CN111421226A - Pipe identification method and device based on laser pipe cutting equipment - Google Patents

Pipe identification method and device based on laser pipe cutting equipment Download PDF

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Publication number
CN111421226A
CN111421226A CN202010246079.1A CN202010246079A CN111421226A CN 111421226 A CN111421226 A CN 111421226A CN 202010246079 A CN202010246079 A CN 202010246079A CN 111421226 A CN111421226 A CN 111421226A
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pipe
laser
laser sensor
cutting
cut
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CN111421226B (en
Inventor
韩小鹏
闫瑞雪
陈新禹
汪旭
孔文一
金成学
马耀滨
刘生
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Beijing Tongzhou Xingye Technology Co ltd
Jinan Bodor Laser Co Ltd
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Beijing Tongzhou Xingye Technology Co ltd
Jinan Bodor Laser Co Ltd
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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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Laser Beam Processing (AREA)

Abstract

The invention discloses a pipe identification method and a pipe identification device based on laser pipe cutting equipment, wherein the method comprises the following steps: a numerical control system of the laser pipe cutting equipment sends an angle reading instruction to a laser sensor; receiving angle information returned by the laser sensor; judging whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area according to the angle information; if so, sending a command for reading the central value of the surface to be cut to the laser sensor; receiving center coordinate value information returned by the laser sensor, wherein the center coordinate value information comprises a center coordinate value Z of a to-be-cut surface acquired by the laser sensor according to a center value reading instructionsensorAnd the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0; and sending a cutting instruction to the cutting equipment according to the central coordinate value information. The above methodThe defect that the cutting precision is unreliable due to the adoption of a capacitive sensing pipe in the prior art can be overcome.

Description

Pipe identification method and device based on laser pipe cutting equipment
The scheme is a divisional application of an invention patent application with the application date of 09.07/2019, the application number of 201910616922.8 and the invention name of 'a method and a device for identifying a pipe based on laser pipe cutting equipment'.
Technical Field
The invention relates to the technical field of laser pipe cutting, in particular to a pipe identification method and device based on laser pipe cutting equipment.
Background
The existing laser pipe cutting machine equipment obtains the pipe profile by using a capacitance sensing mode, but capacitance sensing belongs to contact detection, and has poor anti-interference performance, for example, when the pipe material contains impurities or has interference of mechanical and electrical structures, the sensitivity and the measurement accuracy of the equipment are easily influenced and unstable, the cutting accuracy of the equipment cannot be stable and reliable, and corresponding accuracy values cannot be read in real time. In addition, due to the fact that the pipe is not standard, hollowing can be generated after the pipe is cut, the available effective value is small, and the pipe outline is difficult to obtain.
In the actual cutting process, because the pipe has different degrees of bending and irregular cross section, and the movement errors of a movement mechanism and a chuck from laser cutting equipment, and the like, how to accurately realize the positioning of the central position of the pipe and guide the accurate cutting become a difficult problem in the current pipe cutting industry.
Disclosure of Invention
The invention aims to provide a pipe identification method and device based on laser pipe cutting equipment.
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, the invention provides a pipe identification method based on laser pipe cutting equipment, which comprises the following steps:
s1, sending an angle reading instruction to the laser sensor by the numerical control system of the laser pipe cutting equipment; the laser sensor includes: the laser sensors are calibrated in advance through a calibration tool and positioned on two sides of the clamping pipe on the chuck;
s2, the numerical control system receives angle information returned by the laser sensor, wherein the angle information comprises an angle of a to-be-cut surface of the pipe obtained by the laser sensor according to the angle reading instruction and an offset angle of the to-be-cut surface relative to an angle reference value b 0;
s3, judging whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area by the numerical control system according to the angle information;
s4, if yes, sending a command for reading the central value of the to-be-cut surface to the laser sensor;
s5, the numerical control system receives center coordinate value information returned by the laser sensor, and the center coordinate value information comprises a center coordinate value Z of the to-be-cut surface acquired by the laser sensor according to a center value reading instructionsensorAnd the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0;
and S6, the numerical control system sends a cutting instruction to the cutting equipment according to the central coordinate value information.
Further, before the step S1, the method further includes:
and calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all perpendicular to the horizontal plane of the machine tool of the laser pipe cutting equipment.
