A pipeline cutting machine adaptive deviation prevention control method and system

Abstract

The application relates to the technical field of pipeline cutting, and provides a pipeline cutting machine self-adaptive deviation prevention control method and system.The method comprises the following steps: in response to a target control instruction for controlling a cutting device of a pipeline cutting machine at a current moment, obtaining a work parameter of a current cutting work and a cutting parameter of the cutting device; determining a trusted identifier of the target control instruction according to the work parameter, the cutting parameter and a plurality of control parameters; when the trusted identifier indicates that the target control instruction is trusted, executing the target control instruction; and when the trusted identifier indicates that the target control instruction is not trusted, determining and executing a new control instruction based on the control parameter in the target control instruction. The accuracy of deviation prevention control during pipeline cutting can be improved.

Description

Technical Field

[0001] This application relates to the field of pipe cutting technology, and in particular to an adaptive anti-deviation control method and system for a pipe cutting machine. Background Technology

[0002] In modern industrial production, pipe cutting machines are key equipment used for the precise cutting of various metal or non-metal pipes. Their core objective is to achieve high-efficiency, high-precision, and high-quality cutting operations.

[0003] However, during prolonged continuous operation of pipe cutting machines, the high-speed friction between the cutting tool and the pipe material generates a large amount of fine metal dust, which mixes with the cutting fluid to form a suspension. These droplets and solid particles in the suspension slowly and continuously adhere to the surface of the sensor probe used for real-time monitoring of cutting trajectory deviation, causing the sensor's output deviation reading to exhibit a continuously and slowly increasing systematic offset. This offset is not random noise, but a directional measurement error caused by physical contamination, resulting in poor accuracy of anti-deviation control. Summary of the Invention

[0004] This application provides an adaptive anti-deviation control method and system for a pipe cutting machine, which can improve the accuracy of anti-deviation control during pipe cutting.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] In a first aspect, this application discloses an adaptive anti-deviation control method for a pipe cutting machine. The method includes: in response to a target control command controlling the cutting device of the pipe cutting machine at the current moment, acquiring the operating parameters of the current cutting operation and the cutting parameters of the cutting device; the target control command includes multiple control parameters; determining a trust identifier for the target control command based on the operating parameters, the cutting parameters, and the multiple control parameters; the trust identifier indicating whether the target control command is trustworthy or untrustworthy; executing the target control command when the trust identifier indicates that the target control command is trustworthy; and determining and executing a new control command based on the control parameters in the target control command when the trust identifier indicates that the target control command is untrustworthy.

[0007] Further, determining a trusted identifier for the target control instruction based on the operation parameters, cutting parameters, and multiple control parameters includes: determining an execution feasibility identifier for the target control instruction based on the cutting parameters and multiple control parameters; the execution feasibility identifier is used to indicate whether the target control instruction is infeasible or feasible; when the execution feasibility identifier indicates that the target control instruction is infeasible, determining a trusted identifier for the target control instruction to indicate that the target control instruction is untrustworthy; when the execution feasibility identifier indicates that the target control instruction is feasible, determining a trusted identifier for the target control instruction based on the operation parameters and multiple control parameters.

[0008] Based on the above, this application further proposes that multiple control parameters include the target offset and target offset execution duration of the cutting device, and cutting parameters include the maximum offset speed and maximum offset acceleration of the cutting device. The method for determining the feasibility identifier of the target control command based on the cutting parameters and multiple control parameters includes: determining the average offset speed and average offset acceleration of the cutting device based on the target offset and target offset execution duration; when the average offset speed is greater than the maximum offset speed or the average offset acceleration is greater than the maximum offset acceleration, determining that the feasibility identifier of the target control command indicates that the target control command is not feasible; otherwise, determining that the feasibility identifier of the target control command indicates that the target control command is feasible.

[0009] In some preferred embodiments, the operating parameters include the diameter of the pipe to be cut, the wall thickness of the pipe to be cut, the material hardness of the pipe to be cut, the current rotation speed of the cutting device, and the current feed speed of the cutting device. Multiple control parameters include the target offset and the target offset direction of the cutting device. Determining a reliable identifier for the target control command based on the operating parameters and multiple control parameters includes: inputting the diameter, wall thickness, material hardness, current rotation speed, and current feed speed into a preset cutting offset prediction model to obtain the predicted offset direction and predicted offset amount output by the preset cutting offset prediction model; and determining a reliable identifier for the target control command based on the predicted offset direction, predicted offset amount, target offset, and target offset direction.

[0010] Furthermore, the trusted identifier of the target control command is determined based on the predicted offset direction, predicted offset amount, target offset amount, and target offset direction, including: determining whether the predicted offset direction is consistent with the target offset direction; when the predicted offset direction is inconsistent with the target offset direction, determining that the trusted identifier of the target control command indicates that the target control command is untrustworthy; when the predicted offset direction is consistent with the target offset direction, determining whether the offset difference is greater than a preset offset difference value; the offset difference value is the absolute value of the difference between the predicted offset amount and the target offset; when the offset difference value is greater than the preset offset difference value, determining that the trusted identifier of the target control command indicates that the target control command is untrustworthy; otherwise, determining that the trusted identifier of the target control command indicates that the target control command is trustworthy.

[0011] As a technological improvement, the target control command includes the target offset of the cutting device, the target offset execution duration, and the target offset direction. Based on the control parameters in the target control command, a new control command is determined and executed, including: acquiring multiple control commands to control the cutting device of the pipe cutting machine within a preset time after the current moment; the control command includes the offset of the cutting device, the offset execution duration, and the offset direction; and determining the offset, offset execution duration, and offset direction in the new control command based on the offset, offset execution duration, and offset direction in the multiple control commands, and then executing the new control command.

[0012] To improve the scheme, based on the offset, offset execution duration, and offset direction in multiple control commands, the offset, offset execution duration, and offset direction in a new control command are determined, and the new control command is executed. This includes: determining the target offset and the dispersion index of multiple offsets; when the dispersion index is greater than a preset dispersion index, the offset in the new control command is determined to be 0, and the offset execution duration of the new control command is determined to be 0; when the dispersion index is less than or equal to the preset dispersion index, the average of the target offset and the offsets in multiple control commands is used as the offset in the new control command; the average of the execution duration of the target offset and the offsets in multiple control commands is used as the execution duration of the new control command; the number of each direction in the target offset direction and the offset directions in multiple control commands is counted, and the direction with the most counts is used as the offset direction in the new control command, and the new control command is executed.

[0013] As a further improvement, the target control command includes the target offset of the cutting device and the execution time of the target offset. Based on the control parameters in the target control command, a new control command is determined and executed, including: obtaining the concentration change rate of solid particles in the cutting fluid; adjusting the control parameters in the target control command according to the concentration change rate, and obtaining and executing the new control command.

[0014] To enhance functionality, the control parameters in the target control command are adjusted based on the concentration change rate to obtain and execute a new control command, including: obtaining a first correspondence; the first correspondence includes a one-to-one correspondence between multiple concentration change rate ranges and multiple adjustment coefficients; using the adjustment coefficient corresponding to the concentration change rate range in the first correspondence as the target adjustment coefficient; using the product of the target offset and the target adjustment coefficient as the offset in the new control command; using the product of the target offset execution time and the target adjustment coefficient as the offset execution time in the new control command; and executing the new control command.

