Pipe cutting follow-up control method, device and equipment and storage medium

Abstract

The invention is suitable for the technical field of automation control, and provides a pipe cutting follow-up control method, device and equipment and a storage medium, and the method comprises the steps that when rotating surface changing machining is conducted on a pipe, the machining position of a machining head on the section of the pipe is obtained; determining a target compensation function from pre-constructed piecewise compensation functions according to the processing position; calculating a compensation value according to the target compensation function, and determining a height signal of the machining head according to the compensation value. According to the pipe cutting follow-up control method provided by the embodiment of the invention, the corner machining performance can be improved in the machining and rotating process of the rectangular pipe.

Description

Technical Field

[0001] This application belongs to the field of automation control technology, and in particular relates to a pipe cutting follow-up control method, device, equipment and storage medium. Background Technology

[0002] In the field of laser cutting for tube processing, when rectangular tubes are rotated and changed over corners, collisions are very likely to occur, and the following performance is poor. This not only leads to frequent processing accidents, but also makes it impossible for the processing quality to meet the established process standards, which seriously restricts production efficiency and product qualification rate.

[0003] Currently, most laser CNC machine tools rely on capacitive feedback height to control the machining process. However, the signal quality of capacitive sensors is closely related to the size and shape of their contact area with the material. During the rotational machining of rectangular tubes, the contact area between the capacitive sensor and the material changes continuously, causing signal deviations. This is especially pronounced during the rotation from one side of the tube to another, where signal fluctuations are particularly severe and can easily lead to collisions, posing a significant safety hazard to the production process. Summary of the Invention

[0004] Embodiments of this application provide a pipe cutting follow-up control method, apparatus, device, and storage medium, which can improve corner processing performance during the rotation process of rectangular pipe processing.

[0005] In a first aspect, embodiments of this application provide a tube-cutting follow-up control method, comprising: When performing rotary resurfacing processing on a pipe, the processing position of the processing head on the pipe cross-section is obtained; The target compensation function is determined from the pre-constructed piecewise compensation function based on the processing position; The compensation value is calculated based on the target compensation function, and the height signal of the processing head is determined based on the compensation value.

[0006] In one possible implementation of the first aspect, obtaining the processing position of the processing head on the pipe cross-section includes: Obtain the processing length of the processing head on the surface of the pipe, and the rotation angle of the pipe; The processing position of the processing head on the cross-section of the pipe is determined based on the processing length and the pipe rotation angle.

[0007] In one possible implementation of the first aspect, the processing position is divided into a plate surface area and a corner area, and determining the processing position of the processing head on the pipe cross-section based on the processing length and the pipe rotation angle includes: If the processing length is less than the inflection point of the pipe and the rotation angle of the pipe is zero, then the processing position of the processing head on the pipe cross-section is determined to be the plate surface area; If the processing length is greater than or equal to the inflection point of the pipe, and the rotation angle of the pipe is not zero, then the processing position of the processing head on the pipe cross-section is determined to be the corner area.

[0008] In one possible implementation of the first aspect, determining the target compensation function from a pre-constructed piecewise compensation function based on the processing position includes: If the processing location is a plate surface area, then the plate surface compensation function is determined from the segmented compensation function; If the processing location is a corner area, then the inflection point compensation function is determined from the segmented compensation function.

[0009] In one possible implementation of the first aspect, calculating the compensation value based on the target compensation function includes: If the target compensation function is a plate surface compensation function, then the processing length of the processing head on the pipe plate surface is input into the plate surface compensation function to calculate the plate surface compensation value.

[0010] In one possible implementation of the first aspect, calculating the compensation value based on the target compensation function includes: If the target compensation function is an inflection point compensation function, then the rotation angle of the pipe is input into the inflection point compensation function to calculate the inflection point compensation value.

[0011] In one possible implementation of the first aspect, before obtaining the processing position of the processing head on the tube cross-section, the method further includes: Obtain the pre-configured target height from the processing head to the pipe, the maximum value of the plate compensation function, the pipe inflection point position, the maximum value of the inflection point compensation function, and the dimensional parameters; The adjustment parameters for the changing trend of the adjustment function are determined based on the target height; Based on the adjustment parameters, the maximum value of the plate surface compensation function, and the inflection point position of the pipe, a plate surface compensation function is constructed with the processing length of the processing head on the pipe plate surface as the independent variable. The plate surface compensation function is an exponential function. Based on the adjustment parameters, the maximum value of the inflection point compensation function, and the scale parameters, an inflection point compensation function is constructed with the pipe rotation angle as the independent variable. The inflection point compensation function is an S-shaped function. By combining the plate surface compensation function and the inflection point compensation function, a piecewise compensation function is constructed, wherein the minimum value of the inflection point compensation function is set as the maximum value of the plate surface compensation function.

