CN118089598B - Pipeline lengthening method, device, equipment and medium based on three-dimensional detection - Google Patents
Pipeline lengthening method, device, equipment and medium based on three-dimensional detection Download PDFInfo
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- CN118089598B CN118089598B CN202410459588.0A CN202410459588A CN118089598B CN 118089598 B CN118089598 B CN 118089598B CN 202410459588 A CN202410459588 A CN 202410459588A CN 118089598 B CN118089598 B CN 118089598B
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 238000004590 computer program Methods 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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- 239000013598 vector Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
- B23K31/027—Making tubes with soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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- Optics & Photonics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to the technical field of intelligent manufacturing, in particular to a three-dimensional detection-based pipeline lengthening method, a three-dimensional detection-based pipeline lengthening device, a three-dimensional detection-based pipeline lengthening equipment and a three-dimensional detection-based pipeline lengthening medium, which comprise the following steps: establishing a coordinate system, scanning a reference barrel section and a barrel section to be registered, and determining respective point cloud data; determining a first fitting straight line of the surface of the reference barrel section based on the point cloud data, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, a first coplanarity of the two straight lines forms a preset angle with an XY plane, and determining a second fitting straight line of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and a second coplanarity of the two straight lines forms a preset angle with the XY plane; determining projections of the first fitting straight line on an XY plane and an XZ plane based on the first fitting straight line, and determining projections of the second fitting straight line on the XY plane and the XZ plane based on the second fitting straight line; based on projection, concentricity of the reference barrel section and the barrel section to be registered is adjusted, and alignment accuracy of the reference barrel section and the barrel section to be registered is improved.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a pipeline lengthening method, device, equipment and medium based on three-dimensional detection.
Background
In recent years, the attention of upgrading an intelligent manufacturing production line is higher and higher, and particularly, the intelligent automatic upgrading and reconstruction of large nonstandard workpieces are realized, the manual participation procedures of the type reconstruction are more, and the operation risk is higher.
For example, in the prior art, the alignment accuracy is not high, and in order to improve the alignment accuracy of the alignment welding, the pipeline needs to be aligned and fixed, but how to improve the alignment accuracy of the pipeline is a technical problem to be solved at present.
Disclosure of Invention
In view of the foregoing, the present invention provides a method, apparatus, device and medium for three-dimensional detection-based tubing extension that overcomes or at least partially solves the foregoing problems.
In a first aspect, the present invention provides a method for lengthening a pipeline based on three-dimensional detection, including:
Establishing a coordinate system by taking the axis of a reference barrel section as an X axis, taking the upward direction perpendicular to the axis as a Z axis, taking the two sides perpendicular to the axis as Y axes, scanning the reference barrel section and the barrel section to be registered, and determining the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered, wherein the reference barrel section and the barrel section to be registered are two barrel sections which need to be aligned and welded;
Determining a first fitting straight line of the surface of the reference barrel section based on point cloud data of the reference barrel section, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, the first fitting straight line and a first coplanarity of the first axial lead form a preset angle with an XY plane, and determining a second fitting straight line of the barrel section to be registered based on point cloud data of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and a second coplanarity of the second fitting straight line and the second axial lead form the preset angle with the XY plane;
Determining a first projection straight line equation of the first fitting straight line on an XY plane and a second projection straight line equation on an XZ plane based on the first fitting straight line, and determining a third projection straight line equation of the second fitting straight line on the XY plane and a fourth projection straight line equation on the XZ plane based on the second fitting straight line;
And adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
Preferably, after the concentricity of the reference barrel section and the barrel section to be registered is adjusted based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation, so that the reference barrel section and the barrel section to be registered are aligned and welded, the method further comprises:
determining a first axis line fitting equation of the reference barrel section and a second axis line fitting equation of the barrel section to be registered based on the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered;
determining the axis deviation between the reference barrel section and the barrel section to be registered based on the first axis fitting equation and the second axis fitting equation;
acquiring the length of a barrel joint to be registered;
and determining the accumulated deviation of the axial lead based on the number of the joint lengths of the barrels to be registered and the corresponding axial lead deviation.
