Intelligent control system of water delivery tunnel lining steel pipe mounting trolley based on video analysis

Abstract

The invention relates to the field of water delivery tunnel lining steel pipe installation monitoring, in particular to a video analysis-based intelligent control system for a water delivery tunnel lining steel pipe installation trolley, which ensures that a to-be-installed steel pipe is firmly fixed on the trolley by detecting the fixing firmness of the steel pipe after the to-be-installed steel pipe is loaded on the trolley. Sliding or tumbling in the transportation process is prevented; by regulating and controlling the speed and the direction of the steel pipe transportation trolley in the transportation process, the walking stability and safety of the steel pipe transportation trolley are ensured, and the phenomena of deviation, slipping and the like are prevented; positioning control is conducted on the position of the steel pipe conveying trolley in the tunnel, and it is ensured that the to-be-installed steel pipe can be accurately conveyed to the installation position; by obtaining the centering accuracy of the to-be-installed steel pipe and the installed steel pipe, whether the to-be-installed steel pipe and the installed steel pipe meet the requirement or not is judged, steel pipe centering control is conducted, accurate welding and connection of the to-be-installed steel pipe and the installed steel pipe are ensured, and therefore the installation quality of the lining steel pipe of the water conveying tunnel is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of water tunnel lining steel pipe installation monitoring, and particularly to an intelligent control system for a water tunnel lining steel pipe installation trolley based on video analysis. Background Art

[0002] With the rapid development of urbanization, domestic and industrial water use has increased dramatically, posing severe challenges to urban water use and backup water sources, and also placing higher demands on water resources support and guarantee capabilities. This has led to a number of global and strategic water-saving and water supply major water conservancy projects being orderly promoted to improve water resource utilization efficiency and improve the water ecological environment.

[0003] In order to minimize the impact of route construction on the ground, improve the utilization rate of ground and underground land resources, and avoid the impact of tunnels on ground houses, roads, and underground municipal tunnels, water resource allocation projects often design routes deep underground. Hydraulic tunnels carry important functions such as water diversion, water delivery, and drainage. However, hydraulic tunnels often face various complex problems during construction. Among them, the installation of steel pipes lined in water delivery tunnels is one of the difficulties, and monitoring and controlling them is of practical significance.

[0004] However, the existing control of the water tunnel lining steel pipe installation process is mostly carried out by operators based on their personal experience, without data-based quantitative analysis, which makes the workload and difficulty of the operation large and the control accuracy low, thereby affecting the efficiency of the water tunnel lining steel pipe installation and unable to ensure the installation quality of the water tunnel lining steel pipe. Summary of the invention

[0005] In view of the above problems, the present invention proposes an intelligent control system for the installation trolley of the lining steel pipe of the water conveyance tunnel based on video analysis, which realizes the function of monitoring the installation of the lining steel pipe of the water conveyance tunnel.

[0006] The technical solution adopted by the present invention to solve its technical problem is: the present invention provides an intelligent control system for a water tunnel lining steel pipe installation trolley based on video analysis, including: a steel pipe fixation inspection module before transportation: used to detect the firmness of the steel pipe fixation after the steel pipe to be installed is loaded onto the trolley during the installation of the water tunnel lining steel pipe, determine whether it meets the requirements, and issue an early warning.

[0007] Steel pipe transport trolley travel control module: used to obtain appropriate travel information of the trolley loaded with steel pipes to be installed from the loading position to the predetermined position of the trolley in the tunnel, and record it as appropriate travel information of the steel pipe transport trolley during the transportation process, wherein the travel information includes the travel speed and the travel trajectory, and further monitor the travel speed and the travel trajectory of the steel pipe transport trolley during the transportation process in real time, and adjust the travel speed of the steel pipe transport trolley during the transportation process and correct the travel trajectory.

[0008] Steel pipe transport trolley positioning control module: used to obtain the parking position of the steel pipe transport trolley in the tunnel, and compare it with the predetermined position of the trolley in the tunnel, determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and perform positioning control.

[0009] Steel pipe adjustment and centering control module: used to obtain the lateral and longitudinal accuracy of the alignment between the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipes, determine whether the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements, and further perform centering control on the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel.

[0010] Database: used to store the reference speed of steel pipe transportation corresponding to each steel pipe weight range and the reference speed of steel pipe transportation corresponding to each road surface flatness range, and store the butt joint ring seam when welding steel pipes.

[0011] On the basis of the above-mentioned embodiment, the specific working process of the steel pipe fixing inspection module before transportation includes: after the steel pipe to be installed is loaded onto the trolley, a force of a set value in each set direction is applied at a set position on the surface of the steel pipe, a video of the force-bearing process of the steel pipe to be installed is collected, and the maximum displacement of the steel pipe under the force of the set value in each set direction is obtained, which is recorded as l a , a represents the number of the ath applied force direction, a=1, 2,..., b.

[0012] By analyzing the formula The firmness of the steel pipe to be installed after being loaded onto the trolley during the installation of the lining steel pipe of the water conveyance tunnel is obtained, where ε represents the correction factor of the preset steel pipe fixing firmness, e represents the natural constant, and c a Represents the weight of the preset a-th applied force direction, δ Δl Indicates the influence factor corresponding to the preset unit displacement.