[0015] Secondly, this application also discloses an adaptive anti-deviation control system for a pipe cutting machine. The system includes: an acquisition device and a processing device; the acquisition device is used to acquire the operating parameters of the current cutting operation and the cutting parameters of the cutting device in response to a target control command for controlling the cutting device of the pipe cutting machine at the current moment; the target control command includes multiple control parameters; the processing device determines a reliable identifier for the target control command based on the operating parameters, the cutting parameters, and the multiple control parameters; the reliable identifier is used to indicate whether the target control command is reliable or unreliable; the processing device executes the target control command when the reliable identifier indicates that the target control command is reliable; and the processing device determines and executes a new control command based on the control parameters in the target control command when the reliable identifier indicates that the target control command is unreliable.

[0016] Beneficial Effects: The adaptive anti-deviation control method for pipe cutting machines disclosed in this application obtains the current cutting operation parameters and the cutting parameters of the cutting device in response to the target control command controlling the cutting device of the pipe cutting machine, and determines the reliable identifier of the target control command based on these parameters. When the reliable identifier indicates that the target control command is unreliable, the system determines and executes a new control command based on the control parameters in the target control command. This method can effectively identify and handle situations where the target control command is unreliable due to factors such as sensor contamination, avoiding misjudgments and "self-learning" error compensation based on sensor readings with systematic offsets in the control system. In this way, this application overcomes the problem in the prior art where sensor contamination causes the actual trajectory of the cutting tool to deviate from the preset path, resulting in the accumulation of cutting errors. It effectively prevents the generation of hidden geometric errors, thereby significantly improving the accuracy and product qualification rate of pipe cutting, and avoiding waste of raw materials, production plan delays, and additional rework costs. Attached Figure Description

[0017] Figure 1 A flowchart illustrating an adaptive anti-deviation control method for a pipe cutting machine provided in this application;

[0018] Figure 2A flowchart illustrating an adaptive anti-deviation control method for a pipe cutting machine provided in this application;

[0019] Figure 3 A flowchart illustrating an adaptive anti-deviation control method for a pipe cutting machine provided in this application;

[0020] Figure 4 This application provides a schematic diagram of the architecture of an adaptive anti-deviation control system for a pipe cutting machine. Detailed Implementation

[0021] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] In modern industrial production, during long-term continuous operation, the high-speed friction between the cutting tool and the pipe material generates a large amount of fine metal dust, which mixes with the cutting fluid to form a suspension. These droplets and solid particles slowly and continuously adhere to the surface of the sensor probe used to monitor cutting trajectory deviation in real time. This causes the sensor's output deviation reading to exhibit a continuously and slowly increasing systematic offset. Upon receiving this sensor reading with systematic offset, the control system misinterprets it as a real physical deviation and makes compensatory adjustments, thus introducing a genuine cutting error into the pipe being cut. The insidious nature of this error prevents timely human intervention, ultimately leading to product scrap.

[0024] In this regard, such as Figure 1 As shown, this application proposes an adaptive anti-deviation control method for a pipe cutting machine, the method comprising:

[0025] S101. In response to the target control command for controlling the cutting device of the pipe cutting machine at the current moment, obtain the operation parameters of the current cutting operation and the cutting parameters of the cutting device.

[0026] The target control command includes multiple control parameters.

[0027] S102. Determine the trusted identifier of the target control command based on the operation parameters, cutting parameters, and multiple control parameters.

[0028] Trusted identifiers are used to indicate whether the target control instructions are trusted or not.

[0029] S103. When the trusted identifier indicates that the target control instruction is trusted, execute the target control instruction.

[0030] S104. When the trusted identifier indicates that the target control instruction is untrusted, a new control instruction is determined and executed based on the control parameters in the target control instruction.

[0031] This application aims to effectively identify and avoid false deviation signals caused by factors such as sensor contamination by introducing a mechanism for judging the credibility of target control commands, thereby preventing the control system from making adaptive adjustments based on erroneous information, and ultimately improving the accuracy of pipeline cutting and the product qualification rate.

[0032] To better understand the technical solution proposed in this application, some key terms involved will be explained first.

[0033] A "pipe cutter" is an industrial device used to cut pipes. It typically includes a cutting device that can cut pipes.

[0034] "Cutting device" refers to the component in a pipe cutting machine that directly performs the cutting task, such as cutting blades and laser heads. Its movement and posture directly affect the cutting quality.

[0035] "Target control command" refers to the command issued by the control system to the cutting device to guide it in cutting operations. It includes multiple control parameters, such as the target offset of the cutting device, the execution time of the target offset, and the target offset direction.

[0036] "Operating parameters" refer to environmental or workpiece parameters related to the current cutting operation, such as the diameter, wall thickness, and material hardness of the pipe to be cut.

[0037] "Cutting parameters" refer to parameters related to the performance of the cutting device itself, such as the maximum offset speed and maximum offset acceleration of the cutting device.

[0038] A "trusted identifier" is a logical flag used to indicate whether a target control instruction is trustworthy. When the trusted identifier indicates that the target control instruction is trustworthy, it means that the instruction can be executed safely; when the trusted identifier indicates that the target control instruction is untrustworthy, it means that the instruction may have a problem and needs to be corrected or replaced.

[0039] The core of the adaptive anti-deviation control method for pipe cutting machines proposed in this application lies in evaluating the credibility of the target control command and adopting different control strategies based on the evaluation results.

[0040] Specifically, this method first responds to the target control command for controlling the cutting device of the pipe cutter at the current moment, acquiring the current cutting operation parameters and the cutting parameters of the cutting device. The target control command contains multiple control parameters, which together define the expected actions of the cutting device. For example, the target control command can be manually input by the operator or automatically generated by the host computer system based on a preset cutting path. In the case of manual input, the operator may input a target offset and a target offset execution duration based on experience or observations in order to correct the cutting trajectory. In the case of automatic generation, the control system calculates the required offset and offset direction based on real-time sensor feedback and a preset control algorithm.

[0041] There are several ways to obtain operational and cutting parameters. For example, operational parameters, such as the diameter, wall thickness, and material hardness of the pipe to be cut, can be manually entered before the cutting operation begins, read from the production management system (MES), or measured in real time by sensors integrated into the pipe cutting machine (such as laser rangefinders and ultrasonic flaw detectors). Cutting parameters, such as the maximum offset speed and maximum offset acceleration of the cutting device, are usually inherent properties of the cutting device. They can be calibrated at the factory and stored in the parameter database of the control system, or obtained by consulting the equipment manual.

[0042] Subsequently, based on the acquired operation parameters, cutting parameters, and multiple control parameters from the target control command, a trusted identifier for the target control command is determined. The trusted identifier indicates whether the target control command is trusted or not. For example, a separate module can be set up that receives the above parameters as input and outputs a trusted identifier based on a preset logic or model. This module can be a software module running in the pipe cutting machine's controller, or it can be a separate hardware unit specifically responsible for command verification.

[0043] When a trusted identifier indicates that a target control command is trusted, the system will directly execute that command. This means that if the command is deemed trusted, the cutting device will act according to the target offset, target offset execution time, and target offset direction specified in the command. For example, if a target control command instructs the cutting device to offset 1 mm in a certain direction and complete it within 1 second, and the command is deemed trusted, the cutting device's servo system will drive the cutting tool to precisely execute this offset action.

