then analyzing and processing the obtained image, that is, as Figure 2 shown. Among them, various existing image processing methods can be used for analyzing the image information of the part to be inspected, as long as the spatial intersection line area model can be analyzed, and the present invention does not make specific limitations.

[0059] Step S102: Model the spatial intersection line area to obtain a three-dimensional mathematical model of the spatial intersection line area.

[0060] In the embodiment of the present invention, modeling the spatial intersection line area to obtain a three-dimensional mathematical model of the spatial intersection line area includes: establishing a three-dimensional coordinate system with the intersection point of the axis of the pipe and the axis of the cylinder as the origin based on the spatial intersection line area; modeling based on the three-dimensional coordinate system, the radius of the cylinder, the radius of the pipe, the rotation speed of the ultrasonic probe in the pipe, and the angle of each point on the intersection line relative to the center of the pipe to obtain a three-dimensional mathematical model. Specifically, after obtaining the spatial intersection line area, according to the radius of the pipe, the radius of the cylinder, the rotation speed of the ultrasonic probe in the pipe, and the angle of each point on the intersection line relative to the radius of the pipe, and taking the intersection point of the axis of the pipe and the axis of the cylinder as the origin to construct a three-dimensional coordinate system, finally obtain a three-dimensional mathematical model of the spatial intersection line area. Among them, the three-dimensional mathematical model can be expressed as follows:

[0061]

[0062] Where, θ is the angle of each point on the intersection line relative to the center of the pipe, R is the radius of the cylinder; r is the radius of the pipe, z is the retraction amount of the ultrasonic probe inside the pipe, and x and y are the horizontal and vertical coordinate values respectively.

[0063] Step S103: Perform motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model.

[0064] Optionally, in the embodiment of the present invention, the motion model is a two-dimensional polar coordinate equation.

[0065] In the embodiment of the present invention, performing motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model includes: determining the relationship between the two-axis motion axes based on the three-dimensional mathematical model; performing motion trajectory fitting according to the relationship between the two-axis motion axes to obtain a motion model. Specifically, the relationship between the two-axis motion axes can be determined through the three-dimensional mathematical model, which is the two-dimensional relationship between the θ-axis and the Z-axis plane. The motion of one motion axis (referred to as the A-axis) is a uniform circular motion on the θ-axis, and the motion of the other axis (referred to as the B-axis) is a combination of a sine motion and a stepping motion on the Z-axis while the A-axis is moving on the θ-axis. Among them, the motion model is:

[0066]

[0067] Where, θ is the angle of each point on the intersection line relative to the center of the pipe, ω is the rotation speed of the ultrasonic probe on the inner wall of the pipe, t is the running time, R is the radius of the cylinder; r is the radius of the pipe, and z is the retraction amount of the ultrasonic probe inside the pipe.

[0068] By converting the three-dimensional mathematical model into a two-dimensional polar coordinate equation, the present invention realizes the transformation of the complex three-dimensional space motion trajectory planning problem into a two-dimensional plane motion trajectory planning through space conversion, effectively reducing the complexity of the motion trajectory planning, and at the same time improving the accuracy and reliability of the path planning.

[0069] Step S104: Determine the linkage control mode.

[0070] Optionally, in the embodiment of the present invention, the linkage control mode is an electronic cam control mode. It can be understood that other interpolation methods can also be adopted for the linkage control mode of the present invention as long as the same function can be achieved. Specifically, an electronic cam is a software system that uses the constructed cam curve to simulate a mechanical cam (as Figure 3 shown) to achieve the relative motion between the camshaft and the main shaft of the mechanical cam system. Among them, the shape of the cam is as Figure 4 shown, and the cam curve is as Figure 5 shown. The present invention controls the servo motor through the controller to simulate the function of the mechanical cam without the need to install an additional mechanical structure.

[0071] Step S105: Perform linkage control according to the linkage control mode and the motion model to obtain a multi-axis motion trajectory.

[0072] Optionally, in the embodiments of the present invention, performing linkage control according to the linkage control mode and the motion model to obtain a multi-axis motion trajectory includes: determining the driving axis and the driven axis according to the electronic cam control mode; determining the motion mode of the driven axis and the motion mode of the driving axis according to the motion model; performing linkage control according to the motion mode of the driven axis and the motion mode of the driving axis to obtain a multi-axis motion trajectory.

[0073] Specifically, in the embodiments of the present invention, since the electronic cam belongs to multi-axis synchronous motion and has a distinction between a driving axis and a driven axis like a mechanical gear, therefore, based on this principle, the present invention can define the A axis as the driving axis and the B axis as the driven axis. Among them, the motion performed by the driving axis is a uniform motion along the θ axis, and the motion of the driven axis is a linkage motion based on the motion of the A axis according to the function Z = f(θ) (i.e., the aforementioned motion model). Furthermore, based on the motion modes of the driving axis and the driven axis, linkage control is performed to obtain a multi-axis motion trajectory.

