Pipe processing method and laser processing device

Abstract

The invention provides a pipe processing method which comprises the following steps: a) acquiring profile measurement data of a cross section of a pipe through at least one sensor, the cross section being a cross section perpendicular to the length direction of the pipe; b) fitting and calculating actual contour parameters of the cross section of the pipe based on the acquired contour measurement data; c) correcting a processing track for processing the pipe based on the theoretical contour parameter of the cross section of the pipe and the actual contour parameter calculated by fitting, and d) processing the pipe by a processing head along the corrected processing track. The invention also provides a corresponding laser processing device.

Description

Technical Field

[0001] This invention relates to the field of pipe processing, and more specifically to a pipe processing method and a laser processing apparatus. Background Technology

[0002] Pipes are a commonly used material, and before use, relatively long raw pipes need to be processed into the desired length suitable for use. According to existing pipe processing methods, processing plans are usually generated directly based on the pipe drawings input by the user. However, due to factors such as manufacturing errors and collisions during transportation, the pipes to be processed often exhibit deformation (e.g., surface dents or bulges, chamfer dimensional errors, etc.), which can cause deviations between the actual dimensions of the pipe and the input drawing information. These dimensional deviations can lead to the actual relative position of the processing head and the pipe deviating from the expected position during actual processing. This can range from minor issues like affecting processing accuracy and reducing processing quality (e.g., incomplete cuts or uneven cuts) to more serious problems like pipe processing failure or damage to the processing head (e.g., collision between the processing head and the pipe).

[0003] Existing pipe processing methods typically do not consider pipe deformation, or only manually measure and correct the drawing information when the pipe deformation is severe. However, this manual measurement and correction method is not only time-consuming and labor-intensive, but also has low measurement accuracy and poor correction effect.

[0004] Therefore, there is an urgent need to study a new pipe processing method to effectively solve the above problems. Summary of the Invention

[0005] The present invention aims to overcome the above-mentioned and / or other problems in the prior art. By employing the pipe processing method and laser processing apparatus provided by the present invention, the actual contour of the pipe to be processed can be automatically identified to correct the processing trajectory, thereby improving the processing accuracy and quality of deformed pipes and making the processing safer and more controllable. Simultaneously, the pipe processing method of the present invention does not require any manual measurement intervention, yet can quickly and accurately obtain the actual dimensional information of the pipe, significantly improving processing efficiency.

[0006] According to a first aspect of the present invention, a pipe processing method is provided, which may include the following steps: a) acquiring contour measurement data of a cross section of the pipe by means of at least one sensor, wherein the cross section is a cross section perpendicular to the length direction of the pipe; b) fitting and calculating actual contour parameters of the cross section of the pipe based on the acquired contour measurement data; c) correcting a processing trajectory for processing the pipe based on the theoretical contour parameters of the cross section of the pipe and the fitted and calculated actual contour parameters; and d) processing the pipe by means of a processing head along the corrected processing trajectory.

[0007] The pipe processing method of the present invention creatively calculates the precise contour parameters of the pipe by measuring the rough contour data of the cross-section to be processed, enabling the rapid and accurate determination of the actual contour of the pipe through automation. Furthermore, the pipe processing method of the present invention utilizes the determined actual contour parameters to correct the processing trajectory of the pipe, making the processing trajectory more closely match the actual contour of the pipe. This significantly improves the quality of the finished product and the safety of the processing process, thereby increasing the yield rate of the finished product and reducing wear and tear on processing equipment, achieving the effect of cost reduction and efficiency improvement.

[0008] Optionally, when the profile of the cross-section of the pipe comprises multiple straight segments, the process of acquiring profile measurement data of the cross-section of the pipe using at least one sensor may include: acquiring profile measurement data at locations other than the endpoint regions of each of the multiple straight segments. This measurement method avoids unwanted collisions with the sensor due to potential deformation of the pipe when measuring the edges of the straight segments, while still accurately acquiring the actual profile data of the remaining portions of the straight segments.

[0009] Optionally, the process of fitting and calculating the actual contour parameters of the cross-section of the pipe based on the collected contour measurement data may include: for every two connected straight segment portions among the plurality of straight segment portions, calculating the actual contour parameters of the connection area between the two connected straight segment portions by fitting based on the contour measurement data. This allows for accurate fitting of the actual contour of the connection area between two straight segment portions based on the collected actual contour data, without incurring the errors and risks that may arise from directly measuring the connection area with sensors.