Further, after the step S3, before the step S4 sends a command for reading the center value of the surface to be cut to the laser sensor, the method further includes:
s3a, if the surface to be cut is not parallel to the horizontal moving direction of the machine tool plane/cutting equipment, sending a rotation instruction to the chuck by the numerical control system, wherein the rotation instruction carries information of a rotation angle value, so that the chuck rotates according to the rotation angle value, and the rotated surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when being located in a cutting area;
and the rotation angle value is obtained by the numerical control system through calculation according to the angle information.
Further, the step S2 includes:
s21, theThe numerical control system receives angle information returned by the laser sensor; the angle information comprises an angle b of the pipe to be cut under a sensor coordinate systemsensor；
S22, acquiring rotation angle btube-centerThe rotation angle is used for correcting the surface to be cut of the pipe to enable the surface to be cut of the pipe to be horizontal to the plane of the machine tool when the surface to be cut of the pipe is positioned in the cutting area, btube-center＝bsensorB0+ quadrant angle of the surface to be cut.
Further, the step S6 includes:
s61, obtaining a central coordinate value Z of the surface to be cut under the coordinate system of the cutting equipment by the numerical control system based on the calibration model of the sensor and the cutting equipmenttube-center；
S62, the numerical control system according to the central coordinate value Ztube-centerSending a cutting instruction to the cutting equipment;
wherein Z istube-center＝Zsensor-Z0+Zlaser_ref；
Zlaser_refIs the central coordinate value, Z, of the cutting surface to be cut under the coordinate system of the cutting equipmentsensorThe central coordinate value of the surface to be cut of the pipe under the sensor coordinate system is obtained.
Further, the shape of the tubing includes: at least one of a circular tube, a square tube, a rectangular tube, an elliptical tube and a symmetrical special-shaped tube;
the shapes of the measuring pipe and the pipe corresponding to the calibration tool are matched.
Further, the distance between the laser sensor and the center position of the cutting surface of the pipe is 350-400mm, and the laser light source in the laser sensor is a line-structured laser light source.
In a second aspect, the invention further provides a pipe identification device based on the laser pipe cutting equipment, wherein the laser pipe cutting equipment comprises a lathe bed, a chuck arranged on the lathe bed, a cutting head and a numerical control system, the pipe identification device comprises a laser sensor used for measuring a pipe clamped on the chuck, and the laser sensor is arranged on one side or the left side and the right side of the chuck close to a cutting area;
the numerical control system interacts with the chuck, cutting head and/or laser sensor based on the pipe identification method of any of the first aspects.
Further, the laser sensor includes: a laser light source assembly and a camera assembly; the camera assembly is in communication connection with the numerical control system;
alternatively, the first and second electrodes may be,
the laser sensor includes:
the system comprises a laser light source assembly, a camera assembly and a control module, wherein the control module is electrically connected with the camera assembly and is in communication connection with the numerical control system;
the laser light emitted by the laser light source component is used for irradiating the surface of the pipe, and the camera component is used for collecting the image of the surface of the pipe irradiated with the laser light;
the control module is used for processing the image collected by the camera assembly, acquiring the profile information of the pipe, and acquiring the angle information or the center coordinate according to the profile information.
Further, the laser light source assembly is a line-structured laser light source assembly.
The invention has the beneficial effects that:
according to the pipe identification method, the laser sensor is adopted to acquire the relevant information of the pipe, so that the identification speed can be increased, the reading result is accurate, and the cutting precision of the pipe can be better improved.
In addition, the pipe identification method can be suitable for workpieces of pipes with various shapes, and the surface of the pipe is not damaged by adopting a non-contact measurement mode.
The visual fields of the plurality of laser sensors in the pipe identification device are mutually supplemented, so that the accurate measurement of the center coordinates of the pipe is realized, and the subsequent cutting accuracy is ensured.
Furthermore, the device has the advantages of low cost, high measurement precision, large visual field range of the measured pipe, high measurement speed and suitability for occasions of high-speed processing.
Drawings
FIG. 1 is a schematic view of a part of the structure of a pipe identification device based on a laser pipe cutting device according to the present invention;
fig. 2 and fig. 3 are schematic diagrams of a calibration tool in the pipe identification method based on the laser pipe cutting device according to the present invention;
FIG. 4 is a schematic flow chart of a pipe identification method based on a laser pipe cutting device according to the present invention;
FIG. 5 is a partial schematic structural view of a pipe identifying device based on a laser pipe cutting device in embodiment 2;
FIG. 6 is a partial schematic structural view of a pipe identifying device based on a laser pipe cutting device in example 3;
FIG. 7 is a schematic partial structural view of a laser sensor of a pipe identification device based on a laser pipe cutting device according to the present invention;
fig. 8 to fig. 10 are schematic diagrams of the use process of the laser sensor of the pipe identification device based on the laser pipe cutting equipment according to the present invention.