Preferably, after the determining the accumulated deviation of the axis line based on the number of the joint lengths of the barrels to be registered and the corresponding deviation of the axis line, the method further comprises:
judging whether the accumulated deviation of the axial lead meets a preset condition or not to obtain a judging result;
And judging whether the pipeline lengthening process is qualified or not based on the judging result.
Preferably, the preset angle is 45 °, 135 °, 225 ° and 315 °; or alternatively
The preset angles are 0 °, 120 ° and 240 °.
Preferably, the scanning the reference barrel section and the barrel section to be registered, determining the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered, includes:
scanning a reference barrel section and a barrel section to be registered to obtain integral point cloud data of the reference barrel section and the barrel section to be registered;
Identifying a groove portion of the global point cloud data;
And determining the point cloud data of the reference barrel node and the point cloud data of the barrel node to be registered based on the groove part.
Preferably, the adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first projection straight line equation, the second projection straight line equation, the third projection straight line equation and the fourth projection straight line equation to enable the reference barrel section to be aligned and welded with the barrel section to be registered includes:
Determining a first Y value based on the first projection straight line equation, determining a first Z value based on the second projection straight line equation at the section of the reference barrel section, determining a second Y value based on the third projection straight line equation, and determining a second Z value based on the fourth projection straight line equation at the same section of the barrel section to be registered;
And adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first Y value, the first Z value, the second Y value and the second Z value so that the reference barrel section and the barrel section to be registered are aligned and welded.
Preferably, the adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first Y value, the first Z value, the second Y value and the second Z value to enable the reference barrel section to be aligned and welded with the barrel section to be registered includes:
Determining a first adjustment value on a Y-axis based on the first Y-value and the second Y-value;
Determining a second adjustment value on a Z-axis based on the first Z-value and the second Z-value;
and adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first adjustment value and the second adjustment value so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
In a second aspect, the present invention further provides a device for lengthening a pipeline based on three-dimensional detection, including:
The scanning module is used for establishing a coordinate system by taking the axial lead of the reference barrel section as an X axis, taking the direction vertical to the axial lead as a Z axis and taking the two sides vertical to the axial lead as Y axes, scanning the reference barrel section and the barrel section to be registered, and determining the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered, wherein the reference barrel section and the barrel section to be registered are two barrel sections which need to be aligned and welded;
the first determining module is used for determining a first fitting straight line of the surface of the reference barrel section based on the point cloud data of the reference barrel section, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, the first fitting straight line forms a preset angle with an XY plane with a first coplanarity of the first axial lead, and a second fitting straight line of the barrel section to be registered is determined based on the point cloud data of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and the second coplanarity of the second fitting straight line and the second axial lead forms the preset angle with the XY plane;
The second determining module is used for determining a first projection straight line equation of the first fitting straight line on an XY plane and a second projection straight line equation on an XZ plane based on the first fitting straight line, and determining a third projection straight line equation of the second fitting straight line on the XY plane and a fourth projection straight line equation on the XZ plane based on the second fitting straight line;
and the adjusting module is used for adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
In a third aspect, the present invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method steps described in the first aspect when the program is executed.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method steps described in the first aspect.
