A three-way intelligent deviation correction virtual group pairing unloading method

Abstract

The application discloses a kind of tee intelligent deviation rectification virtual group pair discharging method, it includes two modes of forward cutting and reverse cutting, comprising the following steps: S1. obtaining the point cloud data of three old pipes and tee;S2. the straight line equation of straight line l1, l2, l3 is solved from point cloud data;S3. determine A, B and C point;S4. solve point D, E and F;S5. obtain the intersection line of three pipes of tee respectively with three old pipes;S6. calculate the track deviation compensation of cutting robot, and obtain cutting track line after adding the intersection line;And cutting discharging is carried out.The beneficial effects of the present application are: cutting track line can be designed by virtual group pair, and tee and old pipe after cutting can realize perfect matching by once cutting, thereby greatly improving the efficiency of repair.

Description

Technical Field

[0001] This invention relates to the field of pipeline maintenance, and in particular to a method for intelligent virtual alignment and material feeding of tee fittings. Background Technology

[0002] In the repair of water pipes, gas pipes, oil pipes, and other pipelines, the efficiency of emergency repairs is always the most important concern, especially when tees or nearby pipes are damaged and need to be replaced. A common emergency repair procedure is as follows: first, the pipeline is cut off, the original tee is removed, leaving three old pipe sections; the spacing between the cut ends of the old pipes is pre-designed to meet the tee's size range; after cutting, due to the existing stress, the cut ends of the old pipes will deflect, and their axes will shift, forming an interlocking joint – a situation known in the industry as a "dead joint"; workers will hoist the new tee to the old pipes and adjust its position; experienced workers will determine the cutting line through measurement and then cut; the cut tee is then welded to the old pipes, completing the emergency repair. In practice, the manually confirmed cutting line usually leaves a large margin, and the repair is completed through repeated attempts; this method avoids over-cutting and insufficient dimensions, but it is inefficient, difficult, and results in inconsistent pipe spacing, affecting welding quality. Summary of the Invention

[0003] The purpose of this invention is to provide a method for intelligent alignment and virtual assembly of three-way valves to solve or partially solve the above-mentioned technical problems.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A method for intelligent web-aligned virtual assembly and unloading of three-way connectors, comprising two modes: forward cutting and reverse cutting, and including the following steps:

[0006] S1. Obtain point cloud data for the three old pipes and the tee;

[0007] S2. Solve for the equations of lines l1, l2, and l3 from the point cloud data; in the forward cutting mode, lines l1, l2, and l3 are the axes of the three pipes of the tee; in the reverse cutting mode, lines l1, l2, and l3 are the axes of the three old pipes.

[0008] S3. Determine points A, B, and C; in forward cutting mode, points A, B, and C are the endpoints of the three old pipe axes; in reverse cutting mode, points A, B, and C are the endpoints of the three pipe axes of the tee.

[0009] S4. Select points D, E, and F from lines l1, l2, and l3 respectively. The positional relationship between points D, E, and F satisfies the positional constraints of points A, B, and C.

[0010] S5. Simulate the position and orientation of the tee so that points D, E, and F coincide with points A, B, and C respectively; obtain the intersection lines of the three pipes of the tee with the three old pipes respectively;

[0011] S6. Calculate the track deviation compensation of the cutting robot and add the intersection line to obtain the cutting trajectory line; in the forward cutting mode, the cutting robot cuts the tee according to the cutting trajectory line; in the reverse cutting mode, the cutting robot cuts the old pipe according to the cutting trajectory line.

[0012] Preferably, in the reverse cutting mode, the equations of the lines l1, l2, l3 are:

[0013] l1: p1+t1v1, t1∈R

[0014] l2: p2 + t2v2, t2∈R

[0015] l3: p3 + t3v3, t3 ∈ R

[0016] Where p1, p2, and p3 are the endpoints of the three old pipe axes; t 1、 t2 and t3 are parameters; v1, v2, and v3 are the direction vectors of the three old pipe axes.

[0017] Preferably, in the forward cutting mode, the equations of the lines l1, l2, and l3 are:

[0018] l1: p1+t1v1, t1∈R

[0019] l2: p2 + t2v2, t2∈R

[0020] l3: p3 + t3v3, t3 ∈ R

[0021] Where p1, p2, and p3 are the endpoints of the three pipe axes of the tee; t 1、 t2 and t3 are parameters; v1, v2, and v3 are the direction vectors of the three pipe axes of the tee.