Wherein, 1 is left side laser sensor, 2 is right side laser sensor, 3 is for maring the frock, 4 are detection area, 5 are chuck center datum point, 6 are the tubular product and treat cutting surface central point and put, 7 are tubular product, 8 are chuck/pipe cutting machine chuck, 9 are laser light source subassembly, 10 are industrial camera/camera.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
In order to better understand the solution of the embodiment of the present invention, the following outlines the apparatus of the embodiment of the present invention.
The pipe identification device based on the laser pipe cutting equipment can comprise: the numerical control system of the laser pipe cutting equipment, the chuck assembly and at least one laser sensor. As shown in fig. 1, two laser sensors, namely a left laser sensor 1 and a right laser sensor 2, are shown in fig. 1, and first, a calibration tool 3 is clamped by a chuck, and a measurement area of the laser sensor covers the surface of a pipe clamped by the chuck, and the left laser sensor 1 and the right laser sensor 2 are calibrated. Then, the left laser sensor 1 and the right laser sensor 2 are used for measuring, and some reference values corresponding to the calibration tool 3 are obtained, such as the center position of the surface to be cut in the sensor coordinate system, reference point information during angle information measurement, an angle reference value b0 during angle information measurement, a center coordinate reference value z0 during center value information measurement, and the like. As shown in fig. 2, a pipe cutting surface center position 6, a chuck center reference point 5 and the like under the calibration tool are shown in fig. 2, and in fig. 2, a chuck 8 fixedly supports a pipe 7. Fig. 1 also shows a detection region 4 under the calibration fixture.
It should be noted that the calibration fixture 3 may also be understood as a calibration fixture, and the chuck center reference point 5 is also a mechanical origin. The calibration tooling process may be such that the center position of the calibration tooling obtained by the two laser sensors is defaulted to the chuck rotation center reference point, i.e., the chuck center reference point (as shown in fig. 3) or understood to be the center reference point of the laser sensors. In practice, the chuck center reference point and the laser sensor center reference point belong to different coordinate systems.
The left laser sensor and the right laser sensor shown in fig. 1 are installed in a horizontal direction, and the two laser sensors are located at two quadrant positions, and the distance between the laser sensors and the reference point of the center of the chuck is 350-400 mm. The laser light rays emitted by the two laser sensors in the figure 1 are vertical to the horizontal plane of the machine tool, and the light rays emitted by the two laser sensors are coplanar.
Example one
The embodiment of the invention provides a pipe identification method based on laser pipe cutting equipment, which comprises the following steps of:
s1, sending an angle reading instruction to the laser sensor by the numerical control system of the laser pipe cutting equipment; the laser sensor includes: the laser sensors are calibrated in advance through a calibration tool and positioned on two sides of the clamping pipe on the chuck;
s2, the numerical control system receives angle information returned by the laser sensor, wherein the angle information comprises the angle of the to-be-cut surface of the pipe obtained by the laser sensor according to the angle reading instruction and the offset angle of the to-be-cut surface relative to the angle reference value b0.
S3, judging whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area by the numerical control system according to the angle information;
s4, if yes, sending a command for reading the central value of the to-be-cut surface to the laser sensor;
s5, the numerical control system receives center coordinate value information returned by the laser sensor, and the center coordinate value information comprises a center coordinate value Z of the to-be-cut surface acquired by the laser sensor according to a center value reading instructionsensorAnd the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0;
and S6, the numerical control system sends a cutting instruction to the cutting equipment according to the central coordinate value information.
The central coordinate value in the present embodiment is not limited to a specific numerical value, and may be a one-dimensional coordinate value or a two-dimensional coordinate value.
In a specific implementation process, the method further includes:
s3a, if the surface to be cut is not parallel to the horizontal moving direction of the machine tool plane/cutting equipment, sending a rotation instruction to the chuck by the numerical control system, wherein the rotation instruction carries information of a rotation angle value, so that the chuck rotates according to the rotation angle value, and the rotated surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when being located in a cutting area;
and the rotation angle value is obtained by the numerical control system through calculation according to the angle information.
In another alternative implementation manner, the above step S3a may not be implemented after step S3 but before step S4, and may be adjusted and set according to actual needs.