One or more technical solutions in the embodiments of the present invention at least have the following technical effects or advantages:
The invention provides a pipeline lengthening method based on three-dimensional detection, which comprises the following steps: establishing a coordinate system, scanning a reference barrel section and a barrel section to be registered, and determining point cloud data of the reference barrel section and point cloud data of the barrel section to be registered, wherein the reference barrel section and the barrel section to be registered are two barrel sections which need to be aligned and welded; determining a first fitting straight line of the surface of the reference barrel section based on the point cloud data of the reference barrel section, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, the first fitting straight line and a first coplanarity of the first axial lead form a preset angle with an XY plane, and determining a second fitting straight line of the barrel section to be registered based on the point cloud data of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and the second fitting straight line and a second coplanarity of the second axial lead form a preset angle with the XY plane; determining a first projection straight line equation of a first fitting straight line on an XY plane and a second projection straight line equation on an XZ plane based on the first fitting straight line, and determining a third projection straight line of a second fitting straight line on the XY plane and a fourth projection straight line equation on the XZ plane based on the second fitting straight line; based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation, concentricity of the reference barrel section and the barrel section to be registered is adjusted, so that the reference barrel section and the barrel section to be registered are aligned and welded, and the concentricity of the reference barrel section and the barrel section to be registered is adjusted from each angle, so that the alignment precision of the reference barrel section and the barrel section to be registered is improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also throughout the drawings, like reference numerals are used to designate like parts. In the drawings:
FIG. 1 shows a schematic flow chart of the steps of a three-dimensional detection-based pipe lengthening method in an embodiment of the invention;
FIG. 2 shows a schematic diagram of a first fitted line of reference barrel sections and a second fitted line of barrel sections to be registered in an embodiment of the invention;
FIG. 3 shows a schematic diagram of another first fitted line of a reference bucket segment and another second fitted line of a bucket segment to be registered in an embodiment of the invention;
FIG. 4 shows a schematic diagram of a welded pipe in an embodiment of the invention;
FIG. 5 shows a schematic diagram of a three-dimensional detection-based pipe lengthening device in an embodiment of the present invention;
Fig. 6 shows a schematic diagram of a computer device for implementing a three-dimensional detection-based pipe lengthening method in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example 1
The embodiment of the invention provides a pipeline lengthening method based on three-dimensional detection, which is shown in fig. 1 and comprises the following steps:
S101, taking the axis of a reference barrel section as an X axis, taking the direction vertical to the axis as a Z axis, and taking the direction vertical to the axis as two sides of the axis as Y axes to establish a coordinate system, scanning the reference barrel section and the barrel section to be registered, and determining the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered, wherein the reference barrel section and the barrel section to be registered are two barrel sections which need to be aligned and welded;
S102, determining a first fitting straight line of the surface of the reference barrel section based on the reference barrel section and the point cloud data, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, the first fitting straight line and a first coplanarity of the first axial lead form a preset angle with an XY plane, a second fitting straight line of the barrel section to be registered is determined based on the point cloud data of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and the second fitting straight line and a second coplanarity of the second axial lead form a preset angle with the XY plane;
S103, determining a first projection straight line equation of the first fitting straight line on the XY plane and a second projection straight line equation on the XZ plane based on the first fitting straight line, and determining a third projection straight line equation of the second fitting straight line on the XY plane and a fourth projection straight line equation on the XZ plane based on the second fitting straight line;
And S104, adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
In a specific embodiment, two stand columns are erected on two sides of a joint on two sides of a workpiece, and a laser scanning device with a swinging scanning function is installed on the stand columns, and swings back and forth along the axial line direction of a winding drum or a tile during measurement, so that scanning is completed.
Thus, in S101, the reference bucket segment and the bucket segment to be registered are scanned, and the point cloud data of the reference bucket segment and the point cloud data of the bucket segment to be registered are determined. Point cloud data refers to a set of vectors in a three-dimensional coordinate system. Firstly, a three-dimensional coordinate system is required to be established, in the invention, the axis of a reference barrel section is specifically taken as an X axis, the direction vertical to the axis is upwards taken as a Z axis, and the directions vertical to the axis are taken as Y axes at two sides.
Specifically, the integral point cloud data of the reference barrel section and the barrel section to be registered are obtained by scanning the reference barrel section and the barrel section to be registered;
Identifying a groove portion of the overall point cloud data;
And identifying the point cloud segmentation positions of the two barrel nodes through grooves on the integral point cloud data, thereby determining that one side of the groove part is the point cloud data of the reference barrel node and the other side is the point cloud data of the barrel node to be registered.
Next, S102 is executed, where a first fitting line of the surface of the reference barrel section is determined based on the point cloud data of the reference barrel section, the first fitting line being parallel to a first axis of the reference barrel section, the first fitting line being at a preset angle to a first coplanarity of the first axis and an XY plane, and a second fitting line of the barrel section to be registered is determined based on the point cloud data of the barrel section to be registered, the second fitting line being parallel to a second axis of the barrel section to be registered, the second fitting line being at a preset angle to a second coplanarity of the second axis and the XY plane.