[0022] Preferably, the positional constraints of points D, E, and F include:

[0023] L de =L ab

[0024] L ef =L bc

[0025] L df =L ac ; among which, L ab L is the distance between points A and B. bc L is the distance between points B and C. acL is the distance between points A and C. de L is the distance between points D and E. ef L is the distance between points E and F. df It is the distance between points D and F.

[0026] Preferably, the method further includes step S7. Using the three pipes of the tee or the three old pipes as the pipes to be cut, a track is pre-installed on the pipes to be cut along their circumference. The three cutting robots are pre-installed on one of the tracks and can move along the tracks. Each cutting robot includes a slide rail arranged along the axial direction of the pipe, and a cutting torch is movably arranged on the slide rail. The cutting robot includes a traveling wheel that travels along the track, and the two outer sides of the traveling wheel are provided with guards that clamp the edge of the track.

[0027] Preferably, the pipe where the cutting robot is located is taken as the target pipe, and the cutting robot is the target cutting robot. In step S6, calculating the trajectory deviation compensation of the target cutting robot includes the following steps:

[0028] S61. Scan the track and the torch; project the torch of the object cutting robot along the radial direction of the object pipe;

[0029] S62. Draw a straight line parallel to the axis of the object pipe, passing through the projection point at the front of the cutting torch, and denote it as the projection line. Find the intersection point of the projection line and the edge of the object cutting robot's track, and denote it as the initial point.

[0030] S63. Calculate the distance from the intersection of the end face of the object pipe and the projection line to the initial point, and denot it as the standard distance;

[0031] S64. Calculate the distance from the edge of the object cutting robot's track to the end face of the object pipe, and calculate the deviation value between this distance and the standard distance. The negative number of this deviation value is recorded as the track deviation compensation.

[0032] Preferably, in the reverse cutting mode, in step S2, the cylindrical structure of the old pipe is first identified from the point cloud data by principal component analysis, and its corresponding axis is obtained; then, two points are randomly extracted on the corresponding axis to solve the equations of the straight lines l1, l2, l3 where the axes of the three old pipes are located.

[0033] Preferably, in the forward cutting mode, in step S2, the cylindrical structure of the three pipes of the tee is first determined by principal component analysis from the point cloud data, and their corresponding axes are obtained; then, two points are arbitrarily extracted on the corresponding axes to solve the equations of the straight lines l1, l2, l3 on which the axes of the three pipes of the tee are located.

[0034] The beneficial effects of this invention are: by designing the cutting trajectory line through virtual pairing, the cut tee and the old pipe can be perfectly matched through a single cut, thereby greatly improving the efficiency of emergency repair; the reverse cutting mode provided by this invention can directly cut the old pipe while preserving the complete tee, which can avoid the grinding work of the tee bevel or complete the bevel grinding and 3D scanning of the tee before maintenance, thereby improving the efficiency of maintenance. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the working state of the present invention during forward cutting;

[0036] Figure 2 This is a schematic diagram of the working state of the present invention during reverse cutting;

[0037] Figure 3 This is a 3D structural diagram of the cutting robot;

[0038] Figure 4 This is a schematic diagram illustrating the principle of forward cutting in this invention;

[0039] Figure 5 This is a schematic diagram illustrating the principle of reverse cutting in this invention;

[0040] Figure 6 This is a schematic diagram of the axis during forward cutting according to the present invention;

[0041] Figure 7 This is a flowchart of the present invention. Detailed Implementation

[0042] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0043] In the description of this invention, it should be noted that the terms "inner", "outer", "upper", "lower", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] like Figures 1 to 7 As shown, this invention provides a method for intelligent virtual assembly and cutting of tee fittings, which is a cutting method for replacing tee fittings 10 in pipelines. First, the damaged or replacement tee fitting 10 is cut off, resulting in three old pipes 12 to be repaired. Under normal circumstances, the axes of the three old pipes 12 will deviate from their original positions due to stress. The spacing between the openings of the three old pipes 12 after cutting will also be artificially controlled within the size range of the tee fitting 10, allowing the three old pipes 12 to be reconnected by welding a new tee fitting 10.

[0045] This invention includes two modes: forward cutting and reverse cutting.

[0046] Forward cutting: Cut the tee 10 to match the old pipe 12;

[0047] Reverse cutting: Cut the old pipe 12 to make it match the tee 10.