According to the pipe identification method, the laser sensor is adopted to acquire the relevant information of the pipe, the identification speed can be improved, the reading result is accurate, and the cutting precision of the pipe can be better improved.
If the tube has a three-dimensional cut surface, the steps from step S1 to step S6 are performed for any cut surface.
Further, the shape of the pipe processed by the above method may include: round tubes, square tubes, rectangular tubes, oval tubes and symmetrical special tubes.
The shapes of the measuring pipe and the pipe corresponding to the calibration tool are matched.
Therefore, the pipe identification method can be suitable for workpieces of pipes with various shapes, and the surface of the pipe is not damaged by adopting a non-contact measurement mode.
For better understanding of the method of the embodiment of the present invention, step S2 in the above embodiment is described in detail as follows:
in this embodiment, the left and right sides of the pipe are respectively provided with the laser sensors, and for this purpose, the step S2 may include the following sub-steps.
S21, the numerical control system receives the angle information returned by the laser sensor; the angle information comprises an angle b of the pipe to be cut under a sensor coordinate systemsensor；
S22, acquiring rotation angle btube-centerAnd the rotation angle is used for correcting the surface to be cut of the pipe, so that the surface to be cut of the pipe can be horizontal to the plane of the machine tool when the surface to be cut of the pipe is positioned in the cutting area. Wherein the rotation angle is calculated by the formula btube-center＝bsensorB0+ quadrant angle of the surface to be cut.
In another optional implementation manner, the upper side and the lower side of the pipe are respectively provided with the laser sensors, or the upper side, the lower side, the left side and the right side of the pipe are respectively provided with the laser sensors.
Therefore, the angle of the to-be-cut surface of the pipe under the sensor coordinate system and the quadrant angle of the to-be-cut surface, b0, which are included in the angle information received by the numerical control system, calculate the rotation angle.
Further, the reference values of the upper side, the lower side, the left side, the right side, and the like are all b0.
According to the scheme, the visual fields of the plurality of laser sensors are mutually supplemented, so that the center coordinates of the pipe are accurately measured, and the subsequent cutting precision is ensured.
Further, step S6 of the above method may further include the following sub-steps S61 and S62 not shown in fig. 4:
s61, obtaining a central coordinate value Z of the surface to be cut under the coordinate system of the cutting equipment by the numerical control system based on the calibration model of the sensor and the cutting equipmenttube-center；
S62, the numerical control system according to the central coordinate value Ztube-centerSending a cutting instruction to the cutting equipment;
wherein Z istube-center＝Zsensor-Z0+Zlaser_ref；
Zlaser_refThe central coordinate value of the surface to be cut under the coordinate system of the cutting equipment is obtained; zsensorIs the central coordinate value, Z, of the to-be-cut surface of the pipe under the sensor coordinate systemsensorThe calculation formula of (a) is as follows:
Zsensor＝(Zsensor_left+Zsensor_right)/2。
wherein Z issensor_leftThe central coordinate value, Z, of the pipe measured by the left laser sensor in the sensor coordinatesensor_rightThe central coordinate value of the pipe measured by the right laser sensor under the sensor coordinate is shown.
Based on the pipe identification method, the laser sensor is adopted to acquire the relevant information of the pipe, so that the identification speed can be increased, the reading result is accurate, and the cutting precision of the pipe can be better improved.
It is understood that before step S1 of the foregoing method, the method further comprises:
s0, calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all perpendicular to the horizontal plane of the machine tool of the laser pipe cutting equipment.
In this embodiment, the shape of the calibration tool is consistent with that of the corresponding pipe to be tested, and after the calibration tool of the rectangular pipe cannot be adopted, the pipe to be processed is a circular pipe, which is not possible.
It is to be noted that the execution entities of the steps S1 to S6 all belong to a numerical control system, and when the numerical control system includes a control device such as a controller, the execution entities of the steps S1 to S6 may be the control device.
Example two
The embodiment of the invention provides a pipe identification device based on laser pipe cutting equipment, wherein the laser pipe cutting equipment comprises a lathe bed, a chuck arranged on the lathe bed, a cutting head and a numerical control system, the pipe identification device comprises a laser sensor used for measuring a pipe clamped on the chuck, and the laser sensor is arranged on one side or the left side and the right side of the chuck close to a cutting area.
In this embodiment, laser sensor is provided with two sets ofly, and the symmetry is installed in the left and right sides of chuck.
The numerical control system interacts with the chuck, the cutting head and/or the laser sensor based on the pipe identification method in the first embodiment, as shown in fig. 5.