As shown in fig. 2 and 3, a first fitting straight line L1 is determined on the surface of the reference barrel section, and a second fitting straight line L2 is determined on the surface of the barrel section to be registered.
The first fitting straight line is specifically 3 or 4, and when the first fitting straight line is 4, as shown in fig. 2, straight lines at 45 °, 135 °, 225 ° and 315 ° are located on a plane where the cross section of the reference barrel section is located.
In the case of 3, as shown in fig. 3, the straight lines at 0 °, 120 ° and 240 ° are located on the plane where the cross section of the reference barrel section is located.
The corresponding second fitting line L2 is also selected in the manner of the first fitting line L1.
By adopting the first selection mode, the first fitting straight line is parallel to the first axial lead, and the first coplanarity of the first fitting straight line and the first axial lead forms a preset angle with the XY plane, wherein the preset angle is 45 degrees, 125 degrees, 225 degrees or 315 degrees. The second fitting straight line is selected in the same way, so that the second fitting straight line is parallel to the second axis, and a second coplanarity of the second fitting straight line and the second axis forms the preset angle with the XY plane, and the preset angle is 45 degrees, 125 degrees, 225 degrees or 315 degrees.
By adopting the second selection mode, the first fitting straight line is parallel to the first axial lead, and the first fitting straight line forms a preset angle with the first mutual encouragement and the XY plane of the first axial lead, wherein the preset angle is 0 DEG, 120 DEG or 240 deg. The second fitting straight line is selected in the same way, so that the second fitting straight line is parallel to the second axis line, and a second coplanarity of the second fitting straight line and the second axis line forms the preset angle with the XY plane, and the preset angle is 0 degree, 120 degrees or 240 degrees.
Of course, the preset angle may be selected randomly by selecting a plurality of angles such as 60 °, 100 °, 170 ° and the like instead of according to the uniformity principle.
Next, S103 is performed, in which a first projection straight line equation of the first fitting straight line in the XY plane and a second projection straight line equation in the XZ plane are determined based on the first fitting straight line, and a third projection straight line equation of the second fitting straight line in the XY plane and a fourth projection straight line equation in the XZ plane are determined based on the second fitting straight line.
For example, if a first projection straight line equation of a first fitting straight line of 45 ° of the reference barrel section in the XY plane is the first projection straight line equation of the first fitting straight line in the XZ plane is the second projection straight line equation. The third projection straight line equation of the second fitting straight line of the barrel section to be registered at the same angle (45 degrees) on the XY plane is the fourth projection straight line equation of the second fitting straight line on the XZ plane.
Of course, it is also necessary to obtain the projection straight line equation of the first fitting straight line at 125 °, 225 ° and 315 ° of the reference barrel section on the XY plane, the projection straight line equation of the first fitting straight line at XZ plane, and the projection straight line equation of the second fitting straight line at the same angle (125 °, 225 ° and 315 °) of the barrel section to be registered on the XY plane, the projection straight line equation at XZ plane. The projection straight line equations of the fitting straight lines at these angles on the XY plane and on the XZ plane are obtained according to the calculation mode at 45 degrees.
After all of the first, second, third, and fourth projected straight line equations are determined, S104 is performed, and concentricity of the reference barrel section and the barrel section to be registered is adjusted based on the first, second, third, and fourth projected straight line equations so that the reference barrel section is welded in alignment with the barrel section to be registered.
Specifically, at any section of the reference barrel section, a first Y value is determined based on a first projection straight line equation, a first Z value is determined based on a second projection straight line equation, at the same section of the barrel section to be registered, a second Y value is determined based on a third projection straight line equation, and a second Z value is determined based on a fourth projection straight line equation;
And adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first Y value, the first Z value, the second Y value and the second Z value so that the reference barrel section and the barrel section to be registered are aligned and welded.