[0013] On the basis of the above embodiment, the specific working process of the steel pipe fixing inspection module before transportation also includes: comparing the firmness of the steel pipe fixed after the steel pipe to be installed is loaded onto the trolley with a preset firmness threshold; if the firmness of the steel pipe fixed after the steel pipe to be installed is loaded onto the trolley is less than the preset firmness threshold, the firmness of the steel pipe fixed after the steel pipe to be installed is loaded onto the trolley does not meet the requirements, and an early warning is issued.

[0014] Based on the above embodiments, the specific working process of the walking control module of the steel pipe transport trolley includes: according to the loading position of the trolley loaded with steel pipes to be installed and the predetermined position of the trolley in the tunnel, based on the principle of shortest distance, the driving trajectory of the trolley loaded with steel pipes to be installed from the loading position to the predetermined position in the tunnel is obtained, and it is recorded as a suitable driving trajectory for the steel pipe transport trolley during the transportation process.

[0015] Extract the reference speed of steel pipe transportation corresponding to each steel pipe weight range and the reference speed of steel pipe transportation corresponding to each road surface flatness range stored in the database, obtain the weight of the steel pipe to be installed and the road surface flatness suitable for the steel pipe transportation trolley during the transportation process, and screen out the reference speed of steel pipe transportation corresponding to the weight of the steel pipe to be installed and the road surface flatness suitable for the steel pipe transportation trolley during the transportation process, and record them as v1 and v2 respectively. Get the appropriate driving speed v0 of the steel pipe transport trolley during transportation, where They represent the weight factors corresponding to the preset steel pipe weight and road surface smoothness,

[0016] On the basis of the above-mentioned embodiment, the specific working process of the travel control module of the steel pipe transport trolley also includes: monitoring the travel speed of the steel pipe transport trolley during the transport process in real time through the speed sensor equipped on the steel pipe transport trolley.

[0017] The GPS navigator equipped on the steel pipe transport trolley can be used to monitor the position of the steel pipe transport trolley during the transportation process in real time, and further record the driving trajectory of the steel pipe transport trolley during the transportation process in real time.

[0018] Based on the above embodiments, the specific working process of the steel pipe transport trolley walking control module also includes: comparing the real-time monitored driving speed of the steel pipe transport trolley during the transportation process with the appropriate driving speed of the steel pipe transport trolley during the transportation process, and obtaining the absolute value of the difference between the measured driving speed of the steel pipe transport trolley during the transportation process and the appropriate driving speed, and recording it as the driving speed deviation of the steel pipe transport trolley during the transportation process.

[0019] The driving speed deviation of the steel pipe transport trolley during the transportation process is compared with the preset driving speed deviation threshold. If the driving speed deviation of the steel pipe transport trolley during the transportation process is greater than the preset driving speed deviation threshold, the driving speed of the steel pipe transport trolley during the transportation process needs to be adjusted, and the adjustment amount and adjustment direction of the driving speed of the steel pipe transport trolley during the transportation process are further obtained and sent to the remote control center of the steel pipe transport trolley to adjust the driving speed of the steel pipe transport trolley during the transportation process.

[0020] Based on the above embodiments, the specific working process of the walking control module of the steel pipe transport trolley also includes: comparing the real-time recorded driving trajectory of the steel pipe transport trolley during the transportation process with the appropriate driving trajectory of the steel pipe transport trolley during the transportation process, obtaining the degree of overlap between the real-time driving trajectory of the steel pipe transport trolley during the transportation process and the appropriate driving trajectory, and recording it as the driving trajectory overlap of the steel pipe transport trolley during the transportation process.

[0021] The driving trajectory overlap of the steel pipe transport trolley during the transportation process is compared with the preset driving trajectory overlap threshold. If the driving trajectory overlap of the steel pipe transport trolley during the transportation process is less than the preset driving trajectory overlap threshold, the driving trajectory of the steel pipe transport trolley during the transportation process needs to be corrected.

[0022] The real-time driving trajectory of the steel pipe transport trolley during the transportation process is obtained and regressed to the driving direction and driving distance corresponding to the appropriate driving trajectory, and the correction information of the driving trajectory of the steel pipe transport trolley during the transportation process is obtained. The correction information is sent to the remote control center of the steel pipe transport trolley to correct the driving trajectory of the steel pipe transport trolley during the transportation process.

[0023] Based on the above embodiments, the specific working process of the steel pipe transport trolley positioning control module is as follows: F1: obtain the parked position of the steel pipe transport trolley in the tunnel, and compare it with the predetermined position of the trolley in the tunnel to obtain the distance between the parked position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel, and record it as the position deviation of the steel pipe transport trolley in the tunnel.

[0024] The position deviation of the steel pipe transport trolley in the tunnel is compared with the preset position deviation threshold. If the position deviation of the steel pipe transport trolley in the tunnel is greater than the preset position deviation threshold, the position of the steel pipe transport trolley in the tunnel is inaccurate, and F2 is executed.

