Offset error compensation method, device and equipment in pipe laser cutting process and medium

The invention belongs to the technical field of laser cutting, and particularly provides a compensation method, device and equipment for offset errors in the pipe laser cutting process and a medium. Moving the laser distance measuring sensor to the reference point under the established coordinate system to measure the distance between the laser distance measuring sensor and the pipe, and acquiring an analog quantity voltage value acquired by the laser distance measuring sensor; the deviation angle of the pipe is calculated by combining the obtained analog quantity voltage value with the function relation between the output voltage of the laser distance measuring sensor and the detection distance; reading an X/Y axis interpolation path in the trepanning G code, and calculating the offset compensation amount of the X axis and the Y axis through the offset angle; and performing real-time interpolation compensation on the X axis and the Y axis according to the variable of the encoder coordinate of the numerical c