[0010] Optionally, when the profile of the cross-section of the pipe further includes one or more chamfered portions, the process of acquiring profile measurement data of the cross-section of the pipe using at least one sensor may include: for each of the one or more chamfered portions: performing coarse fitting on two straight line segments connected to the chamfered portion based on the acquired profile measurement data to obtain a corresponding coarse-fitted straight line segment profile; and acquiring profile measurement data of the chamfered portion by contact measurement based on the coarse-fitted straight line segment profile obtained from the coarse fitting. The shape of the chamfered portion of the pipe makes it difficult to measure accurately directly. If there is deformation in the chamfered portion, measurement based on the theoretical profile can easily lead to sensor collision, and the obtained measurement results will also have greater errors. The above-mentioned method of the present invention cleverly utilizes the measurement data of two straight line segments adjacent to the chamfered portion to estimate the actual position of the chamfered portion, making the measurement of the chamfered portion safer and more reliable. The obtained profile measurement data can also be further used for a more accurate fitting of the profile of the chamfered portion and its connection area with the straight line segments.

[0011] Optionally, the process of fitting and calculating the actual contour parameters of the cross-section of the pipe based on the collected contour measurement data may include: for each pair of connected straight segment portions in the plurality of straight segment portions, calculating the actual contour parameters of the connection area of ​​the two straight segment portions by fitting based on the contour measurement data; and for each of the one or more chamfer portions, calculating the actual contour parameters of the chamfer portion and the connection area of ​​the two straight segment portions connected to the chamfer portion by fitting based on the contour measurement data.

[0012] Optionally, when the cross-section of the pipe is circular or elliptical, the process of acquiring contour measurement data of the cross-section of the pipe through at least one sensor may include: acquiring contour measurement data of the cross-section while rotating the pipe.

[0013] Optionally, the corrected machining trajectory can be calculated using an interpolator based on the theoretical and actual contour parameters. Using an interpolator allows for the acquisition of intermediate values ​​between the theoretical and actual contour parameters, making the compensation and correction of the machining trajectory more closely match the actual contour of the pipe.

[0014] According to a second aspect of the invention, a computer-readable storage medium is also provided, on which instructions are stored, which, when executed, implement the pipe processing method according to the invention as described above.

[0015] According to a third aspect of the invention, a computer program product is also provided, comprising a computer program that, when executed, implements the pipe processing method according to the invention as described above.

[0016] According to a fourth aspect of the invention, a laser processing apparatus is also provided, which may include: a laser processing head having one or more sensors; a chuck rotatable about a rotation axis; and a control unit configured to: calibrate the rotation axis based on theoretical profile parameters of a cross-section of the tube in response to the chuck holding a tube, wherein the cross-section is a cross-section perpendicular to the length direction of the tube; acquire profile measurement data of the cross-section of the tube using the one or more sensors of the laser processing head; fit and calculate actual profile parameters of the cross-section of the tube based on the acquired profile measurement data; correct a processing trajectory for processing the tube based on the theoretical profile parameters and the actual profile parameters of the cross-section of the tube; and cause the laser processing head to process the tube along the corrected processing trajectory.

[0017] Unlike existing laser processing devices that do not correct the pipe processing trajectory or rely on manual measurement for correction, the laser processing device of the present invention can automatically measure and calculate the actual contour of the pipe, correct the processing trajectory accordingly, and process the pipe using the corrected processing trajectory. Compared with the prior art, the laser processing device of the present invention can make the processing trajectory more consistent with the true contour of the pipe, greatly improve the safety of the pipe processing process, eliminate various errors introduced by pipe deformation and manual measurement, and significantly increase the reliability and accuracy of the processed product.

[0018] Optionally, the control unit may be further configured to: in response to the profile of the cross-section of the pipe comprising a plurality of straight segment portions, use at least one of the one or more sensors to acquire profile measurement data at locations other than the endpoint regions of the straight segment portions on each of the plurality of straight segment portions.

[0019] Optionally, the control unit may be further configured to: for every two connected straight line segments among the plurality of straight line segment portions, calculate the actual contour parameters of the connection region of the two connected straight line segment portions by fitting based on the contour measurement data.