[0044] However, when a trusted identifier indicates that a target control command is untrusted, the system will not directly execute the target control command. Instead, it will determine and execute a new control command based on the control parameters in the target control command. For example, when a target control command is determined to be untrusted, the system can initiate a correction procedure. This correction procedure can generate a new, safer control command based on the control parameters contained in the target control command, combined with other auxiliary information. For instance, if the target offset in the target control command is too large, the system may adjust it to a smaller offset within a safe range. Or, if the target offset direction does not match historical data or a prediction model, the system may choose a more conservative offset direction, or even temporarily stop the offset, to avoid potential cutting errors.

[0045] The method proposed in this application effectively solves the problem of misjudgment and erroneous adaptive adjustment by the control system when false deviation signals caused by sensor contamination occur in traditional pipe cutting machines by introducing a reliability assessment step before executing control commands. Traditional methods, lacking assessment of the reliability of the command source, often blindly execute commands with errors, leading to decreased cutting accuracy and product scrap.

[0046] The innovation of this application lies in its departure from simply relying on raw data from sensor feedback for adaptive control. Instead, it "examines" the control commands themselves. By comprehensively considering operational parameters, cutting parameters, and the control parameters of the command itself, the system can determine whether the current command is reasonable and whether it may be caused by anomalies. For example, if a sensor continuously outputs a slowly increasing offset due to contamination, directly executing it as a target control command would lead to cutting deviation. The method in this application, upon receiving such a target control command, performs a credibility assessment. If the assessment indicates that the command is unreliable (e.g., the offset or offset speed in the command exceeds the physical limits of the cutting device or is inconsistent with the characteristics of the pipe material), the system will not execute it blindly but will generate a new, corrected control command.

[0047] This mechanism effectively prevents the control system from adaptively adjusting in "erroneous realities," thereby preventing the accumulation of cutting errors. By verifying and correcting before command execution, this application can significantly improve the accuracy and stability of pipe cutting, reduce product scrap rates caused by cutting deviations, and bring significant economic benefits and quality improvements to industrial production.

[0048] like Figure 2 As shown, this application further proposes a step for determining the trusted identifier of the target control command based on the above-mentioned operation parameters, cutting parameters, and multiple control parameters, including:

[0049] S201. Determine the feasible identifier for the execution of the target control command based on the cutting parameters and multiple control parameters.

[0050] The execution feasibility identifier is used to indicate whether the target control instruction is not feasible or is feasible.

[0051] S202. When the feasible identifier indicates that the target control instruction is not feasible, determine the trustworthy identifier of the target control instruction to indicate that the target control instruction is not trustworthy.

[0052] S203. When the feasible identifier indicates that the target control command is feasible to execute, the reliable identifier of the target control command is determined based on the operation parameters and multiple control parameters.

[0053] Specifically, the execution feasibility identifier can be understood as an assessment result of whether the target control command can be actually executed within the physical capabilities of the current cutting device. Its purpose is to first eliminate commands that cannot be executed due to exceeding the performance limits of the cutting device itself before judging the credibility of the target control command. For example, cutting parameters such as the maximum offset speed and maximum offset acceleration of the cutting device, as well as control parameters such as the target offset and the execution time of the target offset, all affect the execution feasibility of the command.

[0054] When the feasible identifier indicates that the target control command is not feasible, it means that the command is physically impossible to implement or may cause equipment damage. In this case, there is no need to further evaluate its rationality in the operating environment, and it is directly judged as an untrusted command.

[0055] In practical applications, only when the feasible identifier indicates that the target control instruction is feasible to execute, is it necessary to further determine the rationality and safety of the instruction in the current working environment based on the operation parameters and multiple control parameters, so as to finally determine the trustworthy identifier of the target control instruction.

[0056] This application's solution introduces an executable feasibility identifier, adding a preliminary physical feasibility verification step before determining the credibility of target control commands. This effectively avoids misjudging commands exceeding the physical limits of the cutting device as credible commands, thus filtering out unsafe or unexecutable control commands at the source. Through this step-by-step judgment mechanism, the physical executability of the command is ensured first, and its rationality under specific operating conditions is evaluated, making the determination of the credible identifier more rigorous and comprehensive.

[0057] Through the above technical solution, this application can more accurately and reliably determine the credibility of target control commands. Specifically, by pre-judging the feasibility of command execution, it can effectively avoid equipment damage, increased cutting deviation, or safety accidents caused by commands exceeding the physical limits of the cutting device. Compared with the basic solution, this application has higher safety, stability, and control precision, ensuring that pipeline cutting operations are carried out within a safe and controllable range, significantly improving the quality and efficiency of cutting operations.

[0058] This application further proposes the steps of determining the executable feasibility identifier of the target control command based on the cutting parameters and multiple control parameters, wherein the multiple control parameters include the target offset of the cutting device and the target offset execution duration, and the cutting parameters include the maximum offset speed and the maximum offset acceleration of the cutting device.

[0059] like Figure 3 As shown, the feasibility identifier for executing the target control command is determined based on the cutting parameters and multiple control parameters, including:

[0060] S301. Determine the average offset speed and average offset acceleration of the cutting device based on the target offset and the target offset execution time.

[0061] S302. When the average offset speed is greater than the maximum offset speed or the average offset acceleration is greater than the maximum offset acceleration, determine the target control command execution feasibility identifier to indicate that the target control command execution is not feasible; otherwise, determine the target control command execution feasibility identifier to indicate that the target control command execution is feasible.

[0062] Specifically, the target offset refers to the total offset distance that the cutting device needs to achieve when executing the target control command. The target offset execution time refers to the time required to complete the target offset. The maximum offset speed of the cutting device refers to the maximum instantaneous speed that the cutting device can achieve during offset motion, while the maximum offset acceleration refers to the maximum acceleration that the cutting device can withstand during acceleration or deceleration offset motion. These maximum values ​​are usually determined by the mechanical structure, drive system, and safe operating procedures of the cutting device. The average offset speed can be understood as the ratio of the target offset to the target offset execution time, i.e., V_avg = target offset / target offset execution time. The average offset acceleration can be understood as the average acceleration required to reach the target offset speed within a given time. For example, in a simplified model, it can be approximated as 2 * target offset / (target offset execution time)^2, or more precisely, the process of accelerating from rest to maximum speed and then decelerating back to rest. The purpose is to compare the calculated motion parameters required by the command with the physical limits of the cutting device to determine whether the command is physically feasible.

[0063] The solution proposed in this application effectively addresses the aforementioned limitations by converting the offset motion parameters (i.e., target offset and target offset execution duration) required by the target control command to the cutting device into the average offset velocity and average offset acceleration of the cutting device, and then rigorously comparing them with the actual physical limits of the cutting device (i.e., maximum offset velocity and maximum offset acceleration). When the average offset velocity or average offset acceleration required by the command exceeds the maximum value that the cutting device can withstand, the system can promptly identify that the target control command is infeasible and mark it as unreliable. This mechanism ensures that the target control command is considered executable and reliable only within the physical capabilities of the cutting device, thereby avoiding potential risks caused by commands exceeding physical limits.

[0064] Through the above technical solution, this application can significantly improve the safety and reliability of the adaptive anti-deviation control system for pipe cutting machines. By rigorously verifying the physical feasibility of the commands before execution, overload, damage, or loss of control of the cutting device due to executing commands exceeding its motion limits can be effectively prevented. This not only protects the equipment and extends its service life but also ensures the stability and accuracy of the cutting operation, reducing production risks and maintenance costs.

