Pipe alignment trolley suitable for PCCP butt joint construction and control method of pipe alignment trolley

Abstract

The invention relates to a pipe alignment trolley suitable for PCCP butt joint construction and a control method thereof, the pipe alignment trolley comprises a frame and a bracket, the bracket is configured to lift a to-be-butt-jointed pipeline upwards from the interior of the to-be-butt-jointed pipeline, and the bracket is connected to the frame through a longitudinal moving mechanism, a transverse moving mechanism and a jacking mechanism. The control method comprises the following steps: acquiring first information of a target docking port of a target pipeline, wherein the first information comprises a first position and a first angle of the target docking port; acquiring second information of a to-be-butted port of the to-be-butted pipeline, wherein the second information comprises a second position and a second angle of the to-be-butted port; and according to the first information and the second information, a transverse moving mechanism and a jacking mechanism are controlled, so that the to-be-docked interface is aligned with the target docking interface. And according to the first information and the second information, controlling a longitudinal moving mechanism to drive the bracket to move forwards, so that the to-be-docked interface is accessed to the target docking interface. According to the technical scheme, automatic pipeline butt joint is at least partially achieved, and the effects of reducing manual operation and improving pipeline butt joint efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline assembly, and in particular to a pipe-jointing trolley suitable for PCCP pipeline joint construction and a control method thereof. Background Art

[0002] The current installation method for large-diameter PCCP pipelines is mostly crane hoisting, which requires many operators and has a high risk factor. During the process of pipe alignment, the pipeline swings due to the hoisting adjustment, which can easily cause damage to the pipeline itself during the docking process. The installation of anti-collision pads at the docking interface will affect the accuracy of the pipeline alignment. In response to this, the prior art proposes a technical solution of setting a bracket on the docking trolley to lift the pipeline from the inside of the pipeline for docking. During the docking process, the bracket can stably lift the pipeline.

[0003] However, this technical solution still requires manual operation to manually control the position and angle of the bracket, and the docking efficiency is low. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a pipe docking trolley and a control method thereof suitable for PCCP pipeline docking construction to overcome the above problems or at least partially solve the above problems, and can realize partial or full automatic docking of pipelines, thereby achieving the effect of improving the efficiency of pipeline docking.

[0005] Specifically, the present invention provides the following technical solutions: A control method for a pipe docking trolley suitable for PCCP pipe docking construction. The pipe docking trolley comprises a frame and a bracket, the bracket is configured to lift the pipe to be docked upward from the inside of the pipe to be docked, and the bracket is connected to the frame through a longitudinal movement mechanism, a transverse movement mechanism and a lifting mechanism. The control method comprises: First information of a target docking port of a target pipeline is acquired, wherein the first information includes a first position and a first angle of the target docking port.

[0006] Second information of the docking interface of the docking pipe is obtained, where the second information includes a second position and a second angle of the docking interface.

[0007] According to the first information and the second information, the transverse movement mechanism and the lifting mechanism are controlled to align the to-be-docking port with the target docking port.

[0008] According to the first information and the second information, the longitudinal movement mechanism is controlled to drive the bracket to move forward so that the docking port to be connected to the target docking port.

[0009] Optionally, the transverse movement mechanism includes a front transverse movement mechanism and a rear transverse movement mechanism. The bracket includes a front bracket arranged on the front transverse movement mechanism and a rear bracket arranged on the rear transverse movement mechanism. The controlling of the transverse movement mechanism and the lifting mechanism according to the first information and the second information so that the to-be-docked interface is aligned with the target docking interface includes: The front transverse movement mechanism and / or the rear transverse movement mechanism are controlled according to the first angle and the second angle to change the second position and the yaw angle of the pipe to be docked.

[0010] Optionally, the lifting mechanism includes a front lifting mechanism and a rear lifting mechanism. The bracket includes a front bracket arranged on the front lifting mechanism and a rear bracket arranged on the rear lifting mechanism. The controlling the lifting mechanism and the lifting mechanism according to the first information and the second information so that the to-be-docked interface is aligned with the target docking interface includes: According to the first angle and the second angle, the front lifting mechanism and / or the rear lifting mechanism are controlled to change the second position and the pitch angle of the pipe to be docked.

[0011] Optionally, the transverse movement mechanism includes a front transverse movement mechanism and a rear transverse movement mechanism. The lifting mechanism includes a front lifting mechanism and a rear lifting mechanism. The front lifting mechanism is fixedly arranged on the front transverse movement mechanism, and the rear lifting mechanism is fixedly arranged on the rear transverse movement mechanism. The bracket includes a front bracket arranged on the front lifting mechanism and a rear bracket arranged on the rear lifting mechanism. The control of the transverse movement mechanism and the lifting mechanism according to the first information and the second information so that the to-be-docked interface is aligned with the target docking interface includes: According to the first angle and the second angle, the front transverse movement mechanism and / or the rear transverse movement mechanism are controlled to change the second position and the yaw angle of the pipe to be docked. According to the first angle and the second angle, the front lifting mechanism and / or the rear lifting mechanism are controlled to change the second position and the pitch angle of the pipe to be docked.