[0020] Optionally, the one or more sensors may include contact sensors, and the control unit may be further configured to: in response to the profile of the cross-section of the pipe further including one or more chamfered portions, for each of the one or more chamfered portions: perform coarse fitting on two straight line segments connected to the chamfered portion based on the acquired profile measurement data to obtain a corresponding coarse-fitted straight line segment profile; and use the contact sensor to acquire profile measurement data of the chamfered portion based on the coarse-fitted straight line segment profile obtained from the coarse fitting.

[0021] Optionally, the control unit may be further configured to: for each pair of connected straight line segments in the plurality of straight line segments, calculate the actual contour parameters of the connection region of the two straight line segments based on the contour measurement data by fitting; and for each of the one or more chamfered portions, calculate the actual contour parameters of the chamfered portion and the connection region of the two straight line segments connected to the chamfered portion based on the contour measurement data by fitting.

[0022] Optionally, the control unit may be further configured to: in response to the cross-section of the pipe being circular or elliptical, acquire contour measurement data of the cross-section while rotating the pipe.

[0023] Optionally, the control unit may be further configured to calculate the corrected machining trajectory using an interpolator based on the theoretical contour parameters and the actual contour parameters.

[0024] Other features and aspects of the invention will become clearer from the following detailed description taken in conjunction with the accompanying drawings. Attached Figure Description

[0025] The invention can be better understood by describing exemplary embodiments of the invention in conjunction with the accompanying drawings, in which:

[0026] Figure 1 A flowchart of a pipe processing method according to the present invention is shown;

[0027] Figures 2(a) to 2(c) show schematic diagrams of the measurement process of the straight segment portion in the cross-sectional profile of a pipe according to an embodiment of the present invention;

[0028] Figures 3(a) to 3(c) show schematic diagrams of the fitting process for the straight segment portion of the cross-sectional profile of a pipe according to an embodiment of the present invention;

[0029] Figures 4(a) to 4(g) show schematic diagrams of the measurement and fitting process of the chamfered portion in the cross-sectional profile of a pipe according to an embodiment of the present invention;

[0030] Figure 5 A schematic diagram illustrating the process of measuring the cross-sectional profile of a circular tube according to an embodiment of the present invention is shown; and

[0031] Figure 6 A schematic block diagram of a laser processing apparatus according to the present invention is shown. Detailed Implementation

[0032] The present invention will be further described below with reference to specific embodiments and accompanying drawings. More details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention can obviously be implemented in many other ways different from those described herein. Those skilled in the art can make similar extensions and derivations based on actual application situations without departing from the spirit of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0033] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the description and claims of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects.

[0034] According to an embodiment of the present invention, a pipe processing method is provided.

[0035] refer to Figure 1 The illustration shows a pipe processing method 100 according to the present invention, which includes steps 110, 120, 130 and 140.

[0036] In step 110, contour measurement data of the pipe's cross-section can be acquired using one or more sensors. This cross-section can be the cross-section of the pipe to be processed, which is perpendicular to the length direction of the pipe.

[0037] The measurement can be performed using any suitable sensor, such as, but not limited to, capacitive sensors, laser rangefinders, contact sensors, etc. Additionally, sensors such as vision cameras can be used to indirectly acquire further information about the pipe profile. In some embodiments, the pipe can be rotated to facilitate measurement of the pipe profile from various directions. In some alternative embodiments, the sensor can be rotated around the pipe for ease of measurement, or both the sensor and the pipe can be rotated around each other.

[0038] Following step 110, in step 120, the actual profile parameters of the pipe's cross-section can be calculated by fitting the collected profile measurement data. Considering the actual performance and safety of the sensors (e.g., capacitive sensors exhibit larger deviations near the edges, and contact sensors may experience collisions at the edges), the profile measurement data obtained using the sensors typically only accurately reflects a portion of the complete actual profile. Therefore, the complete profile parameters can be derived from the profile measurement data through fitting, and the fitted complete profile parameters can substantially accurately reflect the true profile. Specific measurement and fitting calculation methods will be further described in detail below with reference to embodiments.

[0039] In some embodiments, the amount of data collected by the sensor can be reduced (e.g., by increasing the spacing between collection points), and then the collected contour measurement data can be used to fit a complete contour, thereby improving measurement efficiency while still obtaining relatively accurate actual contour parameters.