[0065] Specifically, in some of the above embodiments, when determining the trusted identifier of the target control command based on the operation parameters and multiple control parameters, the following methods can be used.

[0066] The operating parameters include the diameter of the pipe to be cut, the wall thickness of the pipe to be cut, the material hardness of the pipe to be cut, the current rotation speed of the cutting device, and the current feed speed of the cutting device. Multiple control parameters include the target offset and target offset direction of the cutting device. Based on the operating parameters and multiple control parameters, a reliable identifier for the target control command is determined, including:

[0067] Input the diameter, wall thickness, material hardness, current rotation speed and current feed rate into the preset cutting offset prediction model to obtain the predicted offset direction and predicted offset amount output by the preset cutting offset prediction model; determine the reliable identifier of the target control command based on the predicted offset direction, predicted offset amount, target offset amount and target offset direction.

[0068] Specifically, operational parameters refer to various parameters affecting the pipe cutting process and the state of the cutting device. These include physical properties of the pipe itself, such as its diameter, wall thickness, and material hardness, as well as real-time operating parameters like the current rotational speed and feed rate of the cutting device. These parameters comprehensively reflect the current cutting operation conditions. Multiple control parameters refer to parameters included in the target control command used to adjust the attitude or position of the cutting device, such as the target offset and target offset direction. The target offset refers to the offset distance the cutting device needs to adjust, and the target offset direction refers to the offset direction the cutting device needs to adjust.

[0069] When determining the reliable identifier of the target control command, the aforementioned operating parameters (including diameter, wall thickness, material hardness, current rotational speed, and current feed rate) are first input into a preset cutting offset prediction model. This preset cutting offset prediction model is a trained model that can predict the ideal or expected offset direction and amount that the cutting device may produce under the current operating conditions based on the input operating parameters. The predicted offset direction and predicted offset amount are the results output by this model. Subsequently, the predicted offset direction and predicted offset amount are compared with the target offset amount and target offset direction contained in the target control command to determine the reliable identifier of the target control command.

[0070] This application's solution introduces a pre-defined cutting offset prediction model, which can predict the possible offset direction and amount of the cutting device under ideal conditions based on current operating parameters and the operating status of the cutting device. By comparing these predicted values ​​with the target offset and target offset direction set in the target control command, the rationality and reliability of the target control command can be effectively evaluated. If the offset indicated by the target control command differs significantly from the offset predicted by the prediction model, it indicates that the command may have potential risks, and thus it is marked as unreliable. This prediction model-based verification mechanism helps to identify and avoid erroneous commands that may lead to cutting deviation before actual execution.

[0071] The aforementioned technical solution enables the intelligent prediction and verification of target control commands by utilizing predictive models built from historical data and machine learning technologies. This allows for a more accurate assessment of the rationality and effectiveness of control commands before execution, significantly reducing the risk of cutting deviation caused by unreasonable commands and improving the precision and stability of pipeline cutting operations. Furthermore, this solution provides data-driven decision support, making anti-deviation control more adaptive and intelligent.

[0072] Specifically, this application proposes a more detailed judgment method when determining the trusted identifier of the target control command based on the predicted offset direction, predicted offset amount, target offset amount and target offset direction.

[0073] The trusted identifier for the target control command is determined based on the predicted offset direction, predicted offset amount, target offset, and target offset direction, including:

[0074] Determine whether the predicted offset direction is consistent with the target offset direction; if the predicted offset direction is inconsistent with the target offset direction, determine whether the trusted identifier of the target control command indicates that the target control command is untrusted; if the predicted offset direction is consistent with the target offset direction, determine whether the offset difference is greater than the preset offset difference value; the offset difference value is the absolute value of the difference between the predicted offset and the target offset; if the offset difference is greater than the preset offset difference value, determine whether the trusted identifier of the target control command indicates that the target control command is untrusted; otherwise, determine whether the trusted identifier of the target control command indicates that the target control command is trustworthy.

[0075] Specifically, the predicted offset direction refers to the direction of possible offset of the cutting device during the cutting process, predicted by a preset cutting offset prediction model based on operating parameters such as the diameter, wall thickness, material hardness of the pipe to be cut, the current rotation speed of the cutting device, and the current feed rate of the cutting device. The predicted offset amount refers to the magnitude of the possible offset predicted by the model. The target offset amount and target offset direction are the magnitude and direction of the expected offset of the cutting device contained in the target control command. The offset difference can be understood as the absolute value of the difference between the predicted offset amount and the target offset amount, used to quantify the degree of deviation between the predicted and target values. The preset offset difference is a pre-set threshold, which can be based on empirical data, experimental results, or actual application requirements, used to define the acceptable deviation range between the predicted and target offset amounts.

[0076] This application's solution, by introducing a consistency assessment of the predicted offset direction and the target offset direction, and a quantitative comparison of the deviation between the predicted offset and the target offset, can more precisely and accurately evaluate the rationality and feasibility of target control commands. When the predicted offset direction and the target offset direction are inconsistent, it indicates a fundamental conflict between the offset direction expected by the target control command and the offset direction that may occur in the actual cutting operation. Executing this command may lead to cutting deviations from expectations, or even damage to equipment or workpieces, and is therefore deemed unreliable. When the directions are consistent, further comparison of the offset difference with the preset offset difference can determine whether the target offset is within an acceptable error range. If the deviation is too large, it indicates a significant difference between the target offset and the actual prediction, and is also considered an unreliable command. This step-by-step, multi-dimensional judgment mechanism ensures that only commands that highly match the prediction model results in both direction and magnitude, or are within an acceptable error range, are considered reliable, thus effectively avoiding cutting deviations caused by unreasonable commands.

[0077] The above technical solution provides a more rigorous and reliable method for determining the trusted identifier of target control commands. This method effectively avoids cutting risks caused by directional errors or excessive offset deviations by judging the consistency between the predicted and target offset directions and further quantifying the deviation between the predicted and target offsets. Therefore, it can significantly improve the decision-making accuracy of pipe cutting machines in the adaptive anti-deviation control process, reduce the scrap rate and equipment failure rate of cutting operations, and thus improve overall cutting efficiency and safety.

[0078] This application further proposes that the aforementioned target control command includes the target offset of the cutting device, the target offset execution duration, and the target offset direction. Based on the control parameters in the target control command, a new control command is determined and executed, including:

[0079] Multiple control commands are obtained for controlling the cutting device of the pipe cutting machine within a preset time after the current moment; the control commands include the offset of the cutting device, the offset execution time, and the offset direction; based on the offset, offset execution time, and offset direction in the multiple control commands, the offset, offset execution time, and offset direction in the new control command are determined, and the new control command is executed.

[0080] Specifically, target control commands typically include specific parameters for adjusting the cutting device, such as target offset, which indicates the distance the cutting device needs to move; target offset execution time, which indicates the time required to complete the offset; and target offset direction, which indicates the specific direction of the offset. These parameters collectively define the expected adjustment behavior of the cutting device at a specific moment.