[0012] Optionally, the controlling the longitudinal movement mechanism to drive the bracket to move forward according to the first information and the second information so that the docking interface is connected to the target docking interface includes: The longitudinal movement mechanism is controlled to drive the bracket to move forward.

[0013] The second information is updated at a first preset time interval.

[0014] According to the first information and the updated second information, the transverse movement mechanism and the lifting mechanism are controlled to change the second position, the yaw angle and the pitch angle of the pipeline to be docked.

[0015] Optionally, after controlling the front transverse movement mechanism and / or the rear transverse movement mechanism according to the first angle and the second angle to change the yaw angle of the second position and the pipe to be docked, and controlling the front jacking mechanism and / or the rear jacking mechanism according to the first angle and the second angle to change the pitch angle of the second position and the pipe to be docked, the control method further comprises: Obtain the current second angle as an initial target setting value; After controlling the transverse movement mechanism and the lifting mechanism according to the first information and the updated second information to change the second position, the yaw angle and the pitch angle of the to-be-jointed pipe, the control method further comprises: The initial target setting value is corrected according to the changes in the yaw angle and the pitch angle of the pipe to be docked, and the corrected second angle is used as a new initial target setting value to be called during the next docking construction.

[0016] Optionally, the pipe docking trolley further comprises a crawler walking mechanism, and the frame is connected to the crawler walking mechanism. Before controlling the transverse mechanism and the lifting mechanism according to the first information and the second information so that the docking port is aligned with the target docking port, the control method comprises: The preset travel threshold ranges of the transverse movement mechanism, the lifting mechanism and the longitudinal movement mechanism are obtained.

[0017] According to the first information, the second information and each of the preset travel threshold ranges, it is determined whether the to-be-docking interface can be aligned with the target docking interface within all of the preset travel threshold ranges.

[0018] If not, the crawler walking mechanism is controlled to adjust the position and / or angle of the frame.

[0019] Optionally, the first information includes the first diameter information of the target docking port. The second information includes the second diameter information of the to-be-docked port. After obtaining the second information of the to-be-docked port of the to-be-docked pipeline, the control method further includes: Determine whether the second pipe diameter information matches the first pipe diameter information.

[0020] If not, a warning message is issued.

[0021] Optionally, the step of obtaining the second information of the interface to be docked of the pipeline to be docked includes: The third pipe diameter information of the pipe to be connected is obtained.

[0022] The second information is obtained according to the states of the longitudinal movement mechanism, the transverse movement mechanism, the lifting mechanism and the third pipe diameter information.

[0023] Optionally, before obtaining the second information of the to-be-connected interface of the to-be-connected pipe, the control method further includes: The third pipe diameter information of the pipe to be connected is obtained.

[0024] According to the third pipe diameter information, the lifting mechanism is controlled to lower the pipe to be docked to a first preset height, so that an operator can install a sealing rubber ring on the interface to be docked.

[0025] On the other hand, the present invention also provides a pipe docking trolley suitable for PCCP pipeline docking construction, including a frame and a bracket, wherein the bracket is configured to lift the pipe to be docked with the inner wall of the pipe to be docked as a support point, and the bracket is connected to the frame via a longitudinal movement mechanism, a transverse movement mechanism and a lifting mechanism.

[0026] The pipe handling trolley also includes a controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of the above-mentioned control method of the pipe handling trolley are implemented.

[0027] The control method of the pipe-to-pipe trolley applicable to the PCCP pipeline docking construction of the present invention can automatically obtain docking-related information of the target pipeline and the pipeline to be docked, plan the moving path of the pipeline to be docked according to the relevant information, control the transverse movement mechanism and the lifting mechanism of the pipe-to-pipe trolley to automatically adjust the position and angle of the pipeline to be docked to align with the target pipeline, and control the longitudinal movement mechanism of the pipe-to-pipe trolley to automatically dock the pipeline to be docked with the target pipeline. The technical solution at least partially realizes automatic docking of pipelines, thereby reducing manual operations and improving the efficiency of pipeline docking.

[0028] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings: Figure 1 is a schematic structural diagram of a pipe handling trolley according to an embodiment of the present invention; Figure 2 is a schematic front view of a pipe handling trolley according to one embodiment of the present invention; Figure 3 is a schematic structural diagram of a pipe handling trolley according to an embodiment of the present invention; Figure 4 is a schematic side view of a pipe trolley according to one embodiment of the present invention; Figure 5 is a schematic flow chart of a control method according to an embodiment of the present invention; Figure 6 is a schematic flow chart of a control method according to an embodiment of the present invention; Figure 7 is a schematic flow chart of a control method according to an embodiment of the present invention; Figure 8 is a schematic flow chart of a control method according to an embodiment of the present invention; Fig. 9 is a schematic flow chart of a control method according to an embodiment of the present invention; Fig.10 is a schematic flow chart of a control method according to an embodiment of the present invention; Fig.11 is a schematic flow chart of a control method according to an embodiment of the present invention; Fig.12 is a schematic block diagram of a pipe trolley according to an embodiment of the present invention. List of Figure Numbers: 110. bracket; 112. front bracket; 114. rear bracket; 120. frame; 130. transverse movement mechanism; 132. front transverse movement mechanism; 134. rear transverse movement mechanism; 140. lifting mechanism; 142. front lifting mechanism; 144. rear lifting mechanism; 150. longitudinal movement mechanism; 160. crawler walking mechanism; 190. controller; 191. memory; 192. processor; 193. computer program; 200. target pipeline; 210. target docking interface; 300. pipeline to be docked; 310. docking interface. DETAILED DESCRIPTION