[0040] Subsequently, in step 130, the machining trajectory for machining the pipe can be corrected based on the theoretical profile parameters of the pipe's cross-section and the actual profile parameters fitted and calculated in step 120.

[0041] Theoretical profile parameters can be derived from pipe design drawings or nominal parameters, for example. Due to manufacturing errors and factors such as collisions during storage and transportation, the pipe may deform, meaning there may be a deviation between the actual profile of the pipe cross-section and the theoretical profile. If the pipe is already deformed, using a machining trajectory planned based on theoretical profile parameters will not only fail to achieve the desired processing effect but may even damage the machining head (e.g., causing a collision). This invention corrects the machining trajectory planned solely based on theoretical profile parameters by combining theoretical profile parameters with fitted and calculated actual profile parameters. This makes the machining trajectory more closely match the actual profile of the pipe, significantly improving the finished product while also enhancing the safety of the processing. Any suitable algorithm can be used to correct the machining trajectory.

[0042] In some embodiments, the corresponding machining trajectory can be corrected separately for each structural region in the profile (e.g., straight segments, chamfered segments). In some embodiments, an interpolator can be used in each structural region to perform difference fitting between the theoretical profile parameters and the fitted actual profile parameters to obtain corrected actual profile parameters. Difference fitting using an interpolator can further reduce the potential deviation between the fitted actual profile and the true profile of the pipe, and the resulting corrected actual profile parameters can more accurately reflect the true profile of the pipe. Accordingly, the machining trajectory generated based on the corrected actual profile parameters is also expected to have better machining results. As an example, the interpolator used can be the Hermite interpolator or any other suitable interpolator.

[0043] Finally, in step 140, the processing head can be made to process the pipe along the modified processing trajectory to obtain the desired pipe processing product.

[0044] The method described above by this invention can automatically measure and calculate the actual contour of the pipe without any manual measurement intervention, significantly improving the efficiency and accuracy of the contour measurement process. This invention also cleverly utilizes the obtained actual contour parameters to automatically correct the processing trajectory of the pipe, making the processing trajectory more consistent with the true contour of the pipe. This results in a finished pipe product that better meets expectations and avoids collisions between the processing head and the pipe during processing. This improves the processing accuracy and quality of the finished pipe product (e.g., especially the processing quality of the beveling), and reduces wear and tear on the processing equipment.

[0045] When acquiring contour measurement data of a pipe's cross-section, the sensor's scanning range is traditionally set based on the pipe's theoretical contour data (e.g., design drawings). However, the sensor may not be able to acquire contour data with high accuracy across all scanning ranges, especially for the edges of straight segments and chamfered areas within the contour. When deformation or manufacturing deviations exist in the pipe, such a defined scanning range is more likely to increase safety hazards during sensor measurements. Therefore, this invention specifically improves the acquisition and calculation of data for the edges of straight segments and chamfered areas of the pipe contour, which will be described in detail below with reference to specific embodiments.

[0046] For the straight segments in the cross-sectional profile of a pipe (hereinafter also referred to as the pipe profile), the inventors have found that the capacitance detected by the capacitive sensor at the edge of the straight segment is unstable, resulting in a large error in the measured profile data. Contact sensors may collide with other pipe structures when measuring the edge of the straight segment (e.g., colliding with the flange when measuring the web edge of an I-beam). If the actual profile of the pipe deviates significantly from the theoretical profile, the contact sensor may malfunction during measurement. Other types of sensors also exhibit similar problems when scanning the edge of the straight segment. To overcome these problems, in some embodiments of the invention, the edge region of the straight segment (i.e., the endpoint region) can be excluded from the scanning range. For example, the excluded edge region may include an area within a few millimeters of the endpoint of the straight segment, such as an area within approximately 1 millimeter, 2 millimeters, 5 millimeters, or more from the endpoint of the straight segment. In some embodiments, the range of the endpoint region excluded from the scanning range can be adjusted according to the actual situation.

[0047] As a specific embodiment, the measurement and fitting of the straight-line segments in the cross-sectional profile of the pipe will be specifically explained with reference to Figures 2(a) to 2(c) and Figures 3(a) to 3(c). As shown, the pipe 200 to be processed in this embodiment is a pipe with a "U"-shaped cross-section (e.g., channel steel), which includes a left flange 202, a web 204, and a right flange 206. For ease of explanation, Figures 2(a) to 2(c) show the theoretical profile of the pipe 200, where the left flange 202, web 204, and right flange 206 are all straight-line segments. It should be noted that if deformation exists, the actual profile of the pipe 200 may differ from the theoretical profile described above.