[0081] In determining new control commands, the system no longer relies solely on the parameters of a single, untrusted target control command. Instead, it acquires multiple control commands that will control the cutting device of the pipe cutter within a preset timeframe after the current moment. The preset timeframe can be understood as a short-term future time window, such as a few seconds or tens of seconds, used to collect the sequence of control commands to be executed. Multiple control commands refer to a series of control instructions that the system plans or predicts will be applied to the cutting device within this preset timeframe. Each control command also includes parameters such as the cutting device's offset, the offset execution duration, and the offset direction.

[0082] In practical applications, by comprehensively analyzing the offsets, offset execution durations, and offset directions from multiple acquired control commands, the offsets, offset execution durations, and offset directions in new control commands can be determined. This comprehensive analysis may include, but is not limited to, statistical processing of these parameters, such as calculating averages, medians, and trend analysis, in order to obtain a more robust correction command that better reflects future cutting trends.

[0083] The proposed solution, when a target control command is deemed unreliable, not only considers the parameters of the target control command itself, but also further acquires multiple control commands that control the cutting device of the pipe cutter within a preset time period after the current moment, and determines a new control command based on the parameters of these multiple control commands. The working principle of this method is that a single unreliable target control command may be an outlier or contain local errors, while by introducing multiple control commands within a future time period, broader contextual information and trend data can be provided. For example, if the target control command indicates an abnormally large offset, but subsequent control commands all indicate smaller, stable offsets, it can be determined that the target control command may have a significant deviation.

[0084] By comprehensively analyzing these multiple control commands, the impact of a single abnormal command can be effectively smoothed out, thereby generating a new control command that better matches the overall cutting trend and actual needs. This sequence command-based correction mechanism can more accurately identify and respond to deviations in the cutting process, avoiding over-adjustment or under-adjustment of the cutting device due to misjudgment of a single command.

[0085] By employing the aforementioned technical solution, when a target control command is deemed unreliable, corrections can be made based on a single potentially flawed command, rather than solely on this single command. Instead, a new, more stable, reliable control command that aligns with the overall cutting trend is generated through comprehensive analysis of multiple control commands over a future period. This significantly improves the robustness and accuracy of the pipe cutting machine in its adaptive anti-deviation control process, effectively reducing the risk of decreased cutting accuracy or equipment instability due to unreliable commands, thereby enhancing the overall quality and efficiency of the cutting operation.

[0086] This application further proposes the following steps for determining the offset, offset execution duration, and offset direction in the aforementioned new control command, and executing the new control command:

[0087] Determine the target offset and the dispersion index of multiple offsets; when the dispersion index is greater than a preset dispersion index, determine that the offset in the new control command is 0 and the execution time of the offset in the new control command is 0; when the dispersion index is less than or equal to the preset dispersion index, take the average of the target offset and the offsets in multiple control commands as the offset in the new control command; take the average of the execution time of the target offset and the execution time of the offsets in multiple control commands as the execution time of the offset in the new control command; count the number of each direction in the target offset direction and the offset directions in multiple control commands, take the direction with the most numbers as the offset direction in the new control command, and execute the new control command.

[0088] Specifically, the dispersion index can be understood as an indicator that measures the volatility or dispersion of a set of data, such as standard deviation, variance, range, or coefficient of variation. Its purpose is to assess the consistency or difference between the target offset and multiple offsets. A preset dispersion index is a threshold used to determine whether the offset data is too dispersed, thus deciding whether a conservative strategy (i.e., setting the offset and execution time to 0) is necessary. When the dispersion index is greater than the preset dispersion index, it indicates a large difference between the target offset and multiple offsets, potentially indicating outliers or command conflicts. In this case, to avoid potential cutting deviations or equipment damage, the offset in the new control command is set to 0, and the offset execution time is also set to 0. This is equivalent to temporarily canceling the offset operation to ensure the safety of the cutting process.

[0089] In practical applications, when the dispersion index is less than or equal to a preset dispersion index, it indicates good consistency between the target offset and multiple offsets, suggesting that these instructions are relatively reliable. In this case, using the average of the target offset and the offsets in multiple control instructions as the offset in the new control instruction can effectively smooth data fluctuations and reduce the impact of random errors in a single instruction. Similarly, using the average of the execution time of the target offset and the execution time of the offsets in multiple control instructions as the execution time of the offset in the new control instruction ensures the timeliness of the offset operation.

[0090] Furthermore, for the target offset direction and the offset direction in multiple control commands, since the direction is usually discrete (e.g., up, down, left, right), the direction with the most statistical occurrences is used as the offset direction in the new control command. That is, the mode principle is adopted, which can reflect the tendency of most commands, thereby determining the most representative offset direction.

[0091] This application's solution introduces a dispersion index to evaluate the consistency of the target offset and multiple offsets. When the evaluation results show significant differences between instructions, a conservative strategy is adopted, setting the new offset and its execution duration to 0. This effectively avoids cutting deviations that may be caused by instruction uncertainty or conflict, improving the safety of the cutting process. Conversely, when instruction consistency is high, averaging effectively smooths the data, reducing the random error of a single instruction and making the determined new control instructions more stable and accurate. For the offset direction, a mode statistical method is used to ensure that the direction of the new control instruction represents the intent of the majority of instructions, further enhancing the reliability of the instructions.

[0092] Through the above technical solution, this application can effectively identify and handle potential inconsistencies between the target control command and multiple subsequent control commands. When the command dispersion is high, setting the new offset and offset execution time to zero can significantly improve the safety of pipe cutting operations and avoid equipment damage or reduced cutting quality due to erroneous commands. When the command dispersion is low, averaging can effectively eliminate data noise and improve the accuracy and stability of new control commands. In addition, determining the offset direction by statistical mode ensures the reliability of direction determination in a multi-command environment. Overall, the solution of this application enables the pipe cutting machine to adaptively adjust and generate safer, more accurate, and robust anti-deviation control commands when faced with complex and ever-changing control commands, thereby improving the overall performance and reliability of the cutting operation.

[0093] This application further proposes an adaptive anti-deviation control method for a pipe cutting machine, wherein, when the target control command is unreliable, the steps of determining and executing a new control command based on the control parameters in the target control command include:

[0094] Obtain the rate of change of solid particle concentration in the cutting fluid; adjust the control parameters in the target control command based on the rate of change of concentration, and obtain and execute the new control command.

[0095] Specifically, the concentration change rate of solid particles in cutting fluid refers to the degree of change in the content of suspended solid particles (such as metal shavings, abrasive particles, etc.) in the cutting fluid relative to the initial concentration or the concentration at a previous moment within a certain time interval. This concentration change rate can serve as an important indicator for evaluating the stability of the cutting process and the wear of the cutting equipment. For example, when the cutting equipment is cutting a pipe, the concentration change rate of solid particles in the cutting fluid can be monitored in real time by online sensors, such as optical turbidity sensors, conductivity sensors, or particle counters, to periodically acquire real-time concentration data of solid particles in the cutting fluid. The concentration change rate is obtained by calculating the ratio of the concentration difference between adjacent time points to the time interval.

[0096] Specifically, adjusting the control parameters in the target control command based on the concentration change rate refers to modifying control parameters such as the target offset and target offset execution time in the target control command based on the monitored rate of change in the concentration of solid particles in the cutting fluid. For example, a high concentration change rate may indicate increased wear on the cutting device or a decrease in the cooling and lubrication performance of the cutting fluid. In this case, it may be necessary to reduce the target offset to lower the cutting load or extend the target offset execution time to achieve a smoother offset adjustment. Conversely, a low concentration change rate may allow for a larger offset or a shorter execution time.