[0074] Furthermore, for the method for multi-axis motion trajectory planning of the intersection line of the pressure vessel nozzle and the cylinder, the method further includes: superimposing the PID algorithm and the motion axis limit algorithm; performing control according to the PID algorithm and the motion axis limit algorithm to obtain an optimized path of the multi-axis motion trajectory.

[0075] Reference Figure 6 , the present invention also provides a multi-axis motion trajectory planning system for the intersection line of the pressure vessel nozzle and the cylinder.

[0076] Specifically, as Figure 6 shown, the multi-axis motion trajectory planning system for the intersection line of the pressure vessel nozzle and the cylinder includes: a DMC motion control card and a two-axis control system.

[0077] Optionally, in the embodiments of the present invention, the DMC motion control card includes: a core controller; the core controller is used to: acquire the image information of the part to be inspected, analyze and process the image information of the part to be inspected to obtain the spatial intersection line area of the part to be inspected; model the spatial intersection line area to obtain a three-dimensional mathematical model of the spatial intersection line area; perform motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model; determine the linkage control mode; output a linkage operation control signal according to the linkage control mode and the motion model; the two-axis control system is used to perform linkage control according to the linkage operation control signal to obtain a multi-axis motion trajectory.

[0078] Furthermore, in an embodiment of the present invention, the core controller includes: a speed / acceleration feedforward module, a notch filter module, a low-pass filter module and an integral-limited PID filter; the speed / acceleration feedforward module is used to perform speed / acceleration feedforward control on the ultrasonic probe; the notch filter module is used to perform notch filter processing; the low-pass filter module is used to perform low-pass filter processing; and the integral-limited PID filter is used to perform integral-limited filter processing.

[0079] Furthermore, the core controller also includes: a PID algorithm module and a motion axis limit algorithm module; the PID algorithm module is used to execute closed-loop control of the cam motion mode and the overall motion mode; the motion axis limit algorithm module is used to execute safety protection control during the linkage motion process. The present invention can improve the stability and accuracy of the overall motion by adding the PID algorithm on the basis of the existing control algorithm (i.e., the aforementioned linkage control method); at the same time, adding the motion axis limit or other safety algorithms can provide safety protection for the operation of the equipment to prevent mechanical damage caused by abnormal conditions when the equipment runs away. That is, by adding the PID algorithm and other safety algorithms such as the motion axis limit, the dual axes can be protected to run quickly and reliably under the premise of safety during the overall motion process.

[0080] The present invention builds a dual-axis control system based on the DMC motion control card. Through space conversion, the complex three-dimensional space motion trajectory planning problem is converted into two-dimensional plane motion trajectory planning. The linkage relationship of the two-axis motion is realized by interpolation, thereby realizing the motion trajectory planning of complex curves in the intersecting line space and providing an acceptable fit of the ultrasound probe holder.

[0081] In the specific implementation process, the motion relationship between the master and slave axes can be fitted in the DMC motion control card by constructing a cam table. The present invention is implemented using the two-character command provided by the DMC motion control card. Specifically: the EA command is used to define the A axis as the electronic cam master axis; the EM command defines the position change of the active axis within one cycle of the electronic cam; the EP command defines the position interval and offset of the electronic cam table; the ET command transfers the relationship between the θ axis and the Z axis shown in (2) to the electronic cam table as the entry point of the slave axis.

[0082] Furthermore, the DMC motion control card used in the present invention can be a multi-axis motion control card, which integrates functions such as velocity / acceleration feedforward, notch filtering, low-pass filtering and integral-limited PID filter and has powerful characteristics such as high-speed communication, high-speed encoder feedback reception and high anti-interference. By adopting this DMC motion control card, the overall control logic can be made more complete and the performance can be more powerful and perfect.

[0083] Further, in the embodiments of the present invention, during the process of maintaining the linkage motion relationship between two motion axes for complex spatial trajectory linkage scanning, the following conditions need to be satisfied: the maintenance and termination of the linkage relationship are manually adjustable, the starting and ending points of the linkage motion relationship are adjustable, the applicable pipe radius is manually adjustable, the positions of the dual motion axis encoders remain continuous and do not mutate throughout the process, and the overall motion control code needs to be implemented on the lower computer (i.e., the DMC motion control card) to meet the requirement of fast response.

[0084] By applying the present invention to the motion trajectory planning of the scanner of the multi-motion axis ultrasonic inspection equipment for the intersection line of the inlet and outlet pipes and the cylinder of the nuclear power plant reactor pressure vessel, the problem of complex spatial trajectory motion planning of the inspection object can be efficiently solved.

[0085] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and reference can be made to the description of the method part for related parts.