[0048] This invention utilizes a cutting robot 14 developed by the applicant for cutting. The cutting robot 14 includes a track 16 that surrounds the pipe to be cut. The cutting robot 14 is mounted on the track 16 and can circle the pipe along the track 16. The cutting robot 14 includes a slide rail 18 arranged axially along the pipe, on which a cutting torch 20 is movably mounted. The cutting robot 14 includes wheels 22 that travel along the track 16, with guards 24 on both outer sides of the wheels 22 to clamp the edge of the track 16. This structure ensures that when the cutting robot 14 circles the pipe, the trajectory of the cutting torch 20 aligns with the edge of the track 16. Due to unevenness of the pipe's outer wall or installation errors, the track 16 is not a perfect circle; its edge is not a perfect circle but a wavy line. This causes the cutting line of the cutting torch 20 to also be a wavy line. Consequently, during assembly, the spacing between the tee 10 and the old pipe 12 will be unstable, affecting the welding quality. A tee 10 consists of three pipes, and due to processing or specification reasons, the axes of the three pipes may not be in the same plane.

[0049] This invention includes the following steps:

[0050] S1. Obtain point cloud data for the three old pipes 12 and tee 10;

[0051] S2. Solve for the equations of lines l1, l2, and l3 from the point cloud data; in the forward cutting mode, lines l1, l2, and l3 are the axes of the three pipes of tee 10; in the reverse cutting mode, lines l1, l2, and l3 are the axes of the three old pipes 12.

[0052] S3. Determine points A, B, and C; in forward cutting mode, points A, B, and C are the endpoints of the three old pipe 12 axes; in reverse cutting mode, points A, B, and C are the endpoints of the three pipe axes of the tee 10.

[0053] S4. Select points D, E, and F from lines l1, l2, and l3 respectively. The positional relationship between points D, E, and F satisfies the positional constraints of points A, B, and C.

[0054] S5. Simulate the position and orientation of tee 10 so that points D, E and F coincide with points A, B and C respectively; obtain the intersection lines of the three pipes of tee 10 with the three old pipes 12 respectively;

[0055] S6. Calculate the track deviation compensation of the cutting robot 14 and add the intersection line to obtain the cutting trajectory line; in the forward cutting mode, the cutting robot 14 cuts the tee 10 according to the cutting trajectory line; in the reverse cutting mode, the cutting robot 14 cuts the old pipe 12 according to the cutting trajectory line.

[0056] In the reverse cutting mode, the equations of lines l1, l2, and l3 are:

[0057] l1: p1+t1v1, t1∈R

[0058] l2: p2 + t2v2, t2∈R

[0059] l3: p3 + t3v3, t3 ∈ R

[0060] Where p1, p2, and p3 are the endpoints of the three old tubes 12 axis; t 1、 t2 and t3 are parameters; v1, v2, and v3 are the direction vectors of the three old tubes 12 axes.

[0061] In the forward cutting mode, the equations of lines l1, l2, and l3 are:

[0062] l1: p1+t1v1, t1∈R

[0063] l2: p2 + t2v2, t2∈R

[0064] l3: p3 + t3v3, t3 ∈ R

[0065] Where p1, p2, and p3 are the endpoints of the three pipe axes of tee 10; t 1、 t2 and t3 are parameters; v1, v2, and v3 are the direction vectors of the three pipe axes of the tee 10.

[0066] The positional constraints of points D, E, and F include:

[0067] L de =L ab

[0068] L ef =L bc

[0069] L df =L ac ; among which, L ab L is the distance between points A and B. bc L is the distance between points B and C. ac L is the distance between points A and C. de L is the distance between points D and E. ef L is the distance between points E and F. dfIt is the distance between points D and F.

[0070] In this context, the pipe where the cutting robot 14 is located is taken as the target pipe, and the cutting robot 14 is the target cutting robot 14. In step S6, the calculation of the trajectory 16 deviation compensation of the target cutting robot 14 includes the following steps:

[0071] S61. Scan the track 16 and the cutting torch 20; project the cutting torch 20 of the object cutting robot 14 along the radial direction of the object pipe;

[0072] S62. Draw a straight line parallel to the axis of the object pipe, passing through the foremost projection point of the cutting torch 20, and denot it as the projection line. Solve for the intersection point of the projection line and the edge of the track 16 of the object cutting robot 14, and denot it as the initial point.

[0073] S63. Calculate the distance from the intersection of the end face of the object pipe and the projection line to the initial point, and denot it as the standard distance;

[0074] S64. Calculate the distance from the edge of the track 16 of the object cutting robot 14 to the end face of the object pipe, and calculate the deviation value of this distance from the standard distance. The negative number of this deviation value is recorded as the track 16 deviation compensation.