[0097] This application's solution uses the concentration change rate of solid particles in the cutting fluid as the basis for adjusting control parameters, enabling a more refined assessment of the actual working conditions during the cutting process. The concentration change rate of solid particles in the cutting fluid directly reflects the amount of debris generated during cutting and the wear condition of the cutting device. A high concentration change rate usually indicates a large cutting load, increased wear of the cutting device, or a decline in cutting fluid performance. These factors can all lead to instability or additional deviations in the cutting device when performing offset operations. By dynamically adjusting the target offset amount and the target offset execution time based on this concentration change rate, the new control commands can be more aligned with the current actual cutting environment, effectively avoiding cutting deviations caused by environmental factors and improving cutting stability and accuracy.

[0098] Through the above technical solution, this application enables further optimization of the adaptive anti-deviation control of pipe cutting machines. By monitoring the rate of change in the concentration of solid particles in the cutting fluid in real time and using this as the basis for adjusting control parameters, the system can respond more sensitively to subtle changes in the cutting environment. This not only helps generate new control commands that are more reasonable and adapted to the current working conditions when the target control command is unreliable, thereby effectively suppressing the generation of cutting deviations and improving cutting accuracy and surface quality, but also helps extend the service life of the cutting device and reduce maintenance costs.

[0099] In some preferred embodiments, it is assumed that during the cutting process of the pipe cutter, the target offset of its cutting device is 5mm, and the execution time of the target offset is 2 seconds. After determining that the target control command is unreliable, the system needs to determine and execute a new control command. At this time, the system first obtains the concentration change rate of solid particles in the cutting fluid. For example, by using an optical sensor installed in the cutting fluid circulation system, the turbidity of the cutting fluid is detected in real time, and it is calculated that the concentration change rate of solid particles in the cutting fluid in the past 10 seconds is 0.05% per second. The system can preset an adjustment strategy, for example, when the concentration change rate is between 0.03% and 0.06% per second, the target offset adjustment coefficient is set to 0.8, and the target offset execution time adjustment coefficient is set to 1.2. According to this strategy, the offset in the new control command will be adjusted to 5mm * 0.8 = 4mm, and the offset execution time in the new control command will be adjusted to 2 seconds * 1.2 = 2.4 seconds. Subsequently, the pipe cutter will execute this new control command. In this way, when the rate of change of solid particle concentration in the cutting fluid is high, the system will reduce the offset of the cutting device and extend the execution time to reduce the cutting load and reduce the cutting deviation that may be caused by the deterioration of the cutting fluid performance or the increased wear of the tool, thereby ensuring the stability and accuracy of the cutting process.

[0100] This application further proposes a step for adjusting the control parameters in the target control command based on the aforementioned concentration change rate to obtain and execute a new control command, including:

[0101] Obtain the first correspondence; the first correspondence includes a one-to-one correspondence between multiple concentration change rate ranges and multiple adjustment coefficients; take the adjustment coefficient corresponding to the concentration change rate range in the first correspondence as the target adjustment coefficient; take the product of the target offset and the target adjustment coefficient as the offset in the new control command, take the product of the target offset execution time and the target adjustment coefficient as the offset execution time in the new control command, and execute the new control command.

[0102] Specifically, the first correspondence can be understood as a pre-established set of rules used to guide the adjustment of control parameters. This correspondence divides the concentration change rate of solid particles in the cutting fluid into multiple discrete concentration change rate ranges, and presets a specific adjustment coefficient for each range. For example, when the concentration change rate falls within a specific interval, it corresponds to a specific adjustment coefficient. The adjustment coefficient is a multiplication factor used to correct the original target offset and the target offset execution time. The target adjustment coefficient refers to finding the concentration change rate range within the first correspondence based on the current concentration change rate of solid particles in the cutting fluid, and obtaining the corresponding adjustment coefficient for that range. This adjustment coefficient will be directly used for subsequent control parameter adjustments.

[0103] In practical applications, the offset in the new control command is obtained by multiplying the original target offset by the target adjustment coefficient. Similarly, the offset execution time in the new control command is obtained by multiplying the original target offset execution time by the target adjustment coefficient. Thus, the offset and offset execution time in the original target control command are adaptively modified to adapt to the effects of changes in the solid particle concentration of the cutting fluid, thereby forming a new control command that is then executed.

[0104] This application's solution introduces a first correspondence and dynamically selects adjustment coefficients based on the concentration change rate of solid particles in the cutting fluid, thereby achieving refined and adaptive adjustment of control parameters in the target control command. The concentration change rate of solid particles in the cutting fluid is an important indicator reflecting a decline in cutting fluid performance, increased wear, or a deterioration of the cutting environment. When the concentration change rate is high, it usually means a decrease in the lubrication and cooling performance of the cutting fluid, which may lead to increased cutting resistance, accelerated tool wear, and consequently, deviation of the cutting device.

[0105] By establishing a pre-defined correspondence, different concentration change rate ranges can be associated with different adjustment coefficients. For example, when the concentration change rate is high, the corresponding adjustment coefficient may be less than 1, reducing the new offset and offset execution time, thereby decreasing the aggressiveness of the cutting device and reducing the risk of deviation. Conversely, when the concentration change rate is low, the adjustment coefficient may be close to or equal to 1, maintaining the original control parameters to preserve cutting efficiency. This adaptive adjustment mechanism based on actual working condition changes effectively compensates for the shortcomings of traditional fixed parameter control, ensuring the stable operation of the pipe cutting machine under different cutting fluid conditions.

[0106] The above technical solution enables more precise and intelligent adaptive anti-deviation control of the pipe cutting process. Specifically, by establishing and utilizing a first correspondence, the adjustment of control parameters is no longer a simple linear or fixed pattern, but can be graded and refined according to the actual changes in the concentration of solid particles in the cutting fluid. This significantly improves the system's response speed and adjustment accuracy to changes in the cutting fluid state, effectively avoiding cutting deviation caused by a decline in cutting fluid performance, thereby improving cutting quality and equipment reliability, and extending tool life.

[0107] In modern industrial production, during long-term continuous operation, the high-speed friction between the cutting tool and the pipe material generates a large amount of fine metal dust, which mixes with the cutting fluid to form a suspension. These droplets and solid particles slowly and continuously adhere to the surface of the sensor probe used to monitor cutting trajectory deviation in real time. This causes the sensor's output deviation reading to exhibit a continuously and slowly increasing systematic offset. Upon receiving this sensor reading with systematic offset, the control system misinterprets it as a real physical deviation and makes compensatory adjustments, thus introducing a genuine cutting error into the pipe being cut. The insidious nature of this error prevents timely human intervention, ultimately leading to product scrap.

[0108] To address this, this application proposes an adaptive anti-deviation control system for a pipe cutting machine. The system includes: an acquisition device and a processing device; the acquisition device is used to acquire the current cutting operation parameters and the cutting parameters of the cutting device in response to a target control command for controlling the cutting device of the pipe cutting machine at the current moment; the target control command includes multiple control parameters; the processing device determines a reliable identifier for the target control command based on the operation parameters, the cutting parameters, and the multiple control parameters; the reliable identifier is used to indicate whether the target control command is reliable or unreliable; the processing device executes the target control command when the reliable identifier indicates that the target control command is reliable; the processing device determines and executes a new control command based on the control parameters in the target control command when the reliable identifier indicates that the target control command is unreliable.

