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CN-121999031-A - Method and device for determining flatness of steel pipe, electronic equipment and storage medium

CN121999031ACN 121999031 ACN121999031 ACN 121999031ACN-121999031-A

Abstract

The invention relates to the technical field of steel pipe flatness detection, in particular to a steel pipe flatness determination method, a device, electronic equipment and a storage medium; and then fitting each first point cloud data set through a three-dimensional elliptic equation, taking the center of the cross section of the steel tube corresponding to the obtained first point cloud data set as a first center, constructing a first line segment based on center points at two ends of the steel tube, determining a first distance representing the distance from the first center to the first line segment based on the first line segment and each first center, and finally determining the flatness of the steel tube based on a plurality of first distances. The method is based on ellipse fitting, the center point of the cross section of the steel pipe is determined, and the straightness of the steel pipe is determined based on the center point of the cross section and the constructed straight line section.

Inventors

  • LI YANNAN

Assignees

  • 承德建龙特殊钢有限公司

Dates

Publication Date
20260508
Application Date
20260410

Claims (10)

  1. 1. A method for determining the flatness of a steel pipe, comprising: Acquiring a plurality of first point cloud data sets, wherein each first point cloud data set corresponds to a cross section of a steel pipe; fitting each first point cloud data set through a three-dimensional elliptic equation, and taking the center of the cross section of the steel tube corresponding to the obtained first point cloud data set as a first center; Constructing a first line segment based on center points at two ends of the steel pipe, and determining a first distance representing the distance from the first center to the first line segment based on the first line segment and each first center; the flatness of the steel pipe is determined based on the plurality of first distances.
  2. 2. The method for determining the flatness of a steel pipe according to claim 1, wherein the fitting by a three-dimensional elliptic equation for each first point cloud data set takes the center of the cross section of the steel pipe corresponding to the obtained first point cloud data set as a first center, comprising: for each first point cloud data set, the following steps are respectively performed: Acquiring a first elliptic equation and a plurality of first arrays, wherein each first array comprises data corresponding to the center coordinates of the cross section of the steel pipe and data of a plurality of elliptic equation coefficients; randomly initializing each first array; substituting the plurality of first arrays into the first elliptic equation respectively to obtain a plurality of second elliptic equations; substituting data in the first point cloud data set into the second elliptic equations for each second elliptic equation respectively, and constructing a plurality of obtained outputs into a second output data set; For each first array, taking the fitting deviation determined according to the second output data set as a first fitting deviation of the first array; If the iteration times are not reached, adjusting the plurality of first arrays according to the plurality of first fitting deviations, and jumping to the step of substituting the plurality of first arrays into the first elliptic equation respectively to obtain a plurality of second elliptic equations; Otherwise, taking the first array with the smallest fitting deviation as a preferable array, and extracting the center of the cross section of the steel pipe from the preferable array as the first center.
  3. 3. The method of determining the flatness of a steel pipe according to claim 2, wherein the first elliptic equation is: in the formula, As an output of the first elliptic equation, To input coordinates Converted into a standard coordinate system The axis of the rotation is set to be at the same position, To input coordinates Converted into a standard coordinate system The axis of the rotation is set to be at the same position, To input coordinates Converted into a standard coordinate system The axis of the rotation is set to be at the same position, 、 And Respectively elliptic equations correspond to a standard coordinate system A shaft(s), Shaft and method for producing the same The half-shaft length of the shaft, For the transformation matrix of the standard coordinate system, 、 And Respectively when ellipses are converted into a standard coordinate system A shaft(s), Shaft and method for producing the same Rotation angle of the shaft.
  4. 4. The method for determining the flatness of a steel pipe according to claim 2, wherein the adjusting the plurality of first arrays according to the plurality of first fitting deviations comprises: Taking the array with the minimum first fitting deviation of the plurality of first arrays as a current optimal array; taking the plurality of first arrays as a plurality of historical first arrays and respectively adding the plurality of historical first arrays into a plurality of first array queues, wherein each first array queue corresponds to one first array, and the first array queues comprise a plurality of historical first arrays which are arranged according to an iterative process; Extracting a historical first array with the minimum first fitting deviation from each first array queue to serve as a historical optimal array; and for each first array, adjusting according to the current optimal array and the historical optimal array extracted from the corresponding first array queue.
  5. 5. The method of determining flatness of steel pipes according to claim 4, wherein for each first array, the adjusting according to the current optimal array and the historical optimal array extracted from the corresponding first array queue comprises: for each first array, adjusting according to a first formula, the current optimal array and a historical optimal array extracted from a corresponding first array queue, wherein the first formula is as follows: in the formula, To the first array after adjustment The data of the plurality of data, To the first array before adjustment The data of the plurality of data, Is the first of the current optimal array The data of the plurality of data, Is the first of the history optimal array The data of the plurality of data, For the first adjustment rate coefficient, And is a second adjustment rate coefficient.
  6. 6. A method of determining flatness of a steel pipe according to any one of claims 1-5, wherein the constructing a first line segment based on the center points of the two ends of the steel pipe and determining a first distance characterizing a distance from the first center to the first line segment based on the first line segment and each first center comprises: constructing a first line segment based on center points of two ends of a steel pipe and a second formula, wherein the second formula is as follows: in the formula, Is the coordinates of the central point of the first end of the steel pipe, Is the coordinates of the center point of the second end of the steel pipe, Is the direction vector of the first line segment, Is an equation parameter; A first distance characterizing a first center to the first line segment distance is determined based on a second formula, the first line segments, and each first center.
  7. 7. The method of determining the flatness of a steel pipe according to claim 6, wherein the determining a first distance characterizing a distance from a first center to the first line segment based on a second formula, the first line segment, and each first center comprises: Determining a first distance characterizing a first center to the first line segment distance based on a second formula, a third formula, the first line segment, and each first center, wherein the third formula is: in the formula, At the first distance of the first distance, 、 And Respectively a second distance, a third distance and a fourth distance, Is the coordinates of the first center.
  8. 8. A steel pipe flatness determining device for realizing the steel pipe flatness determining method according to any one of claims 1 to 7, comprising: the point cloud data acquisition module is used for acquiring a plurality of first point cloud data sets, wherein each first point cloud data set corresponds to one steel pipe cross section; the ellipse fitting module is used for fitting each first point cloud data set through a three-dimensional ellipse equation, and taking the center of the cross section of the steel pipe corresponding to the obtained first point cloud data set as a first center; The center distance calculation module is used for constructing a first line segment based on center points at two ends of the steel pipe and determining a first distance representing the distance from the first center to the first line segment based on the first line segment and each first center; And And the flatness determining module is used for determining the flatness of the steel pipe based on the first distances.
  9. 9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, characterized in that the processor implements the steps of the method according to any of the preceding claims 1 to 7 when the computer program is executed.
  10. 10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any of the preceding claims 1 to 7.