[0025] F2: Establish a two-dimensional coordinate system in the tunnel according to the preset principles, obtain the coordinates of the parking position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel respectively, analyze the travel route from the parking position of the steel pipe transport trolley in the tunnel to the predetermined position of the trolley in the tunnel, record it as the position correction route of the steel pipe transport trolley in the tunnel, and feed it back to the remote control center of the steel pipe transport trolley to perform positioning control on the steel pipe transport trolley.

[0026] On the basis of the above-mentioned embodiment, the specific working process of the steel pipe adjustment and centering control module includes: recording the direction in which the steel pipe extends as the transverse direction, and recording the direction perpendicular to the direction in which the steel pipe extends as the longitudinal direction.

[0027] The laser rangefinder is arranged on the side of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and welded with the installed steel pipe to obtain the lateral distance between the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipe, which is recorded as d, and the butt joint ring seam when the steel pipe is welded stored in the database is extracted and recorded as d0. The lateral accuracy φ1 of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel is obtained, where η represents the correction factor of the preset lateral accuracy, e represents the natural constant, and γ ΔdIt represents the impact factor corresponding to the unit deviation of the horizontal distance between the preset steel pipe to be installed and the installed steel pipe.

[0028] The visual sensor arranged on the side of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and welded with the installed steel pipe collects the video data of the alignment of the steel pipe to be installed and the installed steel pipe, obtains the cross-sectional image of the steel pipe to be installed and the installed steel pipe when they are aligned, obtains the area of ​​the ghost area of ​​the cross section of the steel pipe to be installed and the installed steel pipe when they are aligned under the horizontal projection, and records it as s0, obtains the total area of ​​the cross section of the steel pipe to be installed, and records it as S. The longitudinal accuracy φ2 of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel is obtained.

[0029] On the basis of the above embodiments, the specific working process of the steel pipe adjustment and centering control module also includes: comparing the lateral accuracy and longitudinal accuracy of the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel with the installed steel pipes respectively with the corresponding set thresholds; if the lateral accuracy and longitudinal accuracy of the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel with the installed steel pipes are both greater than or equal to the corresponding set thresholds, the centering of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements; otherwise, the centering of the steel pipes to be installed loaded on the steel pipe transport trolley does not meet the requirements; further obtain the lateral and longitudinal centering adjustment information of the steel pipes to be installed, provide feedback, and then perform centering control on the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel.

[0030] Compared with the prior art, the intelligent control system for the water tunnel lining steel pipe installation trolley based on video analysis described in the present invention has the following beneficial effects: 1. The present invention detects the firmness of the steel pipes to be installed after they are loaded onto the trolley during the installation of the water tunnel lining steel pipes, determines whether it meets the requirements, and issues an early warning, thereby ensuring that the steel pipes to be installed are firmly fixed on the trolley to prevent sliding or rolling during transportation.

[0031] 2. The present invention monitors the driving speed and driving trajectory of the steel pipe transport trolley during the transportation process in real time, adjusts the driving speed of the steel pipe transport trolley during the transportation process and corrects the driving trajectory, thereby realizing the regulation of speed and direction of the steel pipe transport trolley during the transportation process, ensuring the stability and safety of the steel pipe transport trolley's travel, and preventing deviation, slipping and the like.

[0032] 3. The present invention obtains the parked position of the steel pipe transport trolley in the tunnel and compares it with the predetermined position of the trolley in the tunnel to determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and performs positioning control, thereby ensuring that the steel pipe to be installed can be accurately transported to the installation position.

[0033] 4. The present invention determines whether the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements by obtaining the lateral accuracy and longitudinal accuracy of the alignment between the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipes, and further performs centering control on the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel, thereby ensuring the precise welding and connection of the steel pipes to be installed and the installed steel pipes, thereby ensuring the installation quality of the lining steel pipes in the water supply tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0035] Figure 1 This is a system module connection diagram of the present invention.

[0036] Figure 2 It is a structural schematic diagram of the steel pipe transport trolley of the present invention.

[0037] Figure 3 It is a schematic diagram of the transverse alignment of the steel pipe to be installed and the installed steel pipe according to the present invention.

[0038] Figure 4 It is a schematic diagram of the longitudinal alignment of the steel pipe to be installed and the installed steel pipe according to the present invention.

[0039] Figure numerals: 1. Tunnel; 2. Installed steel pipes; 3. Steel pipes to be installed. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] See also Figure 1 and Figure 2 As shown, the present invention provides an intelligent control system for a water conveyance tunnel lining steel pipe installation trolley based on video analysis, including a steel pipe fixing inspection module before transportation, a steel pipe transport trolley walking control module, a steel pipe transport trolley positioning control module, a steel pipe adjustment and centering control module, and a database.

[0042] The steel pipe transport trolley walking control module is respectively connected to the pre-transport steel pipe fixing inspection module and the steel pipe transport trolley positioning control module; the steel pipe adjustment and centering control module is connected to the steel pipe transport trolley positioning control module; and the database is respectively connected to the steel pipe transport trolley walking control module and the steel pipe adjustment and centering control module.