Wherein the first adjustment value on the Y-axis is determined, in particular based on the first Y-value and the second Y-value;
Determining a second adjustment value on the Z-axis based on the first Z-value and the second Z-value;
And adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first adjustment value and the second adjustment value so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
Taking the first projection linear equation as an example, the second projection linear equation as an example, the third projection linear equation as an example, and the fourth projection linear equation as an example, the following description will be made.
At the cross section of the reference barrel section, the X value is determined, whereby a first Y value and a first Z value, i.e. the X value is determined, can be obtained with the first fitted line at 45 °. A second fitted straight line of 45 ° of the barrel segment to be registered at the section is at 45 °, and X determines a second Y value and a second Z value, that is, at 45 °.
Thereby obtaining a first adjustment value on the Y axis as; a second adjustment value on the X-axis.
Similarly, the above adjustment is also performed for the first fitting straight line and the second fitting straight line of 125 °, the first fitting straight line and the second fitting straight line of 225 °, and the first fitting straight line and the second fitting straight line of 315 °. By adjusting concentricity in a plurality of angular directions, concentricity can be adjusted more accurately.
Naturally, the preset angles of 0 °, 120 ° and 240 ° are also adjusted according to the adjustment method described above.
After adjusting the concentricity, the method further comprises:
determining a first axis line fitting equation of the reference barrel section and a second axis line fitting equation of the barrel section to be registered based on the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered;
Determining the axis deviation between the reference barrel section and the barrel section to be registered based on the first axis fitting equation and the second axis fitting equation;
acquiring the length of a barrel joint to be registered;
And determining the accumulated deviation of the axial lead based on the number of the joint lengths of the barrels to be registered and the corresponding axial lead deviation.
In a specific embodiment, the axis line fitting equation of the reference barrel node and the point cloud data of the barrel node to be registered is obtained through the point cloud data of the reference barrel node, and according to an ideal state, the axis line fitting equation (a first axis line fitting equation and a second axis line fitting equation) of the reference barrel node and the point cloud data of the barrel node to be registered are collinear. However, due to errors in the actual operation process, there is an axial lead deviation between the first axial lead fitting equation and the second axial lead fitting equation, and the axial lead deviation is accumulated to be larger and larger as the number of the aligned welded barrel joints is larger. Therefore, the number of the barrel sections to be registered is counted, and the axial lead deviation between any two adjacent barrel sections is added through accumulation to obtain accumulated deviation. For example, as shown in fig. 4, if the number of joint lengths of the barrel to be registered is 7, the 7 axis deviation is added to obtain the accumulated deviation.
Finally, after the accumulated deviation of the axial lead is determined, judging whether the accumulated deviation of the axial lead meets a preset condition or not, and obtaining a judging result; and judging whether the pipeline lengthening process is qualified or not based on a judging result.
According to the process requirements, the accumulated deviation of the axial lead should meet the preset condition, namely, the accumulated deviation cannot exceed the preset value. If the preset value is exceeded, determining that the process of lengthening the pipeline is unqualified, and if the preset value is not exceeded, determining that the process of lengthening the pipeline is qualified.
The method for lengthening the pipeline based on the three-dimensional detection is not only suitable for the pipeline, but also suitable for tiles and the like, and is not described in detail herein.
One or more technical solutions in the embodiments of the present invention at least have the following technical effects or advantages:
The invention provides a pipeline lengthening method based on three-dimensional detection, which comprises the following steps: establishing a coordinate system, scanning a reference barrel section and a barrel section to be registered, and determining point cloud data of the reference barrel section and point cloud data of the barrel section to be registered, wherein the reference barrel section and the barrel section to be registered are two barrel sections which need to be aligned and welded; determining a first fitting straight line of the surface of the reference barrel section based on the point cloud data of the reference barrel section, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, the first fitting straight line and a first coplanarity of the first axial lead form a preset angle with an XY plane, and determining a second fitting straight line of the barrel section to be registered based on the point cloud data of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and the second fitting straight line and a second coplanarity of the second axial lead form a preset angle with the XY plane; determining a first projection straight line equation of a first fitting straight line on an XY plane and a second projection straight line equation on an XZ plane based on the first fitting straight line, and determining a third projection straight line of a second fitting straight line on the XY plane and a fourth projection straight line equation on the XZ plane based on the second fitting straight line; based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation, concentricity of the reference barrel section and the barrel section to be registered is adjusted, so that the reference barrel section and the barrel section to be registered are aligned and welded, and the concentricity of the reference barrel section and the barrel section to be registered is adjusted from each angle, so that the alignment precision of the reference barrel section and the barrel section to be registered is improved.