[0030] Refer to the following Figures 1 to 12To describe the pipe docking trolley and its control method suitable for PCCP pipeline docking construction in an embodiment of the present invention. In the description of this embodiment, it should be understood that the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features, that is, include one or more of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. When a feature "includes or contains" one or some of the features it covers, unless otherwise specifically described, this indicates that other features are not excluded and may further include other features.

[0031] Unless otherwise clearly defined and limited, the terms "set", "install", "connect", "connect", "fix", "couple" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. A person skilled in the art should be able to understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0032] In addition, in the description of this embodiment, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. That is, in the description of this embodiment, the first feature being "above", "above", and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below", or "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0033] In the description of the present embodiment, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0034] Figure 1 is a schematic structural diagram of a pipe trolley according to an embodiment of the present invention, Figure 1 As shown, and refer to Figures 2 to 12 The embodiment of the present invention provides a control method for a pipe docking trolley suitable for PCCP pipe docking construction. The pipe docking trolley 100 includes a frame 120 and a bracket 110. The bracket 110 is configured to lift the pipe 300 to be docked upward from the inside of the pipe 300 to be docked. The bracket 110 is connected to the frame 120 through a longitudinal movement mechanism 150, a transverse movement mechanism 130 and a lifting mechanism 140. The control method includes: S100 , obtaining first information of a target docking port 210 of a target pipe 200 , where the first information includes a first position and a first angle of the target docking port 210 .

[0035] S200 , obtaining second information of the docking port 310 of the docking pipe 300 , where the second information includes a second position and a second angle of the docking port 310 .

[0036] S300 , according to the first information and the second information, the lateral movement mechanism 130 and the lifting mechanism 140 are controlled to align the docking port 310 with the target docking port 210 .

[0037] S400 , based on the first information and the second information, controlling the longitudinal movement mechanism 150 to drive the bracket 110 to move forward, so that the docking port 310 is connected to the target docking port 210 .

[0038] Large-diameter PCCP pipes usually have a larger inner diameter, and the frame 120 or bracket 110 of the pipe docking trolley 100 can extend forward and extend into the interior of the pipe to be docked 300. The bracket 110 lifts the pipe to be docked 300 at the support point of the upper inner wall of the pipe to be docked 300. The longitudinal movement mechanism 150, the transverse movement mechanism 130 and the lifting mechanism 140 can each be provided with a driving mechanism and a transmission mechanism, and the driving form can be a cylinder, a motor, etc., and the transmission form can be a hydraulic rod, a screw rod, etc., which are not limited here.

[0039] The lifting mechanism 140 is used to adjust the height of the bracket 110 (relative to the frame 120 or the ground), that is, to adjust the height of the pipe 300 to be docked relative to the target pipe 200. The transverse movement mechanism 130 is used to adjust the left and right position of the bracket 110 relative to the frame 120, that is, to adjust the lateral distance of the pipe 300 to be docked relative to the target pipe 200. The longitudinal movement mechanism 150 is used to adjust the front and rear position of the bracket 110 relative to the frame 120, that is, to adjust the longitudinal distance of the pipe 300 to be docked relative to the target pipe 200.

[0040] In this embodiment, the pipe docking trolley 100 may be provided with a collection device or a sensor device (such as a camera, a rangefinder, a total station, etc.) to obtain information such as the position and angle of the target pipe 200 and the pipe to be docked 300. For example, the first position (the position of the center point of the target docking port 210), the first angle (the angle of the central axis of the target docking port 210), etc. of the target docking port 210 of the target pipe 200 may be photographed and automatically identified by an intelligent camera. It should be understood that the first position, the first angle, the second position, and the second angle may be coordinate values ​​of a coordinate system based on the ground, and the first position and the first angle may also be relative values ​​relative to the second position and the second angle.

[0041] After obtaining the first information of the target docking port 210 and the second information of the docking port 310, the pipe docking trolley 100 can calculate the movement trajectory of the docking pipe 300 according to the preset program. Then, the transverse movement mechanism 130 and the lifting mechanism 140 are controlled according to the movement trajectory to align the docking port 310 with the target docking port 210. Finally, the longitudinal movement mechanism 150 is controlled according to the movement trajectory to drive the bracket 110 to move forward so that the docking port 310 is connected to the target docking port 210.