[0043] The pre-transport steel pipe fixation inspection module is used to detect the firmness of the steel pipe fixation after the steel pipe to be installed is loaded onto the trolley during the installation of the lining steel pipe of the water supply tunnel, determine whether it meets the requirements, and issue an early warning.

[0044] Furthermore, the specific working process of the steel pipe fixing inspection module before transportation includes: after the steel pipe to be installed is loaded onto the trolley, a force of a set value in each set direction is applied to a set position on the surface of the steel pipe, a video of the force-bearing process of the steel pipe to be installed is collected, and the maximum displacement of the steel pipe under the force of the set value in each set direction is obtained, which is recorded as l a , a represents the number of the ath applied force direction, a=1, 2,..., b.

[0045] As a preferred solution, before transporting the lined steel pipes in the water tunnel, the mechanical structure of the steel pipe transport trolley will be fully inspected, including the wheels, frame, suspension system, etc., to ensure that all components are firmly connected and not damaged. The performance of the brake system of the steel pipe transport trolley will also be checked to ensure that the trolley can be safely parked during transportation; the electrical system of the steel pipe transport trolley, including the motor, controller, cable, etc., will be checked to ensure that the electrical equipment operates normally without leakage, short circuit and other faults; the hydraulic system of the steel pipe transport trolley will be checked to ensure that the hydraulic components are leak-free and the pressure is stable.

[0046] As a preferred solution, before the steel pipe is loaded onto the trolley, ensure that the length, diameter and other dimensions of the steel pipe match the load-bearing capacity of the trolley.

[0047] As a preferred solution, the fixing device for firmly fixing the steel pipe on the trolley includes but is not limited to: a steel wire rope, a chain, etc.

[0048] As a preferred solution, the forces applied to the steel pipe to be installed are different in direction but the same in magnitude, and it is ensured that the applied forces will not cause damage to the steel pipe to be installed.

[0049] By analyzing the formula The firmness i of the steel pipe to be installed after being loaded onto the trolley during the installation of the lining steel pipe of the water conveyance tunnel is obtained, where ε represents the correction factor of the preset steel pipe fixing firmness, e represents the natural constant, and c a Represents the weight of the preset a-th applied force direction, δ Δl Indicates the influence factor corresponding to the preset unit displacement.

[0050] As a preferred solution, the correction factor of the steel pipe fixing firmness plays the role of amplifying, reducing or rounding the steel pipe fixing firmness to facilitate calculation and analysis.

[0051] As a preferred solution, the weights of the directions of applied force are set according to the importance of each direction of applied force in evaluating the firmness of steel pipe fixation. In a specific embodiment, the weights of the directions of applied force parallel and perpendicular to the travel direction of the steel pipe transport trolley are higher than the weights of other directions of applied force.

[0052] Furthermore, the specific working process of the steel pipe fixing inspection module before transportation also includes: comparing the firmness of the steel pipe fixing after the steel pipe to be installed is loaded onto the trolley with a preset firmness threshold; if the firmness of the steel pipe fixing after the steel pipe to be installed is loaded onto the trolley is less than the preset firmness threshold, then the firmness of the steel pipe fixing after the steel pipe to be installed is loaded onto the trolley does not meet the requirements, and an early warning is issued.

[0053] It should be noted that the present invention detects the firmness of the steel pipes to be installed after they are loaded onto the trolley during the installation of the lining steel pipes in the water supply tunnel, determines whether they meet the requirements, and issues an early warning, thereby ensuring that the steel pipes to be installed are firmly fixed on the trolley to prevent sliding or rolling during transportation.

[0054] The walking control module of the steel pipe transport trolley is used to obtain appropriate walking information of the trolley loaded with steel pipes to be installed during the process of moving from the loading position to the predetermined position of the trolley in the tunnel, and record it as appropriate walking information of the steel pipe transport trolley during the transportation process, wherein the walking information includes the driving speed and the driving trajectory, and further monitors the driving speed and the driving trajectory of the steel pipe transport trolley during the transportation process in real time, and adjusts the driving speed of the steel pipe transport trolley during the transportation process and corrects the driving trajectory.

[0055] Furthermore, the specific working process of the steel pipe transport trolley walking control module includes: according to the loading position of the trolley loaded with steel pipes to be installed and the predetermined position of the trolley in the tunnel, based on the principle of shortest distance, obtaining the driving trajectory of the trolley loaded with steel pipes to be installed from the loading position to the predetermined position in the tunnel, and recording it as a suitable driving trajectory for the steel pipe transport trolley during the transportation process.

[0056] As a preferred solution, the mobile steel pipe transport trolley is equipped with driving wheels and steering wheels, and has the functions of steering, forward and reverse bidirectional travel, and the trolley body is equipped with 4 supporting hydraulic equipment and 2 trolley W-type devices. It can be moved up and down and left and right through manual remote control, and the steel pipe can be fine-tuned in place, so that the steel pipe can be quickly and accurately positioned in the tunnel.