[0012] Secondly, embodiments of this application provide a pipe-cutting follow-up control device, comprising: This module is used to obtain the processing position of the processing head on the cross-section of the pipe during rotary resurfacing processing. A function determination module for determining the target compensation function from a pre-built segmented compensation function based on the processing position; A signal determination module for calculating a compensation value based on the target compensation function and determining the height signal of the processing head based on the compensation value.

[0013] Thirdly, embodiments of this application provide a processing apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the tube cutting follow-up control method described in any one of the first aspects above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the tube-cutting follow-up control method described in any one of the first aspects above.

[0015] Fifthly, embodiments of this application also provide a computer program product that, when running on a terminal device, causes the terminal device to execute the tube-cutting follow-up control method described in any of the above claims.

[0016] The beneficial effects of the embodiments of this application are: This embodiment obtains the processing position of the processing head on the cross-section of the pipe during the rotational resurfacing process. Based on the processing position, a target compensation function is determined from a pre-built segmented compensation function. This fully considers the differences in characteristics of different positions of the pipe during processing and selects the corresponding target compensation function. The compensation value is calculated through the target compensation function, and the height signal of the processing head is determined based on the compensation value. This allows for differential compensation of the follow-up height at different positions during the rotational processing of the pipe, avoiding processing errors and safety hazards caused by improper height and improving the safety performance of corner processing. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of a tube-cutting follow-up control method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating step S201 of the tube-cutting follow-up control method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the pipe region division in a pipe cutting follow-up control method provided in an embodiment of this application; Figure 4 This is a flowchart illustrating the process before step S201 of the tube-cutting follow-up control method provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a pipe-cutting follow-up control device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the position acquisition module of a pipe-cutting follow-up control device provided in one embodiment of this application; Figure 7 This is a schematic diagram of the position determination submodule of the pipe cutting follow-up control device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the function determination module structure of a pipe-cutting follow-up control device provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a pipe-cutting follow-up control device provided in another embodiment of this application; Figure 10 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Detailed Implementation

[0019] To make the technical problem to be solved, the technical solution and the beneficial effects of this application clearer, the following is in conjunction with the appendix. Figures 1 to 9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0021] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0022] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0024] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0026] The embodiments of this application provide a tube cutting follow-up control method, which can be applied to laser processing or machine tool processing, such as in the field of laser flat plate cutting.

[0027] Figure 1 This is a schematic flowchart of a tube-cutting follow-up control method provided in an embodiment of this application. (Reference) Figure 1 The tube cutting follow-up control method provided in the embodiments of this application includes steps S201 to S203.

[0028] Step S201: When performing rotary face-changing processing on the pipe, obtain the processing position of the processing head on the cross-section of the pipe; Pipes are long, narrow strips of steel or non-metallic materials with a hollow cross-section and continuously closed perimeter. They can be classified by material into metal pipes (such as steel pipes, copper pipes, and aluminum pipes) and non-metallic pipes (such as plastic pipes, rubber pipes, and fiberglass pipes). They can also be classified by shape into round pipes, square pipes, and irregularly shaped pipes. This embodiment primarily uses square pipes as an example.

[0029] The processing head may include, but is not limited to, a laser cutting head, a flame processing head, a waterjet cutting head, a welding head, a marking head, etc. For ease of understanding, this embodiment will be described using a laser cutting head in a follow-up processing scenario.

[0030] Rotary face-changing machining refers to a technique in pipe processing where different cross-sections of the pipe are continuously processed by rotating the pipe or machining head. This technique is used in scenarios requiring multi-angle and multi-section processing, such as pipe cutting, welding, and surface treatment.

[0031] The processing position refers to the specific working point coordinates of the processing head on the cross-section of the pipe. It usually includes parameters such as radial distance and angular position, and is the key basis for determining the movement trajectory of the processing head and the compensation strategy.

[0032] Specifically, during the rotary resurfacing process of the pipe, sensors (such as laser displacement sensors, encoders, etc.) monitor the processing position of the processing head on the pipe cross-section. For example, a rotary encoder is used to measure the rotation angle of the pipe, and a radial displacement sensor is used to obtain the distance from the processing head to the pipe axis, thus obtaining the processing length of the processing head on the pipe surface. Finally, a coordinate transformation algorithm is used to fuse the multi-dimensional measurement data into two-dimensional coordinates of the processing head on the pipe cross-section (such as radial distance and angle in polar coordinates), thus obtaining the processing position.