[0075] In step S2, principal component analysis is first used to identify the cylindrical structure of the old pipe 12 from the point cloud data and obtain its corresponding axis. Then, two points are arbitrarily extracted on the axis to solve the equations of the straight lines l1, l2, and l3 containing the axes of the three old pipes 12. Principal component analysis is a common method for obtaining the shape of an object from point cloud data. There are many related methods, and a suitable one can be selected.

[0076] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A three-way intelligent deviation correction virtual group unloading method, comprising two modes of forward cutting and reverse cutting, characterized in that, Includes the following steps: S1. Obtain point cloud data for the three old pipes and the tee; S2. Solving straight lines from point cloud data the straight line equation; In the forward cutting mode, the straight line is the axis of the three pipes of the tee; in the reverse cutting mode, the straight line is the axis of the three old pipes; S3. Determine points A, B, and C; in forward cutting mode, points A, B, and C are the endpoints of the three old pipe axes; in reverse cutting mode, points A, B, and C are the endpoints of the three pipe axes of the tee. S4. from the straight line points D, E and F are selected on each of the lines, and the positional relationship of the points D, E and F satisfies the positional constraint of the points A, B and C. S5. Simulate the position and orientation of the tee so that points D, E, and F coincide with points A, B, and C respectively; obtain the intersection lines of the three pipes of the tee with the three old pipes respectively; S6. Calculate the track deviation compensation of the cutting robot and add the intersection line to obtain the cutting trajectory line; in the forward cutting mode, the cutting robot cuts the tee according to the cutting trajectory line; in the reverse cutting mode, the cutting robot cuts the old pipe according to the cutting trajectory line. In the reverse cutting mode, the straight line whose equation is: ， Where p1, p2, and p3 are the endpoints of the three old pipe axes; t1, t2, and t3 are parameters; and v1, v2, and v3 are the direction vectors of the three old pipe axes. In the forward cutting mode, the straight line whose equation is: ， Where p1, p2, and p3 are the endpoints of the three pipe axes of the tee; t1, t2, and t3 are parameters; and v1, v2, and v3 are the direction vectors of the three pipe axes of the tee.

2. The method according to claim 1, wherein, The positional constraints of points D, E, and F include: L de =L ab L ef =L bc L df =L ac ; wherein L ab is the distance between points A and B, L bc is the distance between points B and C, L ac is the distance between points A and C, L de is the distance between points D and E, L ef is the distance between points E and F, and L df is the distance between points D and F.

3. The method according to claim 1, wherein, It also includes step S7. Using the three pipes of the tee or the three old pipes as the pipes to be cut, a track is pre-installed on the pipes to be cut along its circumference. The three cutting robots are pre-installed on one of the tracks and can move along the track. The cutting robot includes a slide rail arranged along the pipe axis, and a cutting torch is movably arranged on the slide rail. The cutting robot includes a traveling wheel that travels along the track, and the two outer sides of the traveling wheel are provided with guards that clamp the edge of the track.

4. The method according to claim 1, wherein, Taking the pipe where the cutting robot is located as the target pipe, and the cutting robot as the target cutting robot, step S6, calculating the trajectory deviation compensation of the target cutting robot includes the following steps: S61. Scan the track and the torch; project the torch of the object cutting robot along the radial direction of the object pipe; S62. Draw a straight line parallel to the axis of the object pipe, passing through the projection point at the front of the cutting torch, and denote it as the projection line. Find the intersection point of the projection line and the edge of the object cutting robot's track, and denote it as the initial point. S63. Calculate the distance from the intersection of the end face of the object pipe and the projection line to the initial point, and denot it as the standard distance; S64. Calculate the distance from the edge of the object cutting robot's track to the end face of the object pipe, and calculate the deviation value between this distance and the standard distance. The negative number of this deviation value is recorded as the track deviation compensation.

5. The method for intelligent alignment and virtual assembly of three-way valves according to claim 1, characterized in that, In the reverse cutting mode, step S2 first uses principal component analysis to identify the cylindrical structure of the old pipe from the point cloud data and obtain its corresponding axis; then, two points are arbitrarily extracted on the corresponding axis to solve for the straight line containing the axes of the three old pipes. The equation.

6. The method for intelligent virtual assembly and unloading of three-way valves according to claim 1, characterized in that, In the forward cutting mode, step S2 first uses principal component analysis to determine the cylindrical structure of the three pipes of the tee identified from the point cloud data and obtains their corresponding axes; then, two points are arbitrarily extracted on the corresponding axes to solve for the straight lines containing the axes of the three pipes of the tee. The equation.

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