[0086] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0087] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0088] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and cannot limit the protection scope of the present invention. All equivalent changes and modifications made to the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A method for planning multi-axis motion trajectory of the intersection line between a nozzle and a cylinder of a pressure vessel, characterized in that: The following steps are involved: Acquire image information of the part to be inspected, and analyze and process the image information of the part to be inspected to obtain a spatial intersection line area of ​​the part to be inspected; Modeling the spatial intersection line region to obtain a three-dimensional mathematical model of the spatial intersection line region; Perform motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model; Determine linkage control mode; The linkage control is performed according to the linkage control mode and the motion model to obtain a multi-axis motion trajectory.

2. The multi-axis motion trajectory planning method for the intersection line between the nozzle and the cylinder of a pressure vessel according to claim 1 is characterized in that: The step of modeling the spatial intersecting line region to obtain a three-dimensional mathematical model of the spatial intersecting line region includes: A three-dimensional coordinate system is established based on the spatial intersection line region, with the intersection point of the axis of the pipeline and the axis of the cylinder as the origin; The three-dimensional mathematical model is obtained by modeling based on the three-dimensional coordinate system, the radius of the cylinder, the radius of the pipe, the rotation speed of the ultrasonic probe in the pipe, and the angle between each point on the intersection line and the center of the pipe.

3. The multi-axis motion trajectory planning method for the intersection line between the nozzle and the cylinder of a pressure vessel according to claim 1 is characterized in that: The motion model is a two-dimensional polar coordinate equation.

4. The method for planning multi-axis motion trajectory of the intersection line between the nozzle and the cylinder of a pressure vessel according to claim 1 is characterized in that: The performing motion trajectory fitting based on the three-dimensional mathematical model to obtain the motion model comprises: Determine the relationship between the two axes of motion based on the three-dimensional mathematical model; The motion model is obtained by performing motion trajectory fitting according to the relationship between the two motion axes.

5. The method for planning multi-axis motion trajectory of the intersection line between the nozzle and the cylinder of a pressure vessel according to claim 4 is characterized in that: The motion model is: θ = ωt; Among them, θ is the angle between each point on the intersection line and the center of the pipe, ω is the rotation speed of the ultrasonic probe on the inner wall of the pipe, t is the running time, R is the radius of the cylinder; r is the radius of the pipe, and z is the retraction amount of the ultrasonic probe in the pipe.

6. The method for planning multi-axis motion trajectory of the intersection line between the nozzle and the cylinder of a pressure vessel according to claim 1 is characterized in that: The linkage control mode is an electronic cam control mode; The performing linkage control according to the linkage control mode and the motion model to obtain a multi-axis motion trajectory comprises: Determine the driving axis and the driven axis according to the electronic cam control mode; Determine the motion mode of the driven shaft and the motion mode of the driving shaft according to the motion model; The multi-axis motion trajectory is obtained by performing linkage control according to the motion mode of the driven axis and the motion mode of the driving axis.

7. The method for planning multi-axis motion trajectory of the intersection line between the nozzle and the cylinder of a pressure vessel according to any one of claims 1 to 6, characterized in that: The method further comprises: Superimpose PID algorithm and motion axis limit algorithm; Control is performed according to the PID algorithm and the motion axis limit algorithm to obtain the optimized path of the multi-axis motion trajectory.

8. A multi-axis motion trajectory planning system for the intersection line between the nozzle and the cylinder of a pressure vessel, characterized in that: include: DMC motion control card and dual-axis control system; The DMC motion control card includes: a core controller; The core controller is used to: Acquire image information of the part to be inspected, and analyze and process the image information of the part to be inspected to obtain a spatial intersection line area of ​​the part to be inspected; Modeling the spatial intersection line region to obtain a three-dimensional mathematical model of the spatial intersection line region; Perform motion trajectory fitting based on the three-dimensional mathematical model to obtain a motion model; Determine linkage control mode; Outputting a linkage operation control signal according to the linkage control mode and the motion model; The dual-axis control system is used to perform linkage control according to the linkage operation control signal to obtain a multi-axis motion trajectory.

9. The multi-axis motion trajectory planning system for the intersection line between the pipe and the cylinder of a pressure vessel according to claim 8 is characterized in that: The core controller includes: a speed / acceleration feedforward module, a notch filter module, a low-pass filter module and an integral-limited PID filter; The speed / acceleration feedforward module is used to perform speed / acceleration feedforward control on the ultrasonic probe; The notch filtering module is used to perform notch filtering processing; The low-pass filtering module is used to perform low-pass filtering processing; The integral-limited PID filter is used to perform integral-limited filtering processing.

10. The multi-axis motion trajectory planning system for the intersection line between the pipe and the cylinder of a pressure vessel according to claim 8, characterized in that: The core controller also includes: a PID algorithm module and a motion axis limit algorithm module; The PID algorithm module is used to perform closed-loop control of the cam motion mode and the overall motion mode; The motion axis limit algorithm module is used to perform safety protection control during the linkage motion process.

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