EXAMPLE III
Compared with the second embodiment, as shown in fig. 6, the numerical control system of the present embodiment is further provided with a human-computer interaction component, so that a user/administrator can query and view data through a human-computer interface in the human-computer interaction component. Of course, the data acquired by the laser sensor may be displayed in three dimensions.
In this embodiment, the numerical control system may interact with the cutting device in real time through a TCP communication protocol. It can be understood that the cutting device comprises a cutting head and the like, and the numerical control system is in real-time communication with the cutting device. The numerical control system of this embodiment may have its contents implemented with a data stitching algorithm, a center positioning operation method, a mechanism error correction algorithm, etc., and this embodiment is not limited thereto and is adjusted according to actual needs.
The visual fields of the plurality of laser sensors in the pipe identification device of the embodiment complement each other, so that the center coordinates of the pipe are accurately measured, and the subsequent cutting precision is ensured.
The numerical control system of the present embodiment, which also executes the method shown in any of the foregoing embodiments, interacts with the laser sensor and sends related instructions to the cutting head, chuck, etc.
Further, fig. 7 shows a schematic structural diagram of a laser sensor, and in fig. 7, the laser sensor includes: a laser light source assembly 9 and a camera assembly 10; the camera assembly 10 is communicatively coupled to the numerical control system.
The laser light emitted by the laser light source assembly 9 is used for irradiating the surface of the pipe, and the camera assembly is used for collecting the image of the surface of the pipe irradiated with the laser light.
After the camera assembly 10 is in communication connection with the numerical control system, the acquired image of the surface of the pipe can be sent to the numerical control system, the numerical control system extracts the surface size of the pipe, and the pipe surface sizes acquired by the plurality of laser sensors are spliced, as shown in fig. 8 to 10, so as to acquire information such as corresponding angle information or center coordinates.
Specifically, as shown in fig. 8, the controller in fig. 8 belongs to a device in a numerical control system. The controller in fig. 8 receives the profile information of the pipe collected by the laser sensors on the left and right sides, and then performs data processing such as splicing processing to obtain complete profile data of the pipe on the left and right sides. And performing data operation according to the profile data of the pipe, and calculating the center coordinate of the pipe.
In particular, the sensor is shown in the figures, which illustrate a laser sensor.
In another embodiment, a laser sensor includes: the system comprises a laser light source assembly, a camera assembly and a control module, wherein the control module is electrically connected with the camera assembly and is in communication connection with the numerical control system;
the laser light emitted by the laser light source component is used for irradiating the surface of the pipe, and the camera component is used for collecting the image of the surface of the pipe irradiated with the laser light;
and the control module of the laser sensor is used for processing the image acquired by the camera assembly to acquire the profile information of the pipe, and then sending the profile information to the numerical control system, so that the numerical control system acquires the angle information or the center coordinate according to the profile information.
The control module of the laser sensor transmits the calculated angle information or the central value, namely the central coordinate (the central coordinate of the pipe in the cutting equipment coordinate system) to the numerical control system.
The laser sensor of this embodiment can read the tubular product width immediately, reads plane angle immediately, reads the relative central point of tubular product immediately, reads actual tubular product rotation central point immediately and puts, and the data of above-mentioned laser sensor measurement all can directly send numerical control system to save to show through man-machine interaction subassembly.
The laser light source assembly in any of the above implementations may be a line structured laser light source assembly.
For a better understanding of the laser sensor of the present invention, the following description of the laser sensor with the control module is provided as follows:
the laser sensor can emit laser with a line structure, for example, the laser sensor emits a group of laser beams to the surface of the workpiece, the laser beams and the surface of the workpiece are intersected on a contour line, images are collected by a camera assembly such as an industrial camera, and the size information of the contour can be obtained after the image is processed by a control module by adopting a related algorithm, as shown in fig. 7.
As shown in fig. 8, after the pipe profile is measured in 2 directions from the left and right, 2 directions of measurement data are obtained, and 2 sets of measurement data are data-concatenated according to the spatial position relationship, as shown in fig. 9 and 10.
When the laser line irradiates the surface of an object, the laser line can present the shape which is the same as the outline of the object, and after the image is collected by the industrial camera, the control module of the laser sensor obtains the size of the surface of the workpiece through high-precision calibration operation.
In the embodiment, a plurality of laser sensors are adopted for collecting the surface of the pipe, the visual fields of the sensors are mutually supplemented, and the accurate measurement of the central coordinate of the pipe is realized.