[0057] Extract the reference speed of steel pipe transportation corresponding to each steel pipe weight range and the reference speed of steel pipe transportation corresponding to each road surface flatness range stored in the database, obtain the weight of the steel pipe to be installed and the road surface flatness suitable for the steel pipe transportation trolley during the transportation process, and screen out the reference speed of steel pipe transportation corresponding to the weight of the steel pipe to be installed and the road surface flatness suitable for the steel pipe transportation trolley during the transportation process, and record them as v1 and v2 respectively. Get the appropriate driving speed v0 of the steel pipe transport trolley during transportation, where They represent the weight factors corresponding to the preset steel pipe weight and road surface smoothness,

[0058] As a preferred solution, the weight of the steel pipe to be installed can be obtained by a weight sensor equipped on the steel pipe transport trolley.

[0059] As a preferred solution, the steel pipe transport trolley can be equipped with visual sensors, such as high-definition cameras, to collect images of the road surface suitable for the driving trajectory of the steel pipe transport trolley during the transportation process, and further analyze the flatness of the road surface suitable for the driving trajectory of the steel pipe transport trolley during the transportation process.

[0060] In another specific embodiment, the smoothness of the road surface suitable for the driving trajectory of the steel pipe transport trolley during the transportation process is measured by an instrument.

[0061] As a preferred solution, the weight factors corresponding to the steel pipe weight and the road surface flatness are set according to the influence of the steel pipe weight and the road surface flatness on the travel speed of the steel pipe transport trolley. In a specific embodiment, the weight factors corresponding to the steel pipe weight and the road surface flatness are 0.45 and 0.55 respectively.

[0062] Furthermore, the specific working process of the travel control module of the steel pipe transport trolley also includes: real-time monitoring of the travel speed of the steel pipe transport trolley during the transport process through a speed sensor equipped on the steel pipe transport trolley.

[0063] The GPS guide instrument equipped on the steel pipe transport trolley can monitor the position of the steel pipe transport trolley during the transportation process in real time, and further record the driving trajectory of the steel pipe transport trolley during the transportation process in real time.

[0064] As a preferred solution, the position of the geometric center point of the steel pipe transport trolley is used as the position of the steel pipe transport trolley.

[0065] Furthermore, the specific working process of the steel pipe transport trolley walking control module also includes: comparing the real-time monitored driving speed of the steel pipe transport trolley during the transportation process with the appropriate driving speed of the steel pipe transport trolley during the transportation process, obtaining the absolute value of the difference between the measured driving speed of the steel pipe transport trolley during the transportation process and the appropriate driving speed, and recording it as the driving speed deviation of the steel pipe transport trolley during the transportation process.

[0066] The driving speed deviation of the steel pipe transport trolley during the transportation process is compared with the preset driving speed deviation threshold. If the driving speed deviation of the steel pipe transport trolley during the transportation process is greater than the preset driving speed deviation threshold, the driving speed of the steel pipe transport trolley during the transportation process needs to be adjusted, and the adjustment amount and adjustment direction of the driving speed of the steel pipe transport trolley during the transportation process are further obtained and sent to the remote control center of the steel pipe transport trolley to adjust the driving speed of the steel pipe transport trolley during the transportation process.

[0067] As a preferred solution, the adjustment amount and direction of the driving speed of the steel pipe transport trolley during the transportation process are analyzed. The specific method is: the driving speed deviation of the steel pipe transport trolley during the transportation process is used as the adjustment amount of the driving speed of the steel pipe transport trolley during the transportation process.

[0068] The measured driving speed of the steel pipe transport trolley during the transportation process is compared with the appropriate driving speed. If the measured driving speed of the steel pipe transport trolley during the transportation process is greater than the appropriate driving speed, the driving speed of the steel pipe transport trolley during the transportation process is adjusted to decrease. If the measured driving speed of the steel pipe transport trolley during the transportation process is less than the appropriate driving speed, the driving speed of the steel pipe transport trolley during the transportation process is adjusted to increase.

[0069] Furthermore, the specific working process of the steel pipe transport trolley walking control module also includes: comparing the real-time recorded driving trajectory of the steel pipe transport trolley during the transportation process with the appropriate driving trajectory of the steel pipe transport trolley during the transportation process, obtaining the overlap between the real-time driving trajectory of the steel pipe transport trolley during the transportation process and the appropriate driving trajectory, and recording it as the driving trajectory overlap of the steel pipe transport trolley during the transportation process.

[0070] The driving trajectory overlap of the steel pipe transport trolley during the transportation process is compared with the preset driving trajectory overlap threshold. If the driving trajectory overlap of the steel pipe transport trolley during the transportation process is less than the preset driving trajectory overlap threshold, the driving trajectory of the steel pipe transport trolley during the transportation process needs to be corrected.

[0071] The real-time driving trajectory of the steel pipe transport trolley during the transportation process is obtained and regressed to the driving direction and driving distance corresponding to the appropriate driving trajectory, and the correction information of the driving trajectory of the steel pipe transport trolley during the transportation process is obtained. The correction information is sent to the remote control center of the steel pipe transport trolley to correct the driving trajectory of the steel pipe transport trolley during the transportation process.

[0072] It should be noted that the present invention monitors the driving speed and driving trajectory of the steel pipe transport trolley during the transportation process in real time, adjusts the driving speed of the steel pipe transport trolley during the transportation process and corrects the driving trajectory, thereby realizing the regulation of speed and direction of the steel pipe transport trolley during the transportation process, ensuring the stability and safety of the steel pipe transport trolley's travel, and preventing deviation, slipping and the like.