[0042] Compared with the use of a crane to lift and dock the pipes, the pipes 300 to be docked in this embodiment will not shake or sway during construction, and are highly stable, safe and reliable. In addition, there is no need to reserve operating space above the pipes, and construction can be carried out in special locations such as under high-voltage lines and above foundation pits with cross braces. On the other hand, the present technical solution at least partially realizes automatic docking of pipes, thereby reducing manual operations and improving the efficiency of pipe docking. In practice, compared with the use of a crane to lift and dock the pipes, this solution can reduce the installation time by 50% and the number of operators by 50%. On the other hand, it can effectively avoid the shortcomings of traditional manual installation in quality and safety control, improve the quality of docking construction, and reduce safety accidents.

[0043] In some embodiments of the control method of the present invention, Figure 3-4 As shown, the transverse movement mechanism 130 includes a front transverse movement mechanism 132 and a rear transverse movement mechanism 134. The bracket 110 includes a front bracket 112 disposed on the front transverse movement mechanism 132 and a rear bracket 114 disposed on the rear transverse movement mechanism 134. The control of the transverse movement mechanism 130 and the lifting mechanism 140 according to the first information and the second information so that the to-be-docked interface 310 is aligned with the target docking interface 210 includes: S311, according to the first angle and the second angle, the front transverse movement mechanism 132 and / or the rear transverse movement mechanism 134 are controlled to change the second position and the yaw angle of the pipe 300 to be docked.

[0044] The large-diameter PCCP pipe usually has a certain radial length. Two brackets 110 are arranged along the longitudinal direction to further improve the stability of the pipe 300 to be connected and prevent the pipe 300 to be connected from shaking or swinging during the connection process.

[0045] In this embodiment, the front bracket 112 and the rear bracket 114 are respectively arranged on the front transverse movement mechanism 132 and the rear transverse movement mechanism 134 which can move independently. When the front transverse movement mechanism 132 and the rear transverse movement mechanism 134 transversely move in the same direction and the same distance, the transverse position of the pipe 300 to be docked can be changed without changing the second angle of the pipe 300 to be docked. When the front transverse movement mechanism 132 and the rear transverse movement mechanism 134 transversely move in the same direction and different distances, or transversely move in the opposite direction, the transverse angle of the pipe 300 to be docked, that is, the yaw angle, can be changed, so that the transverse angle of the pipe 300 to be docked is aligned with the transverse angle of the pipe 300 to be docked.

[0046] In this embodiment, by changing the second position and yaw angle of the pipe to be docked 300, automatic docking can be performed when the target pipe 200 has a certain lateral inclination angle, further expanding the application scenarios of the docking trolley and improving the docking efficiency of the corresponding scenarios.

[0047] In some embodiments of the control method of the present invention, Figure 3-4 As shown, the lifting mechanism 140 includes a front lifting mechanism 142 and a rear lifting mechanism 144. The bracket 110 includes a front bracket 112 disposed on the front lifting mechanism 142 and a rear bracket 114 disposed on the rear lifting mechanism 144. The lifting mechanism 140 and the lifting mechanism 140 are controlled according to the first information and the second information so that the to-be-connected interface 310 is aligned with the target connection interface 210, including: S321, controlling the front lifting mechanism 142 and / or the rear lifting mechanism 144 according to the first angle and the second angle to change the second position and the pitch angle of the pipe 300 to be docked.

[0048] In this embodiment, the front bracket 112 and the rear bracket 114 are respectively arranged on the front jacking mechanism 142 and the rear jacking mechanism 144 that can move independently. When the front jacking mechanism 142 and the rear jacking mechanism 144 are lifted and lowered in the same direction and the same distance, the height of the pipe 300 to be docked can be changed without changing the second angle of the pipe 300 to be docked. When the front jacking mechanism 142 and the rear jacking mechanism 144 are lifted and lowered in the same direction and the same distance, or when they are lifted and lowered in the opposite direction, the vertical angle of the pipe 300 to be docked, that is, the pitch angle, can be changed, so that the vertical angle of the pipe 300 to be docked is aligned with the vertical angle of the pipe 300 to be docked.

[0049] In this embodiment, by changing the second position and pitch angle of the pipe to be docked 300, automatic docking can be performed when the target pipe 200 has a certain slope angle, further expanding the application scenarios of the docking trolley and improving the docking efficiency of the corresponding scenarios.

[0050] In some embodiments of the control method of the present invention, Figure 3-4 and Figure 6 As shown, the traverse mechanism 130 includes a front traverse mechanism 132 and a rear traverse mechanism 134. The lifting mechanism 140 includes a front lifting mechanism 142 and a rear lifting mechanism 144. The front lifting mechanism 142 is fixedly arranged on the front traverse mechanism 132, and the rear lifting mechanism 144 is fixedly arranged on the rear traverse mechanism 134. The bracket 110 includes a front bracket 112 arranged on the front lifting mechanism 142 and a rear bracket 114 arranged on the rear lifting mechanism 144. The control of the traverse mechanism 130 and the lifting mechanism 140 according to the first information and the second information so that the to-be-docked interface 310 is aligned with the target docking interface 210 includes: S331, according to the first angle and the second angle, control the front transverse movement mechanism 132 and / or the rear transverse movement mechanism 134 to change the yaw angle of the second position and the pipe 300 to be docked. S332, controlling the front lifting mechanism 142 and / or the rear lifting mechanism 144 according to the first angle and the second angle to change the second position and the pitch angle of the pipe 300 to be docked.