Example two
Based on the same inventive concept, the embodiment of the invention also provides a pipeline lengthening device based on three-dimensional detection, as shown in fig. 5, comprising:
The scanning module 501 is configured to establish a coordinate system by using an axis line of a reference barrel section as an X axis, a direction perpendicular to the axis line upwards as a Z axis, and directions perpendicular to the axis line and two sides as Y axes, and scan the reference barrel section and the barrel section to be registered, and determine point cloud data of the reference barrel section and point cloud data of the barrel section to be registered, where the reference barrel section and the barrel section to be registered are two barrel sections to be aligned and welded;
A first determining module 502, configured to determine, based on point cloud data of a reference barrel section, a first fitting line of a surface of the reference barrel section, where the first fitting line is parallel to a first axis of the reference barrel section, the first fitting line forms a preset angle with an XY plane with a first coplanarity of the first axis, and determine, based on point cloud data of a barrel section to be registered, a second fitting line of the barrel section to be registered, where the second fitting line is parallel to a second axis of the barrel section to be registered, and the second fitting line forms the preset angle with the XY plane with a second coplanarity of the second axis;
A second determining module 503, configured to determine, based on the first fitted line, a first projection line equation of the first fitted line on an XY plane and a second projection line equation on an XZ plane, and determine, based on the second fitted line, a third projection line equation of the second fitted line on the XY plane and a fourth projection line equation on the XZ plane;
And an adjustment module 504, configured to adjust concentricity of the reference barrel section and the barrel section to be registered based on the first projection linear equation, the second projection linear equation, the third projection linear equation, and the fourth projection linear equation, so that the reference barrel section and the barrel section to be registered are aligned and welded.
In an alternative embodiment, the method further comprises: a third determining module, configured to:
determining a first axis line fitting equation of the reference barrel section and a second axis line fitting equation of the barrel section to be registered based on the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered;
determining the axis deviation between the reference barrel section and the barrel section to be registered based on the first axis fitting equation and the second axis fitting equation;
acquiring the length of a barrel joint to be registered;
and determining the accumulated deviation of the axial lead based on the number of the joint lengths of the barrels to be registered and the corresponding axial lead deviation.
In an alternative embodiment, the method further comprises: the judging module is used for:
judging whether the accumulated deviation of the axial lead meets a preset condition or not to obtain a judging result;
And judging whether the pipeline lengthening process is qualified or not based on the judging result.
In an alternative embodiment, the preset angles are 45 °, 135 °, 225 ° and 315 °; or alternatively
The preset angles are 0 °, 120 ° and 240 °.
In an alternative embodiment, the scanning module 501 is configured to:
scanning a reference barrel section and a barrel section to be registered to obtain integral point cloud data of the reference barrel section and the barrel section to be registered;
Identifying a groove portion of the global point cloud data;
And determining the point cloud data of the reference barrel node and the point cloud data of the barrel node to be registered based on the groove part.
In an alternative embodiment, the adjustment module 504 is configured to:
Determining a first Y value based on the first projection straight line equation, determining a first Z value based on the second projection straight line equation at the section of the reference barrel section, determining a second Y value based on the third projection straight line equation, and determining a second Z value based on the fourth projection straight line equation at the same section of the barrel section to be registered;
And adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first Y value, the first Z value, the second Y value and the second Z value so that the reference barrel section and the barrel section to be registered are aligned and welded.