[0073] The steel pipe transport trolley positioning control module is used to obtain the parking position of the steel pipe transport trolley in the tunnel, and compare it with the predetermined position of the trolley in the tunnel to determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and perform positioning control.

[0074] Furthermore, the specific working process of the steel pipe transport trolley positioning control module is as follows: F1: obtain the parked position of the steel pipe transport trolley in the tunnel, and compare it with the predetermined position of the trolley in the tunnel to obtain the distance between the parked position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel, and record it as the position deviation of the steel pipe transport trolley in the tunnel.

[0075] The position deviation of the steel pipe transport trolley in the tunnel is compared with the preset position deviation threshold. If the position deviation of the steel pipe transport trolley in the tunnel is greater than the preset position deviation threshold, the position of the steel pipe transport trolley in the tunnel is inaccurate, and F2 is executed.

[0076] F2: Establish a two-dimensional coordinate system in the tunnel according to the preset principles, obtain the coordinates of the parking position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel respectively, analyze the travel route from the parking position of the steel pipe transport trolley in the tunnel to the predetermined position of the trolley in the tunnel, record it as the position correction route of the steel pipe transport trolley in the tunnel, and feed it back to the remote control center of the steel pipe transport trolley to perform positioning control on the steel pipe transport trolley.

[0077] It should be noted that the present invention determines whether the position of the steel pipe transport trolley in the tunnel is accurate by obtaining the parked position of the steel pipe transport trolley in the tunnel and comparing it with the predetermined position of the trolley in the tunnel, and performs positioning control, thereby ensuring that the steel pipe to be installed can be accurately transported to the installation position.

[0078] The steel pipe adjustment and centering control module is used to obtain the lateral accuracy and longitudinal accuracy of the alignment between the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipes, determine whether the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements, and further perform centering control on the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel.

[0079] Further, see Figure 3 and Figure 4As shown, the specific working process of the steel pipe adjustment and centering control module includes: recording the direction in which the steel pipe extends as the transverse direction, and recording the direction perpendicular to the direction in which the steel pipe extends as the longitudinal direction.

[0080] The laser rangefinder is arranged on the side of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and welded with the installed steel pipe to obtain the lateral distance between the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipe, which is recorded as d, and the butt joint ring seam when the steel pipe is welded stored in the database is extracted and recorded as d0. The lateral accuracy φ1 of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel is obtained, where η represents the correction factor of the preset lateral accuracy, e represents the natural constant, and γ Δd It represents the impact factor corresponding to the unit deviation of the horizontal distance between the preset steel pipe to be installed and the installed steel pipe.

[0081] As a preferred solution, the correction factor of the lateral accuracy plays a role in amplifying, reducing or rounding the lateral accuracy to facilitate calculation and analysis.

[0082] The visual sensor arranged on the side of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and welded with the installed steel pipe collects the video data of the alignment of the steel pipe to be installed and the installed steel pipe, obtains the cross-sectional image of the steel pipe to be installed and the installed steel pipe when they are aligned, obtains the area of ​​the ghost area of ​​the cross section of the steel pipe to be installed and the installed steel pipe when they are aligned under the horizontal projection, and records it as s0, obtains the total area of ​​the cross section of the steel pipe to be installed, and records it as s. The longitudinal accuracy φ2 of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel is obtained.

[0083] Furthermore, the specific working process of the steel pipe adjustment and centering control module also includes: comparing the lateral accuracy and longitudinal accuracy of the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel with the installed steel pipes with the corresponding set thresholds respectively; if the lateral accuracy and longitudinal accuracy of the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel with the installed steel pipes are both greater than or equal to the corresponding set thresholds, the centering of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements; otherwise, the centering of the steel pipes to be installed loaded on the steel pipe transport trolley does not meet the requirements; further obtain the lateral and longitudinal centering adjustment information of the steel pipes to be installed, provide feedback, and then perform centering control on the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel.

[0084] As a preferred solution, the adjustment information of the transverse centering of the steel pipe to be installed is the information of adjusting the transverse distance between the steel pipe to be installed and the installed steel pipe.

[0085] As a preferred solution, the adjustment information of the longitudinal centering of the steel pipe to be installed is to adjust the position of the steel pipe to be installed so that the cross-section area of ​​the steel pipe to be installed and the installed steel pipe under the transverse projection completely overlaps, and the center point of the cross-section of the steel pipe to be installed and the installed steel pipe can be used as a reference for adjustment during longitudinal centering.

[0086] It should be noted that the present invention determines whether the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements by obtaining the lateral accuracy and longitudinal accuracy of the alignment between the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipes, and further performs centering control on the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel, thereby ensuring the precise welding and connection of the steel pipes to be installed and the installed steel pipes, thereby ensuring the installation quality of the lining steel pipes of the water supply tunnel.

[0087] The database is used to store reference speeds for steel pipe transportation corresponding to each steel pipe weight range and reference speeds for steel pipe transportation corresponding to each road surface flatness range, and to store butt joints during steel pipe welding.