[0051] In this embodiment, the front transverse movement mechanism 132 can drive the front lifting mechanism 142 to move transversely, and the front lifting mechanism 142 can drive the front bracket 112 to move up and down; the rear transverse movement mechanism 134 can drive the rear lifting mechanism 144 to move transversely, and the rear lifting mechanism 144 can drive the rear bracket 114 to move up and down. In other words, the bracket 110 can change the lateral and longitudinal positions of the pipe 300 to be docked, and can also change the yaw angle and pitch angle of the pipe 300 to be docked, so as to adapt to the lateral inclination angle and slope angle of the target pipe 200. This further expands the application scenarios of the docking trolley and improves the docking efficiency.

[0052] It should be understood that the lifting action of the lifting mechanism 140 and the lateral movement action of the lateral movement mechanism 130 may or may not have a sequence, and may act simultaneously or at different times, and can be set as needed, and there is no limitation here.

[0053] In some embodiments of the control method of the present invention, Figure 7 As shown, the method of controlling the longitudinal movement mechanism 150 to drive the bracket 110 to move forward according to the first information and the second information so that the docking port 310 is connected to the target docking port 210 includes: S411, control the longitudinal movement mechanism 150 to drive the bracket 110 to move forward.

[0054] S412: Update the second information at a first preset time interval.

[0055] S413, according to the first information and the updated second information, the lateral movement mechanism 130 and the lifting mechanism 140 are controlled to change the second position and the yaw angle and the pitch angle of the to-be-joined pipe 300.

[0056] The data acquired by the acquisition device or the sensor device may contain errors, the calculation process of the preset program may also contain errors, and the transverse movement mechanism 130, the lifting mechanism 140 and the longitudinal movement mechanism 150 may also form certain errors during the movement process, which may accumulate and cause the docking interface 310 to be misaligned when approaching the target docking interface 210, thereby causing the automatic docking to fail. This embodiment is used to solve the above problems.

[0057] The first preset time interval may be 1 second, 5 seconds, 10 seconds, etc. The first preset time interval may also be the minimum rated sampling interval of the acquisition device or the sensor device, such as 0.01 seconds, so as to obtain the second information of the pipeline 300 to be docked in real time. In this embodiment, the longitudinal movement mechanism 150 can drive the bracket 110 to move forward at a preset speed. During this period, the acquisition device or the sensor device periodically obtains and updates the second information of the pipeline 300 to be docked to determine whether the moving path of the pipeline 300 to be docked is consistent with the calculated moving trajectory. If not, it is necessary to control the movement of the transverse movement mechanism 130 and the lifting mechanism 140 so that the pipeline 300 to be docked is adjusted to the correct moving trajectory.

[0058] In this embodiment, by regularly updating the second information and adjusting the position and movement state of the to-be-connected pipe 300 , the accuracy of the connection construction can be improved, so that the to-be-connected port 310 can be connected to the target connection port 210 smoothly and accurately.

[0059] In some embodiments of the control method of the present invention, after controlling the front transverse movement mechanism 132 and / or the rear transverse movement mechanism 134 according to the first angle and the second angle to change the yaw angle of the second position and the pipe 300 to be docked, and controlling the front jacking mechanism 142 and / or the rear jacking mechanism 144 according to the first angle and the second angle to change the pitch angle of the second position and the pipe 300 to be docked, the control method further includes: S333, obtaining the current second angle as an initial target setting value; After controlling the lateral movement mechanism 130 and the lifting mechanism 140 according to the first information and the updated second information to change the second position, the yaw angle and the pitch angle of the to-be-joined pipe 300, the control method further comprises: S414, the initial target setting value is corrected according to the changes in the yaw angle and the pitch angle of the pipe 300 to be docked, and the corrected second angle is used as a new initial target setting value to be called in the next docking construction.

[0060] Due to physical conditions, the data obtained by the acquisition device or the sensor device has inherent errors, and the transverse movement mechanism 130, the lifting mechanism 140 and the longitudinal movement mechanism 150 will also form certain inherent errors during the movement. This inherent error will increase the number or amplitude of corrections to the yaw angle and pitch angle of the docking pipe 300, affecting the docking efficiency. And this inherent error is related to the mechanical structure of the equipment and is difficult to eliminate. Therefore, this embodiment sets up a "self-learning" mechanism to eliminate the above-mentioned inherent errors to a certain extent.

[0061] During the first docking construction, the docking trolley controls the transverse movement mechanism 130 and the lifting mechanism 140 to adjust the pipe 300 to the required second position and second angle according to the first information and the second information obtained for the first time, and sets the second angle corresponding to the first angle as the initial target setting value. Then the longitudinal movement mechanism 150 is controlled to drive the bracket 110 to move forward. During the forward movement, the yaw angle and the pitch angle of the pipe 300 to be docked are continuously corrected to overcome the above-mentioned errors (including inherent errors). When the first docking is completed, the docking trolley automatically counts the total correction value of the yaw angle and the pitch angle of the pipe 300 to be docked, and then adds the correction value to the initial target setting value (for example, the correction value is multiplied by a preset weighting factor and then added to the initial target setting value) as a new initial target setting value, so as to be directly called during the next docking construction (when the first angle is the same or similar). Since the inherent error is taken into account when setting the initial target setting value, the number or amplitude of corrections to the yaw angle and the pitch angle of the pipe 300 to be docked can be reduced during docking, thereby improving the docking efficiency.