[0048] Specifically, for the contour measurement of the pipe 200, the sensor 210 first scans the contour data of the web 204 from left to right above, as shown in Figure 2(a). The scanning range of the sensor 210 (as shown by the dashed lines) does not include the areas closest to both ends of the web 204. Then, the pipe 200 is rotated so that the right wing 206 moves below the sensor 210, as shown in Figure 2(b), and the sensor 210 scans the contour data of the right wing 206 excluding the areas at both ends. Finally, the pipe 200 is rotated so that the left wing 202 moves below the sensor 210, as shown in Figure 2(c), and the sensor 210 scans the contour data of the left wing 202 excluding the areas at both ends. Thus, the contour measurement data of the left wing 202, web 204, and right wing 206 of the pipe 200 are completed. It should be understood that the orientation, scanning direction, and scanning order of the sensor 210 in the above embodiments are exemplary and can be adjusted as needed.

[0049] Next, the actual contour parameters of the connecting region of the connected straight line segments can be calculated based on the collected contour measurement data. For example, Figure 3(a) schematically shows the data points of the contour measurement data collected during the measurement process described above for Figures 2(a) to 2(c). To calculate the actual contour parameters of the connecting region between the left wing plate 202 and the web plate 204 (i.e., the endpoint regions on the same side of the left wing plate 202 and the web plate 204), straight lines can be fitted to the data points near the connecting region in the contour measurement data of the left wing plate 202 and the web plate 204, respectively. The resulting straight lines are shown as the black dashed lines in Figure 3(b), which correspond to the actual contours of the corresponding endpoint regions of the left wing plate 202 and the web plate 204, respectively. Any suitable straight line fitting algorithm can be used for straight line fitting. As shown in Figure 3(c), the angle formed by the intersection of the two straight lines fitted for the left wing plate 202 and the web plate 204 can be used as the actual contour of the connecting region. The actual contour obtained in this way can basically accurately reflect the true contour of the connecting region. Then, the actual contour parameters of the connected region can be obtained based on the expressions of these two fitted lines. Similarly, the actual contour parameters of the connected region between the web 204 and the right wing 206 can be obtained in the same way.

[0050] For the chamfered portion of the pipe's cross-sectional profile, existing technologies typically process it directly based on drawing parameters, or manually measure the chamfer using molds or calipers to find the closest standard specification chamfer, which is then used as the actual profile of the chamfer. The inventors have discovered that the chamfered portion is easily damaged by collisions during transportation, leading to deformation such as dents or twists, which can seriously negatively impact processing quality and safety. Furthermore, the curved shape of the chamfered portion makes it more prone to sensor safety issues and measurement errors than straight sections, and manual measurement is not only inefficient but also prone to significant errors.

[0051] In some embodiments of the present invention, the actual contour data of the chamfered portion can be accurately and safely obtained through specific measurement and fitting steps. The inventors have observed that, in two line segments connected to the chamfered portion, the area closer to the chamfered portion generally exhibits less deformation (e.g., concavity or convexity). Therefore, when collecting contour measurement data of the chamfered portion, coarse fitting can be performed on the two line segments connected to the chamfered portion based on the collected contour measurement data to obtain corresponding coarse-fitted line segment contours. Then, based on the coarse-fitted line segment contours obtained from the coarse fitting, contact measurement is used to collect the contour measurement data of the chamfered portion. Subsequently, when calculating the actual contour parameters of the chamfered portion, the actual contour parameters of the chamfered portion and the connecting region of the two line segments connected to it can be calculated through fitting based on the contour measurement data of the chamfered portion.

[0052] As another specific embodiment, the measurement and fitting of the chamfered portion in the cross-sectional profile of the pipe will be specifically explained with reference to Figures 4(a) to 4(g). As shown in Figure 4(a), the pipe 400 to be processed in this embodiment is a rectangular pipe, and its cross-sectional profile has four chamfered portions (with the chamfer 410 in the upper right corner marked) and four straight line segments (with straight line segments 402 and 404 connected to the chamfer 410 marked). The measurement and fitting of the chamfer 410 will be explained in detail below with reference to Figures 4(b) to 4(g).