[0033] In some embodiments, reference Figure 2 , Figure 2 This is a flowchart illustrating step S201 of the tube-cutting follow-up control method provided in an embodiment of this application. Step S201 may specifically include steps S2011 to S2012.

[0034] Step S2011: Obtain the processing length of the processing head on the pipe plate surface and the pipe rotation angle; Processing length refers to the distance the processing head moves along a specific direction on the surface of the pipe. Pipe rotation angle refers to the angle at which the pipe rotates around its central axis. By controlling the pipe's rotation angle, different parts of the pipe can be sequentially positioned to face the processing head, thus achieving omnidirectional processing.

[0035] Specifically, appropriate sensors and measuring devices are used to obtain the processing length of the processing head on the pipe surface and the rotation angle of the pipe. For example, a linear displacement sensor is used to measure the distance the processing head moves on the pipe surface, i.e., the processing length; an angle encoder is used to measure the angle of rotation of the pipe around the central axis.

[0036] Step S2012: Determine the processing position of the processing head on the cross-section of the pipe based on the processing length and the pipe rotation angle. Specifically, the obtained processing length and pipe rotation angle are analyzed and processed, and either polar coordinate positioning or rectangular coordinate positioning is used to determine the processing position of the processing head on the pipe cross-section. For example, when using polar coordinate positioning, the processing length corresponds to the radius in polar coordinates, and the pipe rotation angle corresponds to the polar angle. In the polar coordinate system, the center of the pipe is the pole, and a fixed direction is the polar axis. Based on the obtained processing length (radius r) and pipe rotation angle (polar angle θ), the polar coordinate position of the processing head on the pipe cross-section can be determined. For example, when using rectangular coordinate positioning, the polar coordinates are first converted to rectangular coordinates. Let the center of the pipe cross-section be the origin (0, 0), the processing length be r, and the pipe rotation angle be θ. According to the conversion formula between rectangular and polar coordinates, the coordinates (x, y) of the processing head in the rectangular coordinate system are calculated. This method is easy to integrate with some control systems and processing equipment based on rectangular coordinate systems and is suitable for situations where the processing path is relatively complex or needs to work in conjunction with other rectangular coordinate system equipment.

[0037] Step S202: Determine the target compensation function from the pre-built segmented compensation function based on the processing position; The piecewise compensation function is a set of mathematical functions pre-constructed based on the geometric characteristics, material properties, and processing error patterns of different pipe sections. Each function corresponds to a compensation rule for a specific section of the pipe, used to quantify the relationship between processing errors and compensation amounts.

[0038] Specifically, the target compensation function is determined from a pre-built set of segmented compensation functions based on the processing location. For example, the pipe cross-section is divided into multiple segments (such as inlet segment, intermediate segment, outlet segment, plate surface area, and inflection point area), each segment corresponding to an independent compensation function. The corresponding segment index is matched by the processing location coordinates, and then the target compensation function is called from the set of segmented compensation functions.

[0039] Optionally, if the processing location is at the boundary of a section, an interpolation algorithm can be used to smooth the transition and avoid abrupt changes in the compensation value.

[0040] In some embodiments, the processing location can be divided into a panel area and a corner area.

[0041] Specifically, refer to Figure 3 , Figure 3 This is a schematic diagram of the pipe region division in a pipe cutting follow-up control method provided in one embodiment of this application. The pipe cross-section is divided into a plate surface region and a corner region. For the processing position of the processing head on the pipe cross-section, it is determined whether the processing position is in the plate surface region or the corner region.

[0042] In some embodiments, step S2012 may specifically include the following steps: If the processing length is less than the inflection point of the pipe and the rotation angle of the pipe is zero, then the processing position of the processing head on the pipe cross-section is determined to be the plate surface area. If the processing length is greater than or equal to the inflection point of the pipe, and the rotation angle of the pipe is not zero, then the processing position of the processing head on the pipe cross-section is determined to be the inflection point area.

[0043] In this embodiment, the pipe inflection point refers to a specific point where the geometry of the pipe surface changes. This specific point divides the pipe surface into a relatively flat plate area and a corner area where the curvature changes. It is a key reference point for determining whether the processing head is in the plate area or the corner area.