In an alternative embodiment, the adjustment module 504 is further configured to:
Determining a first adjustment value on a Y-axis based on the first Y-value and the second Y-value;
Determining a second adjustment value on a Z-axis based on the first Z-value and the second Z-value;
and adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first adjustment value and the second adjustment value so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
Example III
Based on the same inventive concept, an embodiment of the present invention provides a computer device, as shown in fig. 6, including a memory 604, a processor 602, and a computer program stored in the memory 604 and executable on the processor 602, where the processor 602 implements the steps of the three-dimensional detection-based pipe extension method described above when executing the program.
Where in FIG. 6, a bus architecture (represented by bus 600), bus 600 may include any number of interconnected buses and bridges, with bus 600 linking together various circuits, including one or more processors, represented by processor 602, and memory, represented by memory 604. Bus 600 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. The bus interface 606 provides an interface between the bus 600 and the receiver 601 and transmitter 603. The receiver 601 and the transmitter 603 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 602 is responsible for managing the bus 600 and general processing, while the memory 604 may be used to store data used by the processor 602 in performing operations.
Example IV
Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described three-dimensional detection-based pipe lengthening method.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each embodiment. Rather, as each embodiment reflects, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in a specific implementation, any of the claimed embodiments may be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functionality of some or all of the components of a three-dimensional detection-based pipe extension device, computer apparatus, according to embodiments of the present invention, may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (10)
1. The pipeline lengthening method based on three-dimensional detection is characterized by comprising the following steps of:
Establishing a coordinate system by taking the axis of a reference barrel section as an X axis, taking the upward direction perpendicular to the axis as a Z axis, taking the two sides perpendicular to the axis as Y axes, scanning the reference barrel section and the barrel section to be registered, and determining the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered, wherein the reference barrel section and the barrel section to be registered are two barrel sections which need to be aligned and welded;
Determining a first fitting straight line of the surface of the reference barrel section based on point cloud data of the reference barrel section, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, the first fitting straight line and a first coplanarity of the first axial lead form a preset angle with an XY plane, and determining a second fitting straight line of the barrel section to be registered based on point cloud data of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and a second coplanarity of the second fitting straight line and the second axial lead form the preset angle with the XY plane;
Determining a first projection straight line equation of the first fitting straight line on an XY plane and a second projection straight line equation on an XZ plane based on the first fitting straight line, and determining a third projection straight line equation of the second fitting straight line on the XY plane and a fourth projection straight line equation on the XZ plane based on the second fitting straight line;
And adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
2. The method of claim 1, wherein after the adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first, second, third, and fourth projected straight line equations to align the reference barrel section with the barrel section to be registered for welding, further comprising:
determining a first axis line fitting equation of the reference barrel section and a second axis line fitting equation of the barrel section to be registered based on the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered;
determining the axis deviation between the reference barrel section and the barrel section to be registered based on the first axis fitting equation and the second axis fitting equation;
acquiring the length of a barrel joint to be registered;
and determining the accumulated deviation of the axial lead based on the number of the joint lengths of the barrels to be registered and the corresponding axial lead deviation.
3. The method of claim 2, further comprising, after said determining an accumulated axis deviation based on the number of barrel joints to be registered and the corresponding axis deviation:
judging whether the accumulated deviation of the axial lead meets a preset condition or not to obtain a judging result;
And judging whether the pipeline lengthening process is qualified or not based on the judging result.
4. The method of claim 1, wherein the predetermined angles are 45 °, 135 °, 225 ° and 315 °; or alternatively
The preset angles are 0 °, 120 ° and 240 °.
5. The method of claim 1, wherein the scanning the reference bucket segment and the bucket segment to be registered, determining the point cloud data of the reference bucket segment and the point cloud data of the bucket segment to be registered, comprises:
scanning a reference barrel section and a barrel section to be registered to obtain integral point cloud data of the reference barrel section and the barrel section to be registered;
Identifying a groove portion of the global point cloud data;
And determining the point cloud data of the reference barrel node and the point cloud data of the barrel node to be registered based on the groove part.