[0053] First, contour measurement data of line segments 402 and 404 can be acquired using sensors. Figure 4(b) shows multiple data points closest to chamfer 410 in the contour measurement data of line segments 402 and 404. Line fitting (e.g., using any suitable line fitting algorithm) can be performed on the multiple data points closest to chamfer 410 in the contour measurement data of line segments 402 and 404, as shown in Figure 4(c). The resulting two fitted lines intersect at a point, forming an angle. In some embodiments, the multiple data points used for line fitting can be selected based on their distance from the endpoint of the line segment region (closest to chamfer 410). In alternative embodiments, a certain number of data points closest to chamfer 410 can be simply selected.

[0054] Then, the angle bisector of the angle between the two fitted lines can be taken, and a sensor (e.g., a contact sensor) can be used to perform contact measurements on the chamfered portion along the angle bisector to obtain data point A at the intersection of the chamfered portion and the angle bisector, as shown in Figure 4(d). Based on data point A and the two fitted lines mentioned above, a unique arc passing through data point A and tangent to the two fitted lines can be obtained, as shown in Figure 4(e). The obtained arc BAC has a center O and radius R located on the angle bisector, and is tangent to the two fitted lines at points B and C, respectively. This arc BAC can serve as the actual contour of the chamfer 410, and the actual contour parameters of the chamfer 410 can be further determined based on the expression of the arc BAC. In the connection area between the arc BAC and the line segments 402 and 404, as shown in Figure 4(f), there may be an overlapping portion 420 or a gap portion 430 between the arc BAC and the data points collected about the line segments 402 and 404. For the overlapping portion 420, the data points collected for the straight line segment 402 in the overlapping portion 420 can be deleted; for the gap portion 430, the contour of the gap portion 430 can be completed by combining the data points of the arc BAC, the straight line segment 404, and the fitted straight line about the straight line segment 404. Thus, the complete actual contour of the chamfer 410 and its connection area with the straight line segments 402 and 404 can be obtained, as shown in Figure 4(g).

[0055] It should be noted that the above-described measurement and fitting steps for the chamfered portion are merely illustrative, and any other suitable measurement and fitting method may be used as needed. In some embodiments, in addition to data point A as described above, data from more points on the chamfer may be collected to improve the fit to the chamfer. In some alternative embodiments, linear fitting may be performed on multiple data points collected on the chamfer to obtain the actual profile of the chamfer.

[0056] For circular, elliptical, or other near-circular tubes, the theoretical profile of their cross-section lacks straight segments or chamfers. When acquiring profile measurement data for such tubes, the sensor orientation can be kept constant, and continuous measurements can be performed while the tube is rotated. With each rotation of the tube, complete profile measurement data of the tube's cross-section can be acquired, which represents the actual profile parameters of the tube. Preferably, the sensor can be positioned directly above the center of the tube and rotated around the center to minimize measurement bias. Alternatively, the tube can be kept fixed, and the sensor can be rotated around the tube for measurement, or the tube and sensor can move relative to each other during measurement.

[0057] As a specific example, such as Figure 5 As shown, the pipe 500 to be processed is a circular pipe, and its theoretical cross-sectional profile is circular. The center of rotation of the pipe 500 can be determined based on the theoretical profile data (e.g., a drawing), and the sensor 510 is positioned directly above this center of rotation. The pipe 500 is then rotated around this center of rotation, while the sensor 510 continuously acquires the actual profile of the pipe 500 directly below it. When the pipe 500 rotates 360°, complete profile measurement data of the pipe 500 can be acquired; this profile measurement data represents the actual profile parameters of the pipe 500.

[0058] According to embodiments of the present invention, a computer-readable storage medium is also provided, on which encoded instructions are recorded, which, when executed, enable the above-described pipe processing method. The computer-readable storage medium may include a hard disk drive, a floppy disk drive, an optical disc read / write (CD-R / W) drive, a digital universal disk drive (DVD) drive, a flash memory drive, and / or a solid-state storage device, etc.

[0059] According to an embodiment of the present invention, a computer program product is also provided, which includes a computer program that, when executed, implements the pipe processing method according to the present invention as described above.

[0060] refer to Figure 6 The diagram shows a schematic block diagram of a laser processing apparatus 600 according to the present invention, which includes a control unit 602, a laser processing head 604, and a chuck 606.