[0062] Furthermore, during each docking construction (when the first angles are the same or similar), the initial target setting value will be corrected to continuously improve the estimation accuracy of the inherent error, reduce the number or amount of corrections of the yaw angle and pitch angle of the to-be-docked pipe 300 in subsequent docking construction, and thus improve docking efficiency.

[0063] In some embodiments of the control method of the present invention, Figure 1 and Figure 8 As shown, the pipe docking trolley 100 further includes a crawler walking mechanism 160, and the frame 120 is connected to the crawler walking mechanism 160. According to the first information and the second information, the transverse mechanism 130 and the lifting mechanism 140 are controlled so that the docking port 310 is aligned with the target docking port 210. The control method includes: S511, obtaining the preset travel threshold ranges of the transverse movement mechanism 130, the lifting mechanism 140 and the longitudinal movement mechanism 150.

[0064] S512 , judging whether the docking interface 310 can be aligned with the target docking interface 210 within all preset travel threshold ranges according to the first information, the second information and each preset travel threshold range.

[0065] S513 , if not, control the crawler walking mechanism 160 to adjust the position and / or angle of the frame 120 .

[0066] The crawler walking mechanism 160 is used to change the position and / or angle of the frame 120, and is used for the self-walking of the pipe trolley 100 and the short-distance transportation of pipes. Limited by the mechanical structure, the transverse movement mechanism 130, the lifting mechanism 140 and the longitudinal movement mechanism 150 must have a certain preset stroke threshold range. Exemplarily, the transverse movement stroke threshold range of the transverse movement mechanism 130 can be ±100mm, the lifting stroke threshold range of the lifting mechanism 140 can be ±200mm, and the longitudinal movement stroke threshold range of the longitudinal movement mechanism 150 can be ±250mm. In this embodiment, the transverse movement mechanism 130 and the lifting mechanism 140 are only used to make slight adjustments to the second position and the second angle, so as to minimize the production cost while meeting the construction requirements.

[0067] In this embodiment, the preset travel threshold ranges of the transverse movement mechanism 130, the lifting mechanism 140 and the longitudinal movement mechanism 150 can be preset in the memory of the pipe handling trolley 100 and can be read when needed. After obtaining the first information, the second information and each preset travel threshold range, the preset program preferentially searches for a feasible movement trajectory within each preset travel threshold range. If no solution is found within each preset travel threshold range, it means that the position and / or angle of the frame 120 deviates too much and needs to be adjusted by the crawler walking mechanism 160. After adjusting the position and / or angle of the frame 120 accordingly, the second information can be collected or updated again, and a feasible movement trajectory can be searched again within each preset travel threshold range.

[0068] In some embodiments of the control method of the present invention, Figure 1 and Fig. 9 As shown, the first information includes the first diameter information of the target docking port 210. The second information includes the second diameter information of the to-be-docked port 310. After obtaining the second information of the to-be-docked port 310 of the to-be-docked pipe 300, the control method further includes: S611, determining whether the second pipe diameter information matches the first pipe diameter information.

[0069] S612: If not, issue a warning message.

[0070] Large-diameter PCCP pipes have a variety of specifications and sizes. The first pipe diameter is the pipe diameter (usually the inner diameter) at the target docking port 210, and the second pipe diameter is the pipe diameter (usually the outer diameter) at the to-be-docked port 310. Generally speaking, the first pipe diameter is equal to or slightly larger than the second pipe diameter, so that the to-be-docked port 310 can be easily inserted into the target docking port 210 during docking. In this embodiment, the pipe docking trolley 100 can be provided with a collection device or a sensor device (such as a camera, a rangefinder, a total station, etc.) to obtain the first pipe diameter information and the second pipe diameter information, and then determine whether the to-be-docked port 310 matches the target docking port 210. If it cannot match, it indicates that the specifications and sizes of the pipe currently lifted by the pipe docking trolley 100 are wrong. The warning information can be sound information (such as an alarm sound, a voice prompt sound, etc.), or it can be visual information (such as a warning light, etc.).

[0071] In this embodiment, by determining whether the second pipe diameter information matches the first pipe diameter information, it is possible to prevent a pipe of wrong specification and size from being docked to the target pipe 200, thereby improving the quality and efficiency of docking construction.

[0072] In some embodiments of the control method of the present invention, Fig.10 As shown, the step of obtaining the second information of the interface 310 to be connected of the pipe 300 to be connected includes: S711, obtaining third pipe diameter information of the pipe 300 to be connected.

[0073] S712, obtaining the second information according to the states of the longitudinal movement mechanism 150, the transverse movement mechanism 130, the lifting mechanism 140 and the third pipe diameter information.