[0088] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. Intelligent control system for water tunnel lining steel pipe installation trolley based on video analysis, characterized in that: include: Steel pipe fixation inspection module before transportation: used to detect the firmness of the steel pipes to be installed after they are loaded onto the trolley during the installation of the lining steel pipes in the water supply tunnel, determine whether they meet the requirements, and issue an early warning; Steel pipe transport trolley travel control module: used to obtain the appropriate travel information of the trolley loaded with steel pipes to be installed from the loading position to the predetermined position of the trolley in the tunnel, and record it as the appropriate travel information of the steel pipe transport trolley during the transportation process, wherein the travel information includes the travel speed and the travel trajectory, and further monitor the travel speed and the travel trajectory of the steel pipe transport trolley during the transportation process in real time, and adjust the travel speed of the steel pipe transport trolley during the transportation process and correct the travel trajectory; Steel pipe transport trolley positioning control module: used to obtain the parking position of the steel pipe transport trolley in the tunnel, and compare it with the predetermined position of the trolley in the tunnel, determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and perform positioning control; Steel pipe adjustment and centering control module: used to obtain the lateral and longitudinal accuracy of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipes, determine whether the centering of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements, and further control the centering of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel; Database: used to store the reference speed of steel pipe transportation corresponding to each steel pipe weight range and the reference speed of steel pipe transportation corresponding to each road surface flatness range, and store the butt joint ring seam when welding steel pipes.

2. According to the video analysis-based intelligent control system for installing a trolley for lining steel pipes in a water delivery tunnel according to claim 1, it is characterized in that: The specific working process of the steel pipe fixing inspection module before transportation includes: After the steel pipe to be installed is loaded onto the trolley, a force of a set value in each set direction is applied to the set position on the surface of the steel pipe, and a video of the force-bearing process of the steel pipe to be installed is collected to obtain the maximum displacement of the steel pipe under the force of the set value in each set direction, which is recorded as l a , a represents the number of the a-th applied force direction, a=1, 2, ..., b; By analyzing the formula The firmness of the steel pipe to be installed after being loaded onto the trolley during the installation of the lining steel pipe of the water conveyance tunnel is obtained, where ε represents the correction factor of the preset steel pipe fixing firmness, e represents the natural constant, and c a Represents the weight of the preset a-th applied force direction, δ Δl Indicates the influence factor corresponding to the preset unit displacement.

3. The intelligent control system for installing a trolley for lining steel pipes in a water conveyance tunnel based on video analysis according to claim 2 is characterized in that: The specific working process of the steel pipe fixing inspection module before transportation also includes: The firmness of the steel pipe to be installed after it is loaded onto the trolley is compared with the preset firmness threshold. If the firmness of the steel pipe to be installed after it is loaded onto the trolley is less than the preset firmness threshold, the firmness of the steel pipe to be installed after it is loaded onto the trolley does not meet the requirements and an early warning is issued.

4. According to the video analysis-based intelligent control system for installing a trolley for lining steel pipes in a water delivery tunnel according to claim 1, it is characterized in that: The specific working process of the steel pipe transport trolley travel control module includes: According to the loading position of the trolley loaded with steel pipes to be installed and the predetermined position of the trolley in the tunnel, based on the principle of shortest distance, the driving trajectory of the trolley loaded with steel pipes to be installed from the loading position to the predetermined position in the tunnel is obtained, and it is recorded as the appropriate driving trajectory of the steel pipe transport trolley during the transportation process; Extract the reference speed of steel pipe transportation corresponding to each steel pipe weight range and the reference speed of steel pipe transportation corresponding to each road surface flatness range stored in the database, obtain the weight of the steel pipe to be installed and the road surface flatness suitable for the steel pipe transportation trolley during the transportation process, and screen out the reference speed of steel pipe transportation corresponding to the weight of the steel pipe to be installed and the road surface flatness suitable for the steel pipe transportation trolley during the transportation process, and record them as v1 and v2 respectively. Get the appropriate driving speed v0 of the steel pipe transport trolley during transportation, where They represent the weight factors corresponding to the preset steel pipe weight and road surface smoothness, 5. The intelligent control system for installing a trolley for lining steel pipes in a water conveyance tunnel based on video analysis according to claim 4 is characterized in that: The specific working process of the steel pipe transport trolley walking control module also includes: The speed sensor equipped on the steel pipe transport trolley can monitor the speed of the steel pipe transport trolley in real time during the transportation process; The GPS navigator equipped on the steel pipe transport trolley can be used to monitor the position of the steel pipe transport trolley during the transportation process in real time, and further record the driving trajectory of the steel pipe transport trolley during the transportation process in real time.