[0061] The laser processing head 604 has one or more sensors (not shown in the figures), such as, but not limited to, capacitive sensors, laser rangefinders, contact sensors, etc. The laser processing head 604 can move (e.g., rotate and translate) and perform various laser processing operations and sensor measurement operations. The chuck 606 is rotatable about its rotation axis. The chuck 606 can be used to hold the tube to be processed and rotate it.

[0062] The control unit 602 can be configured to: calibrate the rotation axis based on the theoretical profile parameters of the cross-section of the tube, wherein the cross-section is perpendicular to the length direction of the tube, in response to the chuck 606 holding the tube; acquire profile measurement data of the cross-section of the tube using one or more sensors of the laser processing head 604; calculate the actual profile parameters of the cross-section of the tube based on the acquired profile measurement data; correct the processing trajectory for processing the tube based on the theoretical and actual profile parameters of the cross-section of the tube; and process the tube along the corrected processing trajectory with the laser processing head 604 to obtain the desired finished product.

[0063] Optionally, the control unit 602 may be further configured to: in response to the profile of the cross-section of the pipe comprising a plurality of straight segment portions, use at least one of one or more sensors to acquire profile measurement data at locations other than the endpoint regions of the straight segment on each of the plurality of straight segment portions.

[0064] Optionally, the control unit 602 may be further configured to: for every two connected straight line segments in a plurality of straight line segment portions, calculate the actual contour parameters of the connection area of ​​the two connected straight line segment portions by fitting based on contour measurement data.

[0065] Optionally, one or more sensors may include contact sensors, and the control unit 602 may be further configured to: in response to the profile of the cross-section of the pipe further including one or more chamfered portions, for each of the one or more chamfered portions: perform coarse fitting on two straight line segments connected to the chamfered portion based on the acquired profile measurement data to obtain a corresponding coarse-fitted straight line segment profile; and use a contact sensor to acquire profile measurement data of the chamfered portion based on the coarse-fitted straight line segment profile obtained from the coarse fitting.

[0066] Optionally, the control unit 602 may be further configured to: calculate, based on contour measurement data, the actual contour parameters of the connection region of the two connected straight line segments for each pair of connected straight line segments in a plurality of straight line segment portions; and calculate, based on contour measurement data, the actual contour parameters of the connection region of the chamfered portion and the two straight line segments connected to the chamfered portion for each chamfered portion in one or more chamfered portions.

[0067] Optionally, the control unit 602 may be further configured to acquire profile measurement data of the cross-section while rotating the pipe, in response to the pipe having a circular or elliptical cross-section.

[0068] Optionally, the control unit 602 may be further configured to calculate the modified machining trajectory using an interpolator based on theoretical and actual contour parameters.

[0069] The laser processing apparatus 600 described above can realize the tube processing method according to the present invention as described above. Many of the design concepts and details applicable to the tube processing method of the present invention described above are also applicable to the laser processing apparatus 600 described above, and can achieve the same beneficial technical effects, which will not be repeated here.

[0070] The various aspects of the present invention have been described above through exemplary embodiments. However, it should be understood that various modifications can be made to the above exemplary embodiments without departing from the spirit and scope of the invention. For example, if suitable results can be achieved if the described techniques are performed in a different order and / or if components in the described system, architecture, device, or circuit are combined in different ways and / or replaced or supplemented by other components or their equivalents, then correspondingly, these modified other embodiments also fall within the scope of protection of the claims.

Claims

1. A method for processing pipes, comprising the following steps: a) Acquire contour measurement data of the cross-section of the pipe by at least one sensor, wherein the cross-section is a cross-section perpendicular to the length direction of the pipe; b) Calculate the actual profile parameters of the cross-section of the pipe based on the collected profile measurement data; c) Correct the machining trajectory used to process the pipe based on the theoretical profile parameters of the cross-section of the pipe and the actual profile parameters calculated by fitting; as well as d) The processing head processes the tube along the modified processing trajectory.

2. The method as described in claim 1, characterized in that, When the profile of the cross-section of the pipe includes multiple straight segment portions, step a) includes: Contour measurement data are collected at locations other than the endpoint regions of each of the plurality of straight line segments.

3. The method as described in claim 2, characterized in that, Step b) includes: b1) For each pair of connected straight line segments in the plurality of straight line segments, the actual contour parameters of the connection area of ​​the two connected straight line segments are calculated by fitting based on the contour measurement data.