[0109] This application aims to effectively identify and avoid false deviation signals caused by factors such as sensor contamination by introducing a mechanism for judging the credibility of target control commands. This prevents the control system from making adaptive adjustments based on erroneous information, ultimately improving the accuracy of pipe cutting and the product qualification rate. The system collects necessary operating and cutting parameters through an acquisition device, and a processing device evaluates the credibility of the target control commands. When a command is determined to be credible, the processing device directly executes it; when a command is determined to be unreliable, the processing device determines and executes a new control command based on existing parameters, thereby ensuring the accuracy and stability of the cutting process.

[0110] To better understand the technical solution proposed in this application, some key terms involved will be explained first.

[0111] A "pipe cutter" is an industrial device used to cut pipes. It typically includes a cutting device that can cut pipes.

[0112] "Cutting device" refers to the component in a pipe cutting machine that directly performs the cutting task, such as cutting blades and laser heads. Its movement and posture directly affect the cutting quality.

[0113] "Target control command" refers to the command issued by the control system to the cutting device to guide it in cutting operations. It includes multiple control parameters, such as the target offset of the cutting device, the execution time of the target offset, and the target offset direction.

[0114] "Operating parameters" refer to environmental or workpiece parameters related to the current cutting operation, such as the diameter, wall thickness, and material hardness of the pipe to be cut.

[0115] "Cutting parameters" refer to parameters related to the performance of the cutting device itself, such as the maximum offset speed and maximum offset acceleration of the cutting device.

[0116] A "trusted identifier" is a logical flag used to indicate whether a target control instruction is trustworthy. When the trusted identifier indicates that the target control instruction is trustworthy, it means that the instruction can be executed safely; when the trusted identifier indicates that the target control instruction is untrustworthy, it means that the instruction may have a problem and needs to be corrected or replaced.

[0117] The core of the adaptive anti-deviation control system for pipe cutting machines proposed in this application lies in the collaborative work of the acquisition device and the processing device to evaluate the reliability of the target control command and to adopt different control strategies based on the evaluation results.

[0118] Specifically, the acquisition device is configured to acquire the operating parameters of the current cutting operation and the cutting parameters of the cutting device in response to a target control command that controls the pipe cutting machine's cutting device at the current moment. The target control command includes multiple control parameters that collectively define the expected actions of the cutting device. For example, the acquisition device may include various sensors, such as non-contact sensors (e.g., laser rangefinders, ultrasonic probes) for measuring pipe diameter, wall thickness, and material hardness, and encoders or speed sensors for real-time monitoring of the cutting device's current rotational speed and feed rate. Furthermore, the acquisition device may integrate a data input module, such as a touchscreen human-machine interface or a network communication interface, to receive parameters manually entered by the operator or preset parameters automatically read from a higher-level control system or production management system (MES). Through these different implementations, the acquisition device can comprehensively and accurately collect all relevant information required to execute control commands.

[0119] The processing unit is configured to determine a trusted identifier for the target control command based on multiple control parameters from the operation parameters, cutting parameters, and target control commands acquired by the acquisition unit. The trusted identifier indicates whether the target control command is trusted or untrusted. For example, the processing unit could be an industrial-grade programmable logic controller (PLC) running a pre-programmed logic judgment program to receive data from the acquisition unit and perform calculations. Alternatively, the processing unit could be an embedded microcontroller unit (MCU) specifically responsible for executing the command trustworthiness evaluation algorithm. In more complex applications, the processing unit could be an industrial personal computer (IPC) or an edge computing unit, running specific software applications to perform data analysis and determine the trusted identifier. These processing units, through their computing power, can comprehensively analyze the received parameters to determine the reliability of the target control command.

[0120] When a trusted identifier indicates that the target control command is trusted, the processing device is configured to execute the target control command. This means that the processing device will generate corresponding control signals based on the content of the command that has been determined to be trusted, and send them to the actuator of the cutting device (such as a servo motor driver) to drive the cutting device to perform precise actions as required by the command.

[0121] However, when a trusted identifier indicates that the target control instruction is untrusted, the processing device will not directly execute the target control instruction. Instead, it will be configured to determine and execute a new control instruction based on the control parameters in the target control instruction. In this case, the processing device will initiate an internal correction logic. For example, the processing device can adjust the target offset, target offset execution duration, or target offset direction in the original instruction according to a preset security policy or correction algorithm, generating a safer and more reasonable alternative instruction. Subsequently, the processing device will execute this new control instruction, thereby avoiding cutting errors caused by executing untrusted instructions.

[0122] The adaptive anti-deviation control system for pipe cutting machines proposed in this application effectively solves the problem of traditional pipe cutting machines misjudging and making incorrect adaptive adjustments when sensor contamination causes false deviation signals. This is achieved by introducing a reliability assessment step before executing control commands. Traditional methods, lacking assessment of the reliability of the command source, often blindly execute commands with errors, leading to decreased cutting accuracy and product scrap.

[0123] The innovation of this application lies in its departure from simply relying on raw data from sensor feedback for adaptive control. Instead, it "examines" the control commands themselves. By comprehensively considering operational parameters, cutting parameters, and the control parameters of the command itself, the system can determine whether the current command is reasonable and whether it may be caused by anomalies. For example, if a sensor continuously outputs a slowly increasing offset due to contamination, directly executing this as the target control command would lead to cutting deviation. However, the system in this application, upon receiving such a target control command, performs a credibility assessment. If the assessment indicates that the command is unreliable (e.g., the offset or offset speed in the command exceeds the physical limits of the cutting device or is inconsistent with the characteristics of the pipe material), the system will not execute it blindly but will generate a new, corrected control command. This mechanism effectively avoids the control system from adaptively adjusting in "erroneous realities," thereby preventing the accumulation of cutting errors.

[0124] By performing verification and correction before the instruction is executed, this application can significantly improve the accuracy and stability of pipe cutting, reduce the product scrap rate caused by cutting deviation, and bring significant economic benefits and quality improvement to industrial production.

[0125] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An adaptive anti-deviation control method for a pipe cutting machine, characterized in that, The methods include: In response to the target control command for controlling the cutting device of the pipe cutting machine at the current moment, the operation parameters of the current cutting operation and the cutting parameters of the cutting device are obtained; The target control command includes multiple control parameters; A trusted identifier for the target control command is determined based on the operation parameters, the cutting parameters, and multiple control parameters; the trusted identifier is used to indicate whether the target control command is trusted or not. When the trusted identifier indicates that the target control instruction is trusted, the target control instruction is executed; When the trusted identifier indicates that the target control command is untrusted, a new control command is determined and executed based on the control parameters in the target control command; The trusted identifier for the target control command is determined based on the operation parameters, the cutting parameters, and multiple control parameters, including: The execution feasibility identifier of the target control instruction is determined based on the cutting parameters and the plurality of control parameters; the execution feasibility identifier is used to indicate whether the execution of the target control instruction is not feasible or the execution of the target control instruction is feasible; When the feasible identifier indicates that the target control instruction is not feasible, a trustworthy identifier for the target control instruction is determined to indicate that the target control instruction is not trustworthy; When the execution feasibility identifier indicates that the target control instruction is feasible, a reliable identifier for the target control instruction is determined based on the operation parameters and multiple control parameters; The plurality of control parameters include the target offset and the target offset execution time of the cutting device; the cutting parameters include the maximum offset velocity and the maximum offset acceleration of the cutting device; and the execution feasibility identifier of the target control command is determined based on the cutting parameters and the plurality of control parameters, including: The average offset speed and average offset acceleration of the cutting device are determined based on the target offset and the target offset execution time. When the average offset velocity is greater than the maximum offset velocity or the average offset acceleration is greater than the maximum offset acceleration, the execution feasibility identifier of the target control command is determined to indicate that the execution of the target control command is not feasible; otherwise, the execution feasibility identifier of the target control command is determined to indicate that the execution of the target control command is feasible. The operating parameters include the diameter of the pipe to be cut, the wall thickness of the pipe to be cut, the material hardness of the pipe to be cut, the current rotation speed of the cutting device, and the current feed speed of the cutting device. The multiple control parameters include the target offset and the target offset direction of the cutting device. A reliable identifier for the target control command is determined based on the operating parameters and the multiple control parameters, including: The diameter, wall thickness, material hardness, current rotation speed, and current feed speed are input into a preset cutting offset prediction model to obtain the predicted offset direction and predicted offset amount output by the preset cutting offset prediction model. The trusted identifier of the target control command is determined based on the predicted offset direction, the predicted offset amount, the target offset, and the target offset direction.