[0044] Specifically, the processing length and pipe rotation angle are used to determine the processing position. If the processing length is less than the pipe inflection point and the pipe rotation angle is zero, it means that the area currently being processed by the processing head has not yet reached the pipe inflection point, and the pipe has not rotated and is in an initial static state. At this time, the processing position of the processing head on the pipe cross-section is determined to be the plate surface area.

[0045] Specifically, if the processing length is greater than or equal to the pipe inflection point and the pipe rotation angle is not zero, it indicates that the processing head has passed the pipe inflection point and the pipe is still rotating. In this case, the processing position of the processing head on the pipe cross-section is determined as the inflection point area.

[0046] This embodiment uses condition judgment and classification based on the pipe's inflection point position and rotation angle to accurately divide the position of the processing head on the pipe cross-section into a plate area or a corner area. This provides an accurate basis for subsequent use of different compensation mechanisms and processing for different parts, thereby ensuring the quality and precision of pipe processing.

[0047] In some embodiments, after conducting fixed-height processing experiments on a pipe cutting machine, it was learned from a large amount of fixed-height processing experimental data that when processing on the pipe surface, as the distance from the processing position to the edge of the pipe decreases, the sensor's feedback height continuously increases, exhibiting an exponentially increasing trend. When processing around corners, the sensor's feedback height initially increases rapidly, then gradually approaches a maximum value in the middle stage, and then decreases to a certain value with an S-shaped curve. Based on this trend, this embodiment designs a height signal compensation mechanism suitable for pipe cutting follow-up. This mechanism includes height compensation for both pipe surface and corner cases, and correspondingly sets a surface compensation function and a corner point compensation function. Specifically, step S202 above may include the following steps: If the processing location is a plate surface area, then the plate surface compensation function is determined from the piecewise compensation function; If the processing location is a corner area, then the inflection point compensation function is determined from the piecewise compensation function.

[0048] Specifically, after judgment, if the processing position of the processing head on the pipe cross-section is a plate surface area, then the plate surface compensation function is retrieved from the piecewise compensation function through the pre-built mapping relationship between the processing position and the plate surface compensation function. If the processing position of the processing head on the pipe cross-section is a corner area, then the inflection point compensation function is retrieved from the piecewise compensation function through the pre-built mapping relationship between the processing position and the inflection point compensation function.

[0049] In some embodiments, reference Figure 4 , Figure 4 This is a flowchart illustrating the process prior to step S201 of the pipe-cutting follow-up control method provided in an embodiment of this application. Before step S201, this embodiment further includes a process for constructing a piecewise compensation function, specifically including steps S101 to S105.

[0050] Step S101: Obtain the pre-configured target height from the processing head to the pipe, the maximum value of the plate compensation function, the pipe inflection point position, the maximum value of the inflection point compensation function, and the dimensional parameters. Specifically, the system obtains the pre-configured target height from the processing head to the pipe, the maximum value of the plate surface compensation function, the pipe inflection point position, the maximum value of the inflection point compensation function, and dimensional parameters. The target height refers to the pre-set ideal vertical distance between the processing head and the pipe; precise control of this distance is a key factor in ensuring processing accuracy.

[0051] The maximum value of the plate surface compensation function is derived based on the physical characteristics of the processing system and the interaction model between the processing head and the pipe. For example, considering factors such as force transmission and material deformation during processing, a mathematical model is established to accurately calculate the maximum value of the plate surface compensation function under specific conditions.

[0052] The inflection point of a pipe refers to the specific location where the pipe's geometry changes. The location of a pipe inflection point can be obtained by consulting pipe design data, or by using measuring equipment such as a coordinate measuring machine or laser scanner, or by identifying it through image processing using a machine vision system.

[0053] The maximum value of the inflection point compensation function is obtained by simulating the deformation and stress distribution of the pipe during processing using computer simulation software. For example, by simulating different processing conditions, the compensation requirements at the inflection point of the pipe can be analyzed, thereby determining the maximum value of the inflection point compensation function.

[0054] The scaling parameter is a parameter that affects the shape and range of the compensation function and is used to adjust the size of the compensation scale. The appropriate value of the scaling parameter can be determined through a combination of parameter optimization algorithms, theoretical derivation, and experimental verification.

[0055] Step S102: Determine the adjustment parameters for the changing trend of the adjustment function based on the target height; Specifically, the adjustment parameters for the changing trend of the adjustment function are determined based on the target height. For example, the target height can be converted into adjustment parameters using a mathematical model or algorithm. These adjustment parameters are used to adjust the changing trend of the compensation function so that the compensation function can adapt to the needs of different processing conditions.