[0074] The third pipe diameter information is the inner diameter of the non-joint interface of the to-be-jointed pipe 300, on the inner wall of which the bracket 110 is supported. The third pipe diameter information may be preset information or input by an operator.

[0075] In this embodiment, the second position and second angle of the docking port 310 can be calculated by a preset program through the position, angle and other state information of the longitudinal movement mechanism 150, the transverse movement mechanism 130 and the lifting mechanism 140 and the third pipe diameter information. Compared with obtaining with the aid of a camera or other device, this technical solution can obtain accurate second information more quickly.

[0076] In some embodiments of the control method of the present invention, Figure 2 and Fig.11 As shown, before obtaining the second information of the to-be-connected interface 310 of the to-be-connected pipe 300, the control method further includes: S811, obtaining the third pipe diameter information of the pipe 300 to be connected.

[0077] S812, according to the third pipe diameter information, control the lifting mechanism 140 to lower the pipe 300 to be docked to a first preset height L, so that the operator can install the sealing rubber ring on the docking port 310.

[0078] The sealing rubber ring is the key to the anti-seepage and tightness of the pipeline. The installation quality of the sealing rubber ring is directly related to the later operation quality of the pipeline.

[0079] The first preset height L can be the distance between the lowest point of the pipe 300 to be docked and the ground, for example, 100 mm, so as not to touch the ground. In this embodiment, the pipe 300 to be docked is lowered before docking, so that the operator can easily install the sealing rubber ring on the docking port 310, thereby improving the installation accuracy of the sealing rubber ring and further improving the quality of pipe docking.

[0080] In some embodiments of the pipe trolley of the present invention, as Fig.12 As shown, the pipe docking trolley 100 includes a frame 120 and a bracket 110. The bracket 110 is configured to lift the pipe 300 to be docked with the inner wall of the pipe 300 as a support point. The bracket 110 is connected to the frame 120 through a longitudinal movement mechanism 150, a transverse movement mechanism 130 and a lifting mechanism 140.

[0081] The pipe handling trolley 100 also includes a controller 190, which includes a memory 191, a processor 192, and a computer program 193 stored in the memory 191 and running on the processor 192, and when the processor 192 executes the computer program 193, the steps of the control method of the pipe handling trolley 100 are implemented.

[0082] The memory 191 and the processor 192 can be directly set in the pipe handling trolley and connected to each module of the pipe handling trolley through cables. The memory 191 and the processor 192 can also be set on a cloud server and connected to each module of the pipe handling trolley through wireless, so as to realize the control method of any one of the above embodiments or a combination of embodiments.

[0083] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable storage medium for use by an instruction execution system, device or equipment (such as a computer-based system, a system including processor 192, or other system that can fetch instructions from an instruction execution system, device or equipment and execute instructions), or used in combination with these instruction execution systems, devices or equipment.

[0084] For the purposes of the description of this embodiment, the memory 191 may be any device that can contain, store, communicate, propagate or transmit a program for use with an instruction execution system, device or apparatus or in conjunction with such instruction execution system, device or apparatus. More specific examples of the memory 191 (a non-exhaustive list) include the following: an electrical connection portion (electronic device) having one or more wirings, a portable computer disk case (magnetic device), a random access memory 191 (RAM), a read-only memory (ROM), an erasable and editable read-only memory 191 (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the memory 191 may even be paper or other suitable media on which the program may be printed, because the program may be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, deciphering or processing in other suitable ways as necessary, and then stored in a computer memory.

[0085] The computer program 193 for performing the operation of the present invention may be an assembly instruction, an instruction set architecture (ISA) instruction, a machine instruction, a machine-dependent instruction, a microcode, a firmware instruction, a state setting data, a configuration data of an integrated circuit, or a source code or an object code written in any combination of one or more programming languages ​​and a procedural programming language. The computer program 193 may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer may be connected to the user's computer via any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet Service Provider). In some embodiments, to perform aspects of the present invention, electronic circuits including, for example, programmable logic circuits, Field-Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs) may execute computer-readable program instructions to personalize the electronic circuits by utilizing state information of the computer-readable program instructions.

[0086] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. A control method for a pipe docking trolley suitable for PCCP pipeline docking construction, characterized in that: The pipe docking trolley comprises a frame and a bracket, wherein the bracket is configured to lift the pipe to be docked upward from the inside of the pipe to be docked, and the bracket is connected to the frame via a longitudinal movement mechanism, a transverse movement mechanism and a lifting mechanism; the control method comprises: Acquire first information of a target docking port of a target pipeline, wherein the first information includes a first position and a first angle of the target docking port; Acquire second information of the interface to be docked of the pipeline to be docked, wherein the second information includes a second position and a second angle of the interface to be docked; According to the first information and the second information, the transverse movement mechanism and the lifting mechanism are controlled to align the to-be-docking port with the target docking port; According to the first information and the second information, the longitudinal movement mechanism is controlled to drive the bracket to move forward so that the docking port to be connected to the target docking port.