4. The method as described in claim 2, characterized in that, When the profile of the cross-section of the pipe further includes one or more chamfered portions, step a) includes: Perform the following steps for each of the one or more chamfered portions: The two straight line segments connected to the chamfered portion are coarsely fitted based on the collected contour measurement data to obtain the corresponding coarsely fitted straight line segment contours; and Based on the coarsely fitted straight line segment profile obtained from the coarse fitting, the contour measurement data of the chamfered part is collected by contact measurement.

5. The method as described in claim 4, characterized in that, Step b) includes: b1) For each pair of connected straight line segments in the plurality of straight line segment portions, calculate the actual contour parameters of the connection region of the two straight line segment portions by fitting based on the contour measurement data; and b2) For each of the one or more chamfered portions, calculate the actual contour parameters of the chamfered portion and the connection area of ​​the two line segment portions connected to the chamfered portion by fitting based on the contour measurement data.

6. The method as described in claim 1, characterized in that, When the cross-section of the pipe is circular or elliptical, step a) includes: Contour measurement data of the cross-section are acquired while the tube is rotated.

7. The method as described in claim 1, characterized in that, Step c) includes: The corrected machining trajectory is calculated using an interpolator based on the theoretical and actual contour parameters.

8. A computer-readable storage medium having instructions stored thereon that, when executed, implement the method as described in any one of claims 1 to 7.

9. A computer program product comprising a computer program that, when executed, implements the method as described in any one of claims 1 to 7.

10. A laser processing apparatus, comprising: A laser processing head having one or more sensors; A chuck, the chuck being rotatable about a rotation axis; Control unit, the control unit being configured to: In response to the chuck holding the tube, the rotation axis is calibrated based on the theoretical profile parameters of the cross-section of the tube, wherein the cross-section is a cross-section perpendicular to the length direction of the tube. The contour measurement data of the cross section of the tube is acquired using one or more sensors of the laser processing head; The actual profile parameters of the cross-section of the pipe are calculated by fitting the collected profile measurement data. The machining trajectory for machining the pipe is corrected based on the theoretical profile parameters and the actual profile parameters of the cross-section of the pipe. as well as The laser processing head processes the tube along a modified processing trajectory.

11. The laser processing apparatus as described in claim 10, characterized in that, The control unit is further configured to: In response to the profile of the cross section of the pipe comprising a plurality of straight segment portions, at least one of the one or more sensors is used to acquire profile measurement data at locations other than the endpoint regions of the straight segment portions on each of the plurality of straight segment portions.

12. The laser processing apparatus as described in claim 11, characterized in that, The control unit is further configured to: For each pair of connected straight line segments among the plurality of straight line segments, the actual contour parameters of the connection region of the two connected straight line segments are calculated by fitting based on the contour measurement data.

13. The laser processing apparatus as described in claim 11, characterized in that, The one or more sensors include contact sensors, and the control unit is further configured to: In response to the profile of the cross-section of the pipe further including one or more chamfered portions, the following steps are performed for each of the one or more chamfered portions: The two straight line segments connected to the chamfered portion are coarsely fitted based on the collected contour measurement data to obtain the corresponding coarsely fitted straight line segment contours; and Based on the coarsely fitted straight line segment contour obtained from the coarse fitting, the contact sensor is used to collect contour measurement data of the chamfered portion.

14. The laser processing apparatus as described in claim 13, characterized in that, The one or more sensors include contact sensors, and the control unit is further configured to: For each pair of connected straight line segments in the plurality of straight line segment portions, the actual contour parameters of the connection area of ​​the two straight line segment portions are calculated by fitting based on the contour measurement data. as well as For each of the one or more chamfered portions, the actual contour parameters of the chamfered portion and the connection area of ​​the two line segments connected to the chamfered portion are calculated by fitting based on the contour measurement data.

15. The laser processing apparatus as described in claim 10, characterized in that, The control unit is further configured to: In response to the fact that the cross-section of the pipe is circular or elliptical, contour measurement data of the cross-section are acquired while the pipe is rotated.

16. The laser processing apparatus as described in claim 10, characterized in that, The control unit is further configured to: The corrected machining trajectory is calculated using an interpolator based on the theoretical and actual contour parameters.

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