[0056] In this embodiment, the adjustment parameter can reflect the influence of the change in distance between the processing head and the pipe on the trend of the compensation function, providing a key control variable for constructing the compensation function.

[0057] Step S103: Based on the adjustment parameters, the maximum value of the plate surface compensation function, and the inflection point position of the pipe, construct the plate surface compensation function with the processing length of the processing head on the pipe plate surface as the independent variable. The plate surface compensation function is an exponential function. Specifically, using the processing length of the processing head on the pipe surface as the independent variable, and combining information such as adjustment parameters, the maximum value of surface compensation, and the inflection point position of the pipe, an exponential surface compensation function is constructed. The characteristic of an exponential function is that it changes slowly when the independent variable is small, and gradually accelerates as the independent variable increases. This characteristic can adapt to the adjustment requirements of processing parameters in the surface area, ensuring the flatness and accuracy of the surface processing.

[0058] For example, based on the data collected during fixed-height machining, the change in the machining height signal in the board surface area exhibits an exponential function trend. Based on this, the following board surface compensation function can be constructed: (1); Where B represents the maximum value of the plate surface compensation function; x is the processing length of the processing head on the pipe plate surface; k is the adjustment parameter for adjusting the trend of the function, which can be determined by the target height from the processing head to the pipe; c is the inflection point position of the pipe, used to control the trend of the function in the second half.

[0059] Step S104: Based on the adjustment parameters, the maximum value of the inflection point compensation, and the scale parameters, construct the inflection point compensation function with the pipe rotation angle as the independent variable. The inflection point compensation function is an S-shaped function. Specifically, using the pipe rotation angle as the independent variable, and combining adjustment parameters, the maximum value of inflection point compensation, and dimensional parameters, an S-shaped inflection point compensation function is constructed. The S-shaped function has smooth transition characteristics, enabling gradual adjustment of processing parameters in the corner region, effectively reducing processing defects caused by sudden parameter changes.

[0060] For example, data collected during fixed-height processing shows that the trend of the corner height signal changes is similar to a sigmoid function, increasing from an S-shaped trend to a stable maximum value. Specifically, the height deviation reaches its maximum when the pipe rotation angle reaches 45 degrees, and the trend from 45 degrees to 90 degrees is similar to the trend from 0 degrees to 45 degrees. Therefore, the following inflection point compensation function can be constructed: (2); Where A is the maximum value of the corner compensation function, which is determined by the specific machine tool configuration and adjusted based on experience; k is the adjustment parameter for adjusting the trend of the function change, which can be determined by the target height from the processing head to the pipe; α is the scale parameter, which can control the position of the function change; n is the parameter used to adjust the trend of the function change, and the independent variable θ represents the rotation angle of the pipe.

[0061] Step S105: Combine the plate surface compensation function and the inflection point compensation function to construct a piecewise compensation function, wherein the minimum value of the inflection point compensation function is set as the maximum value of the plate surface compensation function.

[0062] Specifically, a piecewise compensation function is constructed by combining the surface compensation function and the inflection point compensation function. The minimum value of the inflection point compensation function is set as the maximum value of the surface compensation function to ensure a smooth transition between the two functions at their junctions. For example, the following piecewise compensation function can be constructed: (3).

[0063] This embodiment obtains the target height from the processing head to the pipe and determines the adjustment parameters based on this. It can precisely adjust the follow-up height according to different positions of the processing head, ensuring a suitable distance between the processing head and the pipe. By combining the adjustment parameters, maximum value, and inflection point position, an exponential function is constructed with the processing length as the independent variable to better adapt to the characteristics of plate processing. By combining the adjustment parameters, maximum value, and dimensional parameters, an S-shaped function is constructed with the pipe rotation angle as the independent variable to flexibly handle complex changes at corners. By setting the minimum value of the inflection point compensation function to the maximum value of the plate surface compensation function, a piecewise compensation function is constructed to achieve a smooth transition between the two compensation methods at corners, avoiding sudden height changes due to switching compensation methods during processing and ensuring processing continuity and stability. The overall compensation mechanism ensures that the processing head will not collide with the pipe due to improper height when passing corners, effectively guaranteeing the safety of the processing process.

[0064] It should be noted that steps S101 to S105 can also be performed before step S202.

[0065] Step S203: Calculate the compensation value according to the target compensation function, and determine the height signal of the processing head based on the compensation value.