The laser sensor of the embodiment is applied to laser pipe cutting machine equipment, and precision cutting of pipe equipment is completed through angle compensation and center deviation compensation.
The type of the cutting pipe suitable for the device comprises a round pipe, a square pipe, a rectangular pipe, angle steel, channel steel, an oval pipe, a symmetrical special-shaped pipe and the like.
Furthermore, the device has the advantages of low cost, high measurement precision, large visual field range of the measured pipe, high measurement speed and suitability for occasions of high-speed processing.
In the device, two opposite laser sensors are adopted to respectively acquire high-precision data of two sides of the pipe, and the splicing of the data of the two sides is completed based on a calibration technology between multiple sensors independently realized in the early stage. And then, identifying and positioning the central position of the pipe based on the geometric characteristics of the pipe and a data processing technology, comparing the measured central position with the current central position of the pipe cutting machine, and calculating the central deviation of the current position of the pipe. And controlling the laser cutting equipment by combining the calculated central deviation, thereby realizing the accurate cutting of the central position of the pipe.
It should be noted that the cutting apparatus of this embodiment may be understood as a pipe cutting machine, and a coordinate system of the cutting apparatus may be understood as a coordinate system of the pipe cutting machine and also as a coordinate system of a chuck, where a calibration tool is used to calibrate center positions of a sensor coordinate system and a coordinate system of the pipe cutting machine in advance.
To better understand the contents of the embodiments of the present invention, the following provides another embodiment scheme:
a1, a pipe identification method based on laser pipe cutting equipment, wherein, includes:
when the surface to be cut of the pipe is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment, a numerical control system of the laser pipe cutting equipment sends a first instruction for reading preset position information of the pipe to a laser sensor; the laser sensor includes: the laser sensors are calibrated in advance through a calibration tool and positioned on two sides of the clamping pipe on the chuck;
the numerical control system receives preset position information returned by the laser sensor according to the first instruction;
and the numerical control system sends a cutting instruction of a specified position to the cutting equipment according to the preset position information.
A2, the method according to A1, wherein before sending the first instruction to the laser sensor to read the preset position information of the pipe, the method further comprises:
the numerical control system sends a reading angle instruction for judging the position information of the pipe to a laser sensor;
the numerical control system receives angle information returned by the laser sensor, wherein the angle information comprises an angle of a to-be-cut surface of the pipe obtained by the laser sensor according to a reading angle instruction and an offset angle of the to-be-cut surface relative to an angle reference value b 0;
and the numerical control system judges whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area according to the angle information.
A3, the method according to A2, wherein the method further comprises:
if the surface to be cut is not parallel to the horizontal moving direction of the machine tool plane/cutting equipment, the numerical control system sends a rotation instruction to the chuck, and the rotation instruction carries information of a rotation angle value, so that the chuck rotates according to the rotation angle value, and the rotated surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in a cutting area;
and the rotation angle value is obtained by the numerical control system through calculation according to the angle information.
A4, the method according to A2, wherein before the numerical control system sends a reading angle instruction for judging the position information of the pipe to a laser sensor, the method further comprises:
calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all vertical to the horizontal plane of a machine tool of the laser pipe cutting equipment;
alternatively, the first and second electrodes may be,
before sending a first instruction for reading the preset position information of the pipe to the laser sensor, the method further comprises the following steps:
calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all vertical to the horizontal plane of a machine tool of the laser pipe cutting equipment;
a5, the method according to A2, wherein the numerical control system receives the angle information returned by the laser sensor, and the method comprises the following steps:
the numerical control system receives angle information returned by the laser sensor; the angle information comprises an angle b of the pipe to be cut under a sensor coordinate systemsensor；
Obtaining a rotation angle btube-centerThe rotation angle is used for correcting the surface to be cut of the pipe to enable the surface to be cut of the pipe to be horizontal to the plane of the machine tool when the surface to be cut of the pipe is positioned in the cutting area, btube-center＝bsensorB0+ quadrant angle of the surface to be cut.
A6, the method according to A1, wherein the sending a first instruction to a laser sensor to read the preset position information of the pipe comprises:
sending a first instruction for reading the width of the pipe to a laser sensor;
alternatively, the first and second electrodes may be,
sending a first instruction for reading the appearance of the pipe to a laser sensor;
alternatively, the first and second electrodes may be,
and sending a command for reading the central coordinate value of the to-be-cut surface of the pipe to a laser sensor.