6. The intelligent control system for installing a trolley for lining steel pipes in a water conveyance tunnel based on video analysis according to claim 5 is characterized in that: The specific working process of the steel pipe transport trolley walking control module also includes: The driving speed of the steel pipe transport trolley during the transportation process monitored in real time is compared with the appropriate driving speed of the steel pipe transport trolley during the transportation process, and the absolute value of the difference between the measured driving speed of the steel pipe transport trolley during the transportation process and the appropriate driving speed is obtained, which is recorded as the driving speed deviation of the steel pipe transport trolley during the transportation process; The driving speed deviation of the steel pipe transport trolley during the transportation process is compared with the preset driving speed deviation threshold. If the driving speed deviation of the steel pipe transport trolley during the transportation process is greater than the preset driving speed deviation threshold, the driving speed of the steel pipe transport trolley during the transportation process needs to be adjusted, and the adjustment amount and adjustment direction of the driving speed of the steel pipe transport trolley during the transportation process are further obtained and sent to the remote control center of the steel pipe transport trolley to adjust the driving speed of the steel pipe transport trolley during the transportation process.

7. The intelligent control system for installing a trolley for lining steel pipes in a water conveyance tunnel based on video analysis according to claim 5 is characterized in that: The specific working process of the steel pipe transport trolley walking control module also includes: Compare the real-time recorded driving trajectory of the steel pipe transport trolley during the transportation process with the appropriate driving trajectory of the steel pipe transport trolley during the transportation process, obtain the overlap degree between the real-time driving trajectory of the steel pipe transport trolley during the transportation process and the appropriate driving trajectory, and record it as the driving trajectory overlap degree of the steel pipe transport trolley during the transportation process; The driving track overlap of the steel pipe transport trolley during the transportation process is compared with the preset driving track overlap threshold. If the driving track overlap of the steel pipe transport trolley during the transportation process is less than the preset driving track overlap threshold, the driving track of the steel pipe transport trolley during the transportation process needs to be corrected; The real-time driving trajectory of the steel pipe transport trolley during the transportation process is obtained and regressed to the driving direction and driving distance corresponding to the appropriate driving trajectory, and the correction information of the driving trajectory of the steel pipe transport trolley during the transportation process is obtained. The correction information is sent to the remote control center of the steel pipe transport trolley to correct the driving trajectory of the steel pipe transport trolley during the transportation process.

8. The intelligent control system for installing a trolley for lining steel pipes in a water conveyance tunnel based on video analysis according to claim 1 is characterized in that: The specific working process of the steel pipe transport trolley positioning control module is as follows: F1: Obtain the parking position of the steel pipe transport trolley in the tunnel and compare it with the predetermined position of the trolley in the tunnel to obtain the distance between the parking position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel, which is recorded as the position deviation of the steel pipe transport trolley in the tunnel; Compare the position deviation of the steel pipe transport trolley in the tunnel with the preset position deviation threshold. If the position deviation of the steel pipe transport trolley in the tunnel is greater than the preset position deviation threshold, the position of the steel pipe transport trolley in the tunnel is inaccurate, and execute F2; F2: Establish a two-dimensional coordinate system in the tunnel according to the preset principles, obtain the coordinates of the parking position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel respectively, analyze the travel route from the parking position of the steel pipe transport trolley in the tunnel to the predetermined position of the trolley in the tunnel, record it as the position correction route of the steel pipe transport trolley in the tunnel, and feed it back to the remote control center of the steel pipe transport trolley to perform positioning control on the steel pipe transport trolley.

9. The intelligent control system for installing a trolley for lining steel pipes in a water conveyance tunnel based on video analysis according to claim 1 is characterized in that: The specific working process of the steel pipe adjustment and centering control module includes: The direction in which the steel pipe extends is recorded as the transverse direction, and the direction perpendicular to the direction in which the steel pipe extends is recorded as the longitudinal direction; The laser rangefinder is arranged on the side of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and welded with the installed steel pipe to obtain the lateral distance between the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and the installed steel pipe, which is recorded as d, and the butt joint ring seam when the steel pipe is welded stored in the database is extracted and recorded as d0. The lateral accuracy φ1 of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel is obtained, where η represents the correction factor of the preset lateral accuracy, e represents the natural constant, and γ Δd Indicates the impact factor corresponding to the unit deviation of the horizontal distance between the preset steel pipe to be installed and the installed steel pipe; The visual sensor arranged on the side of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel that is welded with the installed steel pipe collects the video data of the alignment of the steel pipe to be installed and the installed steel pipe, obtains the cross-sectional image of the steel pipe to be installed and the installed steel pipe when they are aligned, obtains the area of ​​the ghost area of ​​the cross section of the steel pipe to be installed and the installed steel pipe when they are aligned under the horizontal projection, and records it as s0, obtains the total area of ​​the cross section of the steel pipe to be installed, and records it as S. The longitudinal accuracy φ2 of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel is obtained.

10. The intelligent control system for installing a trolley for lining steel pipes in a water conveyance tunnel based on video analysis according to claim 9 is characterized in that: The specific working process of the steel pipe adjustment and centering control module also includes: The lateral accuracy and longitudinal accuracy of the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel with the installed steel pipes are compared with the corresponding set thresholds respectively. If the lateral accuracy and longitudinal accuracy of the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel with the installed steel pipes are greater than or equal to the corresponding set thresholds, the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements; otherwise, the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley does not meet the requirements. Further adjustment information of the lateral and longitudinal alignment of the steel pipes to be installed is obtained, feedback is given, and then the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley in the tunnel is controlled.

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