Description

Method and device for determining flatness of steel pipe, electronic equipment and storage medium Technical Field The invention relates to the technical field of steel pipe flatness detection, in particular to a steel pipe flatness determining method, a device, electronic equipment and a storage medium. Background Flatness refers to the degree of straightness of the axis of a seamless steel pipe, and flatness detection of the seamless steel pipe is a key process for ensuring the subsequent processing, installation and use performances thereof. The main flow detection method comprises the following steps: the roller platform method simulates the continuous motion of the steel pipe through mechanical transmission and realizes dynamic detection by matching with a displacement sensor. The detection principle is that the steel pipe rolls on a plurality of groups of parallel rollers at a constant speed, the displacement sensor collects the radial runout of the steel pipe in real time, and the flatness is calculated through data processing. The ultrasonic method is suitable for detecting the hidden bending caused by the internal stress of the steel pipe or the axial line deflection caused by uneven wall thickness. The detection principle is that when ultrasonic waves propagate in the steel pipe, reflection signal changes occur in stress concentration areas or wall thickness abrupt change areas, and the bending degree is judged by analyzing signal phase differences. The method is only suitable for thick-wall seamless steel pipes (the wall thickness is more than 20 mm), and the flatness of the appearance cannot be directly measured, so that the method is often used as an auxiliary detection means. The laser scanning method is the most advanced nondestructive testing method at present, and is suitable for high-precision detection of large-caliber long-scale seamless steel pipes. The detection principle is that a laser scanner is used for emitting laser beams, three-dimensional coordinates of the surface of the steel pipe are obtained through a triangular ranging principle, and straightness errors are calculated after axes are fitted. The laser scanning method is more dependent on the running environment, before detection, the laser scanner needs to be ensured to be perpendicular to the axis of the steel pipe, otherwise, fitting deviation can be generated during fitting, so that the result reliability is low and the result is unreliable. Based on the above, a method for determining the flatness of the steel pipe needs to be developed and designed. Disclosure of Invention The embodiment of the invention provides a method, a device, electronic equipment and a storage medium for determining the flatness of a steel pipe, which are used for solving the problem that the dependence of the laser scanning process on the flatness of the steel pipe detected by adopting a laser point cloud method in the prior art is high. In a first aspect, an embodiment of the present invention provides a method for determining flatness of a steel pipe, including: Acquiring a plurality of first point cloud data sets, wherein each first point cloud data set corresponds to a cross section of a steel pipe; fitting each first point cloud data set through a three-dimensional elliptic equation, and taking the center of the cross section of the steel tube corresponding to the obtained first point cloud data set as a first center; Constructing a first line segment based on center points at two ends of the steel pipe, and determining a first distance representing the distance from the first center to the first line segment based on the first line segment and each first center; the flatness of the steel pipe is determined based on the plurality of first distances. In one possible implementation manner, the fitting through a three-dimensional elliptic equation for each first point cloud data set takes the center of the cross section of the steel pipe corresponding to the obtained first point cloud data set as a first center, and includes: for each first point cloud data set, the following steps are respectively performed: Acquiring a first elliptic equation and a plurality of first arrays, wherein each first array comprises data corresponding to the center coordinates of the cross section of the steel pipe and data of a plurality of elliptic equation coefficients; randomly initializing each first array; substituting the plurality of first arrays into the first elliptic equation respectively to obtain a plurality of second elliptic equations; substituting data in the first point cloud data set into the second elliptic equations for each second elliptic equation respectively, and constructing a plurality of obtained outputs into a second output data set; For each first array, taking the fitting deviation determined according to the second output data set as a first fitting deviation of the first array; If the iteration times are not reached, adjusting the pl