A7, the method according to A1, wherein if the first instruction for reading the preset position information of the pipe is: reading a central coordinate value instruction of the to-be-cut surface of the pipe,
the step of receiving, by the numerical control system, preset position information returned by the laser sensor according to the first instruction includes:
the numerical control system receives theThe center coordinate value information returned by the laser sensor comprises a center coordinate value Z of the to-be-cut surface acquired by the laser sensor according to the instruction of reading the center coordinate valuesensorAnd the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0;
the numerical control system sends a cutting instruction of a designated position to the cutting equipment according to the preset position information, and the cutting instruction comprises the following steps:
and the numerical control system sends a cutting instruction of a specified position to the cutting equipment according to the central coordinate value information.
It should be further noted that the central coordinate value in the embodiment of the present application is not necessarily a certain numerical value, and may be a one-dimensional coordinate value or a two-dimensional coordinate value.
A8, the method according to A7, wherein the numerical control system sends a cutting instruction of a designated position to the cutting device according to the information of the center coordinate value, and the method comprises the following steps:
the numerical control system obtains a central coordinate value Z of a to-be-cut surface under a coordinate system of the cutting equipment based on a calibration model of the sensor and the cutting equipmenttube-center；
The numerical control system is based on the central coordinate value Ztube-centerSending a cutting instruction of a specified position to the cutting equipment;
wherein Z istube-center＝Zsensor-Z0+Zlaser_ref；
Zlaser_refIs the central coordinate value, Z, of the cutting surface to be cut under the coordinate system of the cutting equipmentsensorThe central coordinate value of the surface to be cut of the pipe under the sensor coordinate system is obtained.
A9, the method according to A1, wherein the shape of the tubing comprises: at least one of a circular tube, a square tube, a rectangular tube, an elliptical tube and a symmetrical special-shaped tube;
the shapes of the measuring pipe and the pipe corresponding to the calibration tool are matched.
A10, a pipe identification device based on laser pipe cutting equipment, wherein the laser pipe cutting equipment comprises a lathe bed, a cutting head and a numerical control system, the cutting head is installed on a beam, the beam is installed at the front end of the lathe bed, and a front chuck and a rear chuck are arranged on the lathe bed along the length direction of the lathe bed;
the pipe identification device comprises a laser sensor used for measuring the pipe clamped on the chuck, and the laser sensor is arranged on one side or the left side and the right side of the front chuck;
the numerical control system is electrically connected with the cutting head, the front chuck, the rear chuck and the laser sensor;
the numerical control system interacts with the front chuck, the rear chuck, the cutting head and/or the laser sensor based on the pipe identification method of any of a 1-a 9.
A11, the device of A10, wherein the laser sensor comprises: a laser light source assembly and a camera assembly; the camera assembly is in communication connection with the numerical control system;
alternatively, the first and second electrodes may be,
the laser sensor includes:
the system comprises a laser light source assembly, a camera assembly and a control module, wherein the control module is electrically connected with the camera assembly and is in communication connection with the numerical control system;
the laser light emitted by the laser light source component is used for irradiating the surface of the pipe, and the camera component is used for collecting the image of the surface of the pipe irradiated with the laser light;
the control module is used for processing the image collected by the camera assembly, acquiring the profile information of the pipe, and acquiring the angle information or the center coordinate according to the profile information.
A12, the device of A11, wherein the laser light source assembly is a line-structured laser light source assembly.
The above description of the embodiments of the present invention is provided for the purpose of illustrating the technical lines and features of the present invention and is provided for the purpose of enabling those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.

Claims (10)

1. A pipe identification method based on laser pipe cutting equipment is characterized by comprising the following steps:
when the surface to be cut of the pipe is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment, a numerical control system of the laser pipe cutting equipment sends a first instruction for reading preset position information of the pipe to a laser sensor; the laser sensor includes: the laser sensors are calibrated in advance through a calibration tool and positioned on two sides of the clamping pipe on the chuck;
the numerical control system receives preset position information returned by the laser sensor according to the first instruction;
and the numerical control system sends a cutting instruction of a specified position to the cutting equipment according to the preset position information.
2. The method of claim 1, wherein before sending the first instruction to read the preset position information of the pipe to the laser sensor, the method further comprises:
the numerical control system sends a reading angle instruction for judging the position information of the pipe to a laser sensor;
the numerical control system receives angle information returned by the laser sensor, wherein the angle information comprises an angle of a to-be-cut surface of the pipe obtained by the laser sensor according to a reading angle instruction and an offset angle of the to-be-cut surface relative to an angle reference value b 0;
and the numerical control system judges whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area according to the angle information.