2. The adaptive anti-deviation control method for a pipe cutting machine according to claim 1, characterized in that, Determining the trusted identifier of the target control command based on the predicted offset direction, the predicted offset amount, the target offset, and the target offset direction includes: Determine whether the predicted offset direction is consistent with the target offset direction; When the predicted offset direction is inconsistent with the target offset direction, the trusted identifier of the target control command is determined to indicate that the target control command is untrusted; When the predicted offset direction is consistent with the target offset direction, it is determined whether the offset difference is greater than a preset offset difference; the offset difference is the absolute value of the difference between the predicted offset and the target offset. If the offset difference is greater than a preset offset difference, the trusted identifier of the target control command is determined to indicate that the target control command is untrusted; otherwise, the trusted identifier of the target control command is determined to indicate that the target control command is trustworthy.

3. The adaptive anti-deviation control method for a pipe cutting machine according to claim 1, characterized in that, The target control command includes the target offset of the cutting device, the target offset execution duration, and the target offset direction. Based on the control parameters in the target control command, a new control command is determined and executed, including: Multiple control commands are obtained to control the cutting device of the pipe cutting machine within a preset time after the current moment; the control commands include the offset of the cutting device, the offset execution time, and the offset direction; Based on the offset, offset execution duration, and offset direction in multiple control commands, determine the offset, offset execution duration, and offset direction in a new control command, and execute the new control command.

4. The adaptive anti-deviation control method for a pipe cutting machine according to claim 3, characterized in that, Based on the offsets, offset execution durations, and offset directions in multiple control commands, determine the offsets, offset execution durations, and offset directions in a new control command, and execute the new control command, including: Determine the target offset and the dispersion index of the multiple offsets; When the dispersion index is greater than the preset dispersion index, the offset in the new control command is determined to be 0, and the execution time of the offset in the new control command is determined to be 0. When the dispersion index is less than or equal to the preset dispersion index, the average value of the target offset and the offsets in multiple control commands is used as the offset in the new control command. The average of the target offset execution time and the offset execution time in multiple control instructions is used as the offset execution time in the new control instruction; The number of each direction in the target offset direction and the offset directions in multiple control commands is counted. The direction with the most counts is used as the offset direction in the new control command, and the new control command is executed.

5. The adaptive anti-deviation control method for a pipe cutting machine according to claim 1, characterized in that, The target control command includes the target offset of the cutting device and the target offset execution time. Based on the control parameters in the target control command, a new control command is determined and executed, including: Obtain the rate of change in the concentration of solid particles in the cutting fluid; The control parameters in the target control command are adjusted according to the concentration change rate to obtain and execute a new control command.

6. The adaptive anti-deviation control method for a pipe cutting machine according to claim 5, characterized in that, Adjusting the control parameters in the target control command based on the concentration change rate, and obtaining and executing a new control command, including: Obtain the first correspondence; the first correspondence includes a one-to-one correspondence between multiple concentration change rate ranges and multiple adjustment coefficients; The adjustment coefficient corresponding to the concentration change rate range in the first correspondence is taken as the target adjustment coefficient. The product of the target offset and the target adjustment coefficient is used as the offset in the new control command, and the product of the target offset execution duration and the target adjustment coefficient is used as the offset execution duration in the new control command, and the new control command is executed.

7. An adaptive anti-deviation control system for a pipe cutting machine, characterized in that, The system includes: an acquisition device and a processing device; The acquisition device is used to acquire the operation parameters of the current cutting operation and the cutting parameters of the cutting device in response to a target control command for controlling the cutting device of the pipe cutting machine at the current moment; the target control command includes multiple control parameters. The processing device is used to determine a trusted identifier for the target control command based on the operation parameters, the cutting parameters, and multiple control parameters; the trusted identifier is used to indicate whether the target control command is trusted or untrustworthy. The processing device is further configured to execute the target control instruction when the trusted identifier indicates that the target control instruction is trusted; The processing device is further configured to determine and execute a new control instruction based on control parameters in the target control instruction when the trusted identifier indicates that the target control instruction is untrustworthy; the processing device is configured to determine the trusted identifier of the target control instruction based on the operation parameters, the cutting parameters, and multiple control parameters, including: The execution feasibility identifier of the target control instruction is determined based on the cutting parameters and the plurality of control parameters; the execution feasibility identifier is used to indicate whether the execution of the target control instruction is not feasible or the execution of the target control instruction is feasible; When the feasible identifier indicates that the target control instruction is not feasible, a trustworthy identifier for the target control instruction is determined to indicate that the target control instruction is not trustworthy; When the execution feasibility identifier indicates that the target control instruction is feasible, a reliable identifier for the target control instruction is determined based on the operation parameters and multiple control parameters; The plurality of control parameters include the target offset and the target offset execution time of the cutting device; the cutting parameters include the maximum offset speed and the maximum offset acceleration of the cutting device; the processing device is configured to determine the execution feasibility identifier of the target control command based on the cutting parameters and the plurality of control parameters, including: The average offset speed and average offset acceleration of the cutting device are determined based on the target offset and the target offset execution time. When the average offset velocity is greater than the maximum offset velocity or the average offset acceleration is greater than the maximum offset acceleration, the execution feasibility identifier of the target control command is determined to indicate that the execution of the target control command is not feasible; otherwise, the execution feasibility identifier of the target control command is determined to indicate that the execution of the target control command is feasible. The operating parameters include the diameter of the pipe to be cut, the wall thickness of the pipe to be cut, the material hardness of the pipe to be cut, the current rotation speed of the cutting device, and the current feed speed of the cutting device. The multiple control parameters include the target offset and the target offset direction of the cutting device. The processing device is used to determine a reliable identifier for the target control command based on the operating parameters and the multiple control parameters, including: The diameter, wall thickness, material hardness, current rotation speed, and current feed speed are input into a preset cutting offset prediction model to obtain the predicted offset direction and predicted offset amount output by the preset cutting offset prediction model. The trusted identifier of the target control command is determined based on the predicted offset direction, the predicted offset amount, the target offset, and the target offset direction.

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