6. The method of claim 1, wherein the adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first, second, third, and fourth projected straight-line equations to align the reference barrel section with the barrel section to be registered for welding comprises:
Determining a first Y value based on the first projection straight line equation, determining a first Z value based on the second projection straight line equation at the section of the reference barrel section, determining a second Y value based on the third projection straight line equation, and determining a second Z value based on the fourth projection straight line equation at the same section of the barrel section to be registered;
And adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first Y value, the first Z value, the second Y value and the second Z value so that the reference barrel section and the barrel section to be registered are aligned and welded.
7. The method of claim 6, wherein the adjusting concentricity of the reference bucket segment and the bucket segment to be registered based on the first Y value, the first Z value, the second Y value, and the second Z value to align the reference bucket segment with the bucket segment to be registered for welding comprises:
Determining a first adjustment value on a Y-axis based on the first Y-value and the second Y-value;
Determining a second adjustment value on a Z-axis based on the first Z-value and the second Z-value;
and adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first adjustment value and the second adjustment value so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
8. The utility model provides a pipeline lengthening device based on three-dimensional detection which characterized in that includes:
The scanning module is used for establishing a coordinate system by taking the axial lead of the reference barrel section as an X axis, taking the direction vertical to the axial lead as a Z axis and taking the two sides vertical to the axial lead as Y axes, scanning the reference barrel section and the barrel section to be registered, and determining the point cloud data of the reference barrel section and the point cloud data of the barrel section to be registered, wherein the reference barrel section and the barrel section to be registered are two barrel sections which need to be aligned and welded;
the first determining module is used for determining a first fitting straight line of the surface of the reference barrel section based on the point cloud data of the reference barrel section, wherein the first fitting straight line is parallel to a first axial lead of the reference barrel section, the first fitting straight line forms a preset angle with an XY plane with a first coplanarity of the first axial lead, and a second fitting straight line of the barrel section to be registered is determined based on the point cloud data of the barrel section to be registered, the second fitting straight line is parallel to a second axial lead of the barrel section to be registered, and the second coplanarity of the second fitting straight line and the second axial lead forms the preset angle with the XY plane;
The second determining module is used for determining a first projection straight line equation of the first fitting straight line on an XY plane and a second projection straight line equation on an XZ plane based on the first fitting straight line, and determining a third projection straight line equation of the second fitting straight line on the XY plane and a fourth projection straight line equation on the XZ plane based on the second fitting straight line;
and the adjusting module is used for adjusting concentricity of the reference barrel section and the barrel section to be registered based on the first projection linear equation, the second projection linear equation, the third projection linear equation and the fourth projection linear equation so as to enable the reference barrel section to be aligned and welded with the barrel section to be registered.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-7 when the program is executed by the processor.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-7.
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| AU1031583A (en) * | 1982-02-24 | 1983-09-01 | Sundstrand Data Control, Inc. | Transducer alignment method |
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| DE102006048725A1 (en) * | 2006-10-16 | 2008-04-17 | Robert Bosch Gmbh | Method for determining the axis of rotation of a vehicle wheel |
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| CN211955814U (en) * | 2020-04-02 | 2020-11-17 | 四川文理学院 | Laser radar three-dimensional imaging device |
| CN112318107A (en) * | 2020-10-23 | 2021-02-05 | 西北工业大学 | A depth camera-based automatic assembly alignment measurement method for large parts and shafts |
| CN114782315B (en) * | 2022-03-17 | 2024-07-09 | 清华大学 | Shaft hole assembly pose precision detection method, device, equipment and storage medium |
| CN115371596B (en) * | 2022-08-31 | 2025-06-20 | 深圳市凌云视迅科技有限责任公司 | A straightness measurement method and device based on iterative search |
| CN116304764B (en) * | 2023-05-22 | 2023-09-19 | 湖南联智科技股份有限公司 | Automatic fitting method for central axis of construction tunnel point cloud |
| CN117593727A (en) * | 2023-11-30 | 2024-02-23 | 广州高新兴机器人有限公司 | Obstacle detection method, device, medium and equipment based on three-dimensional point cloud |
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