[0066] In this embodiment, the compensation value is a specific value calculated using a target compensation function, used to correct the actual position deviation of the machining head and ensure that the machining accuracy meets the requirements. The height signal refers to the position control signal of the machining head in the vertical direction, which is usually adjusted by the servo system or motion controller according to the compensation value to achieve precise positioning of the machining head.

[0067] Specifically, the compensation value is calculated based on the target compensation function, and the height signal is adjusted. The target compensation function takes the coordinates of the machining position as input variable and outputs a compensation value (such as a height adjustment value). The height signal of the machining head is determined based on the compensation value. For example, the calculated compensation value is superimposed on the reference height signal of the machining head, and the height of the machining head is adjusted in real time by driving a servo motor or hydraulic actuator through a closed-loop control system (such as a PID controller), ultimately achieving machining accuracy control.

[0068] In some embodiments, step S203 may specifically include the following steps: If the target compensation function is a plate surface compensation function, then the processing length of the processing head on the pipe plate surface is input into the plate surface compensation function to calculate the plate surface compensation value.

[0069] Specifically, if the target compensation function is a plate surface compensation function, the processing length of the processing head on the pipe plate surface is input into the plate surface compensation function. The mathematical relationship defined by the function is used for calculation to obtain the plate surface compensation value. The plate surface compensation value can reflect the magnitude of the parameters that need to be adjusted in the plate surface area during processing. For example, the processing height can be adjusted according to the plate surface compensation value to ensure the stability of plate surface processing and the accuracy of following, thereby improving processing precision.

[0070] In some embodiments, step S203 may further include the following steps: If the target compensation function is an inflection point compensation function, then the pipe rotation angle is input into the inflection point compensation function to calculate the inflection point compensation value.

[0071] Specifically, if the target compensation function is an inflection point compensation function, the pipe rotation angle is input into the inflection point compensation function, and the calculation is performed according to the calculation rules set by the function to obtain the inflection point compensation value. The inflection point compensation value can be used to adjust the processing height in the corner area, so that the machine tool will not collide when passing the corner under high-speed processing, and the following error of the pipe during rotation processing is controlled within a reasonable range, thereby improving the performance of corner processing.

[0072] The pipe-cutting follow-up control method provided in this application obtains the processing position of the processing head on the pipe cross-section during the rotational re-face processing of the pipe. Based on the processing position, a target compensation function is determined from a pre-constructed segmented compensation function. This method fully considers the characteristic differences of different positions of the pipe during processing and selects the corresponding target compensation function. The compensation value is calculated through the target compensation function, and the height signal of the processing head is determined based on the compensation value. This method can compensate for the difference in follow-up height at different positions during the rotational processing of the pipe, avoiding processing errors and safety hazards caused by improper height, and improving the safety performance of corner processing.

[0073] Corresponding to the method in the above embodiments, Figure 5 The diagram shows a structural block diagram of the pipe-cutting follow-up control device provided in the embodiments of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0074] refer to Figure 5 The pipe-cutting follow-up control device provided in the embodiments of this application includes a position acquisition module 1A, a function determination module 2A, and a signal determination module 3A.

[0075] Specifically, the pipe-cutting follow-up control device may include: Position acquisition module 1A is used to obtain the processing position of the processing head on the cross-section of the pipe when performing rotary face-changing processing on the pipe. Function determination module 2A for determining the target compensation function from a pre-built segmented compensation function based on the processing location; Signal determination module 3A is used to calculate the compensation value based on the target compensation function and determine the height signal of the processing head based on the compensation value.

[0076] Figure 6 This is a schematic diagram of the position acquisition module structure of a pipe-cutting follow-up control device according to an embodiment of this application. (Reference) Figure 6 The aforementioned location acquisition module 1A may include a parameter acquisition submodule 11A and a location determination submodule 12A.

[0077] Specifically, the location acquisition module 1A mentioned above may include: Submodule 11A is used to obtain parameters such as the processing length of the processing head on the pipe plate and the rotation angle of the pipe. Position determination submodule 12A is used to determine the processing position of the processing head on the cross-section of the pipe based on the processing length and the pipe rotation angle.

[0078] Figure 7 This is a schematic diagram of the position determination submodule of a pipe-cutting follow-up control device provided in one embodiment of this application. (Reference) Figure 7The aforementioned processing location is divided into a panel area and a corner area. The aforementioned location determination submodule 12A may include a first area determination unit 121A and a second area determination unit 122A.