2. The control method according to claim 1, characterized in that: The transverse movement mechanism includes a front transverse movement mechanism and a rear transverse movement mechanism; the bracket includes a front bracket arranged on the front transverse movement mechanism and a rear bracket arranged on the rear transverse movement mechanism; The controlling the transverse movement mechanism and the lifting mechanism according to the first information and the second information so as to align the to-be-docked interface with the target docking interface comprises: The front transverse movement mechanism and / or the rear transverse movement mechanism are controlled according to the first angle and the second angle to change the second position and the yaw angle of the pipe to be docked.

3. The control method according to claim 1, characterized in that: The jacking mechanism includes a front jacking mechanism and a rear jacking mechanism; the bracket includes a front bracket arranged on the front jacking mechanism and a rear bracket arranged on the rear jacking mechanism; The controlling the lifting mechanism and the lifting mechanism according to the first information and the second information so as to align the to-be-docking interface with the target docking interface comprises: According to the first angle and the second angle, the front lifting mechanism and / or the rear lifting mechanism are controlled to change the second position and the pitch angle of the pipe to be docked.

4. The control method according to claim 1, characterized in that: The transverse movement mechanism includes a front transverse movement mechanism and a rear transverse movement mechanism; the lifting mechanism includes a front lifting mechanism and a rear lifting mechanism; the front lifting mechanism is fixedly arranged on the front transverse movement mechanism, and the rear lifting mechanism is fixedly arranged on the rear transverse movement mechanism; the bracket includes a front bracket arranged on the front lifting mechanism and a rear bracket arranged on the rear lifting mechanism; The controlling the transverse movement mechanism and the lifting mechanism according to the first information and the second information so as to align the to-be-docked interface with the target docking interface comprises: According to the first angle and the second angle, controlling the front transverse movement mechanism and / or the rear transverse movement mechanism to change the second position and the yaw angle of the pipe to be docked; as well as According to the first angle and the second angle, the front lifting mechanism and / or the rear lifting mechanism are controlled to change the second position and the pitch angle of the pipe to be docked.

5. The control method according to claim 4, characterized in that: The controlling the longitudinal movement mechanism to drive the bracket to move forward according to the first information and the second information so that the docking interface is connected to the target docking interface includes: Controlling the longitudinal movement mechanism to drive the bracket to move forward; Updating the second information at a first preset time interval; According to the first information and the updated second information, the transverse movement mechanism and the lifting mechanism are controlled to change the second position, the yaw angle and the pitch angle of the pipeline to be docked.

6. The control method according to claim 5, characterized in that: After controlling the front lateral movement mechanism and / or the rear lateral movement mechanism according to the first angle and the second angle to change the second position and the yaw angle of the pipe to be docked, and controlling the front jacking mechanism and / or the rear jacking mechanism according to the first angle and the second angle to change the pitch angle of the second position and the pipe to be docked, the control method further includes: Obtain the current second angle as an initial target setting value; After controlling the transverse movement mechanism and the lifting mechanism according to the first information and the updated second information to change the second position, the yaw angle and the pitch angle of the to-be-jointed pipe, the control method further comprises: The initial target setting value is corrected according to the changes in the yaw angle and the pitch angle of the pipe to be docked, and the corrected second angle is used as a new initial target setting value to be called during the next docking construction.

7. The control method according to claim 4, characterized in that: The pipe docking trolley further includes a crawler walking mechanism, and the frame is connected to the crawler walking mechanism; the control method includes: controlling the transverse mechanism and the lifting mechanism according to the first information and the second information so that the docking interface is aligned with the target docking interface. Obtaining preset travel threshold ranges of the transverse movement mechanism, the lifting mechanism, and the longitudinal movement mechanism; According to the first information, the second information and each of the preset travel threshold ranges, determining whether the to-be-docking interface can be aligned with the target docking interface within all of the preset travel threshold ranges; If not, the crawler walking mechanism is controlled to adjust the position and / or angle of the frame.

8. The control method according to claim 1, characterized in that: The first information includes the first diameter information of the target docking port; the second information includes the second diameter information of the to-be-docked port; After obtaining the second information of the to-be-connected interface of the to-be-connected pipe, the control method further includes: Determining whether the second pipe diameter information matches the first pipe diameter information; If not, a warning message is issued.

9. The control method according to claim 1, characterized in that: Before obtaining the second information of the to-be-connected interface of the to-be-connected pipe, the control method further includes: Obtaining third pipe diameter information of the pipe to be connected; According to the third pipe diameter information, the lifting mechanism is controlled to lower the pipe to be docked to a first preset height, so that an operator can install a sealing rubber ring on the interface to be docked.

10. A pipe docking trolley suitable for PCCP pipe docking construction, characterized in that: It comprises a frame and a bracket, wherein the bracket is configured to lift the pipe to be docked by using the inner wall of the pipe to be docked as a support point, and the bracket is connected to the frame through a longitudinal movement mechanism, a transverse movement mechanism and a lifting mechanism; The pipe handling trolley also includes a controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of the control method of the pipe handling trolley as described in any one of claims 1 to 9 are implemented.

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