3. The method of claim 2, further comprising:
if the surface to be cut is not parallel to the horizontal moving direction of the machine tool plane/cutting equipment, the numerical control system sends a rotation instruction to the chuck, and the rotation instruction carries information of a rotation angle value, so that the chuck rotates according to the rotation angle value, and the rotated surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in a cutting area;
and the rotation angle value is obtained by the numerical control system through calculation according to the angle information.
4. The method of claim 2, wherein before the numerical control system sends a reading angle instruction for judging the position information of the pipe to the laser sensor, the method further comprises:
calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all vertical to the horizontal plane of a machine tool of the laser pipe cutting equipment;
alternatively, the first and second electrodes may be,
before sending a first instruction for reading the preset position information of the pipe to the laser sensor, the method further comprises the following steps:
and calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all perpendicular to the horizontal plane of the machine tool of the laser pipe cutting equipment.
5. The method of claim 2, wherein the numerical control system receives the angle information returned by the laser sensor, and comprises:
the numerical control system receives angle information returned by the laser sensor; the angle information comprises an angle b of the pipe to be cut under a sensor coordinate systemsensor；
Obtaining a rotation angle btube-centerThe rotation angle is used for correcting the surface to be cut of the pipe to enable the surface to be cut of the pipe to be horizontal to the plane of the machine tool when the surface to be cut of the pipe is positioned in the cutting area, btube-center＝bsensorB0+ quadrant angle of the surface to be cut.
6. The method of claim 1, wherein sending a first instruction to a laser sensor to read preset position information of the pipe comprises:
sending a first instruction for reading the width of the pipe to a laser sensor;
alternatively, the first and second electrodes may be,
sending a first instruction for reading the appearance of the pipe to a laser sensor;
alternatively, the first and second electrodes may be,
and sending a command for reading the central coordinate value of the to-be-cut surface of the pipe to a laser sensor.
7. The method according to claim 1, wherein if the first instruction for reading the preset position information of the pipe is: reading a central coordinate value instruction of the to-be-cut surface of the pipe,
the step of receiving, by the numerical control system, preset position information returned by the laser sensor according to the first instruction includes:
the numerical control system receives center coordinate value information returned by the laser sensor, wherein the center coordinate value information comprises a center coordinate value Z of a to-be-cut surface acquired by the laser sensor according to a center coordinate value reading instructionsensorAnd the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0;
the numerical control system sends a cutting instruction of a designated position to the cutting equipment according to the preset position information, and the cutting instruction comprises the following steps:
and the numerical control system sends a cutting instruction of a specified position to the cutting equipment according to the central coordinate value information.
8. The method of claim 7, wherein the numerical control system sends a cutting instruction of a designated position to the cutting device according to the center coordinate value information, and the method comprises the following steps:
the numerical control system obtains a surface to be cut based on a calibration model of a sensor and cutting equipmentCenter coordinate value Z under coordinate system of cutting equipmenttube-center；
The numerical control system is based on the central coordinate value Ztube-centerSending a cutting instruction of a specified position to the cutting equipment;
wherein Z istube-center＝Zsensor-Z0+Zlaser_ref；
Zlaser_refIs the central coordinate value, Z, of the cutting surface to be cut under the coordinate system of the cutting equipmentsensorThe central coordinate value of the surface to be cut of the pipe under the sensor coordinate system is obtained.
9. The method of claim 1,
the shape of the tubing includes: at least one of a circular tube, a square tube, a rectangular tube, an elliptical tube and a symmetrical special-shaped tube;
the shapes of the measuring pipe and the pipe corresponding to the calibration tool are matched.
10. A pipe identification device based on laser pipe cutting equipment is disclosed, wherein the laser pipe cutting equipment comprises a lathe bed, a cutting head and a numerical control system, the cutting head is installed on a cross beam, the cross beam is installed at the front end of the lathe bed, and a front chuck and a rear chuck are arranged on the lathe bed along the length direction of the lathe bed;
the pipe identification device comprises a laser sensor used for measuring the pipe clamped on the chuck, and the laser sensor is arranged on one side or the left side and the right side of the front chuck;
the numerical control system is electrically connected with the cutting head, the front chuck, the rear chuck and the laser sensor;
the numerical control system interacting with a front chuck, a rear chuck, a cutting head and/or a laser sensor based on the pipe identification method according to any one of claims 1 to 9.
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