[0079] Specifically, the aforementioned location determination submodule 12A may include: Unit 121A is used to determine the first region of the plate area by determining the processing position of the processing head on the cross-section of the pipe if the processing length is less than the inflection point of the pipe and the rotation angle of the pipe is zero. The second region determination unit 122A is used to determine the processing position of the processing head on the pipe cross-section as the corner region if the processing length is greater than or equal to the pipe inflection point and the pipe rotation angle is not zero.

[0080] Figure 8 This is a schematic diagram of the function determination module structure of a pipe-cutting follow-up control device according to an embodiment of this application. (Reference) Figure 8 The function determination module 2A mentioned above may include a first function determination submodule 21A and a second function determination submodule 22A.

[0081] Specifically, the function determination module 2A mentioned above may include: Submodule 21A is used to determine the first function of the board surface compensation function from the segmented compensation function if the processing location is a board surface area; Submodule 22A is used to determine the second function of the inflection point compensation function from the segmented compensation function if the processing location is a corner area.

[0082] In one embodiment, the signal determination module 3A may include a first calculation submodule.

[0083] Specifically, the signal determination module 3A mentioned above may include: a first calculation submodule for inputting the processing length of the processing head on the pipe plate surface into the plate surface compensation function if the target compensation function is a plate surface compensation function, and calculating the plate surface compensation value.

[0084] In one embodiment, the signal determination module 3A described above may include a second calculation submodule.

[0085] Specifically, the signal determination module 3A mentioned above may include a second calculation submodule for inputting the pipe rotation angle into the inflection point compensation function if the target compensation function is an inflection point compensation function, and calculating the inflection point compensation value.

[0086] Figure 9 This is a schematic diagram of the structure of a pipe-cutting follow-up control device according to another embodiment of this application. (Reference) Figure 9The aforementioned pipe-cutting follow-up control device may further include a parameter acquisition module 4A, a parameter determination module 5A, a first construction module 6A, a second construction module 7A, and a third construction module 8A.

[0087] Specifically, the aforementioned pipe-cutting follow-up control device may further include: Parameter acquisition module 4A is used to obtain the pre-configured target height from the processing head to the pipe, the maximum value of the plate compensation function, the pipe inflection point position, the maximum value of the inflection point compensation function, and the dimensional parameters. Parameter determination module 5A is used to determine the adjustment parameters for determining the trend of the adjustment function based on the target height; The first construction module 6A is used to construct the plate surface compensation function based on the adjustment parameters, the maximum value of the plate surface compensation function, and the inflection point position of the pipe, with the processing length of the processing head on the pipe plate surface as the independent variable. The plate surface compensation function is an exponential function. The second construction module 7A is used to construct the inflection point compensation function based on the adjustment parameters, the maximum value of the inflection point compensation function, and the scale parameters, with the pipe rotation angle as the independent variable. The inflection point compensation function is an S-shaped function. The third building module 8A is used to combine the plate surface compensation function and the inflection point compensation function to construct a piecewise compensation function, wherein the minimum value of the inflection point compensation function is set as the maximum value of the plate surface compensation function.

[0088] The pipe-cutting follow-up control device provided in this application obtains the processing position of the processing head on the pipe cross-section during the rotational re-face processing of the pipe. Based on the processing position, a target compensation function is determined from a pre-constructed segmented compensation function. This fully considers the characteristic differences of different positions of the pipe during processing and selects the corresponding target compensation function. The compensation value is calculated through the target compensation function, and the height signal of the processing head is determined based on the compensation value. This allows for differential compensation of the follow-up height at different positions during the pipe processing rotation process, avoiding processing errors and safety hazards caused by improper height and improving the safety performance of corner processing.

[0089] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0090] Figure 10 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Figure 10 As shown, the processing equipment 18 of this embodiment includes: at least one processor 180 ( Figure 10Only one is shown in the diagram), memory 181, and computer program 182 stored in memory 181 and executable on at least one processor 180; when processor 180 executes computer program 182, it implements the steps in the various method embodiments described above.

[0091] The processing equipment may include, but is not limited to, processor 180 and memory 181. Those skilled in the art will understand that... Figure 10 This is merely an example of processing equipment and does not constitute a limitation on the processing equipment. It may include more or fewer components than shown in the figure, or combinations of certain components, or different components. For example, it may also include input / output devices, network access devices, buses, etc.

[0092] The processor 180 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0093] In some embodiments, memory 181 may be an internal storage unit of the processing apparatus 18, such as a hard drive or memory of the processing apparatus. In other embodiments, memory 181 may be an external storage device of the processing apparatus, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the processing apparatus. Furthermore, memory 181 may include both internal and external storage units of the processing apparatus. Memory 181 is used to store operating systems, applications, boot loaders, data, and other programs, such as program code for computer programs. Memory 181 may also be used to temporarily store data that has been output or will be output.

[0094] For example, computer program 182 may be divided into one or more modules / units, one or more of which are stored in memory 181 and executed by processor 180 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 182 in processing equipment 18.

[0095] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0097] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium; when executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media include: any entity or device capable of carrying computer program code to a device / terminal equipment, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0098] Embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0099] Embodiments of this application also provide a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0100] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0101] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software 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 beyond the scope of this application.

[0102] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0103] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0104] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling pipe cutting servo, characterized in that, include: When performing rotary resurfacing processing on a pipe, the processing position of the processing head on the pipe cross-section is obtained; The target compensation function is determined from the pre-constructed piecewise compensation function based on the processing position; The compensation value is calculated based on the target compensation function, and the height signal of the processing head is determined based on the compensation value.

2. The tube-cutting follow-up control method as described in claim 1, characterized in that, The step of obtaining the processing position of the processing head on the pipe cross-section includes: Obtain the processing length of the processing head on the surface of the pipe, and the rotation angle of the pipe; The processing position of the processing head on the cross-section of the pipe is determined based on the processing length and the pipe rotation angle.

3. The tube-cutting follow-up control method as described in claim 2, characterized in that, The processing location is divided into a plate surface area and a corner area. Determining the processing position of the processing head on the pipe cross-section based on the processing length and the pipe rotation angle includes: If the processing length is less than the inflection point of the pipe and the rotation angle of the pipe is zero, then the processing position of the processing head on the pipe cross-section is determined to be the plate surface area; If the processing length is greater than or equal to the inflection point of the pipe, and the rotation angle of the pipe is not zero, then the processing position of the processing head on the pipe cross-section is determined to be the corner area.

4. The tube-cutting follow-up control method as described in claim 3, characterized in that, The step of determining the target compensation function from the pre-constructed piecewise compensation function based on the processing position includes: If the processing location is a plate surface area, then the plate surface compensation function is determined from the segmented compensation function; If the processing location is a corner area, then the inflection point compensation function is determined from the segmented compensation function.

5. The pipe-cutting follow-up control method as described in claim 4, characterized in that, The step of calculating the compensation value based on the target compensation function includes: If the target compensation function is a plate surface compensation function, then the processing length of the processing head on the pipe plate surface is input into the plate surface compensation function to calculate the plate surface compensation value.

6. The tube-cutting follow-up control method as described in claim 4, characterized in that, The step of calculating the compensation value based on the target compensation function includes: If the target compensation function is an inflection point compensation function, then the rotation angle of the pipe is input into the inflection point compensation function to calculate the inflection point compensation value.

7. The tube-cutting follow-up control method as described in claim 1, characterized in that, Before obtaining the processing position of the processing head on the pipe cross-section, the method further includes: Obtain the pre-configured target height from the processing head to the pipe, the maximum value of the plate compensation function, the pipe inflection point position, the maximum value of the inflection point compensation function, and the dimensional parameters; The adjustment parameters for the changing trend of the adjustment function are determined based on the target height; Based on the adjustment parameters, the maximum value of the plate surface compensation function, and the inflection point position of the pipe, a plate surface compensation function is constructed with the processing length of the processing head on the pipe plate surface as the independent variable. The plate surface compensation function is an exponential function. Based on the adjustment parameters, the maximum value of the inflection point compensation function, and the scale parameters, an inflection point compensation function is constructed with the pipe rotation angle as the independent variable. The inflection point compensation function is an S-shaped function. By combining the plate surface compensation function and the inflection point compensation function, a piecewise compensation function is constructed, wherein the minimum value of the inflection point compensation function is set as the maximum value of the plate surface compensation function.

8. A pipe-cutting follow-up control device, characterized in that, include: This module is used to obtain the processing position of the processing head on the cross-section of the pipe during rotary resurfacing processing. A function determination module for determining the target compensation function from a pre-built segmented compensation function based on the processing position; A signal determination module for calculating a compensation value based on the target compensation function and determining the height signal of the processing head based on the compensation value.

9. A processing equipment, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the tube cutting follow-up control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the tube-cutting follow-up control method as described in any one of claims 1 to 7.

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