Trapezoidal K block transfer system and control method thereof

Abstract

The invention discloses a trapezoidal K block transfer system and a control method thereof.The system comprises the steps that a lifting instruction is given to a supporting device, two supporting column structures in the supporting device are controlled to be lifted, and a K block is supported; a grabbing instruction is given to the crane, the crane is controlled to move to the position above the K block, and the K block is grabbed; and issuing a transport instruction to the transport vehicle, and controlling the transport vehicle to transport the K blocks to a designated position. The full-process automation of K block transfer can be realized, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and particularly to a trapezoidal K-block transfer system and its control method. Background Art

[0002] This section aims to provide background or context for the embodiments of the present invention described in the claims. The descriptions herein are not admitted to be prior art just because they are included in this section.

[0003] During the tunnel construction process, after the shield machine completes excavation, lining operations need to be carried out on the excavation area, and this task is usually completed by segment assembly. Segment operations include transportation, lifting, conveying, and assembly, etc. Among them, the transfer problem of the K-block is an important bottleneck in segment lifting, which is directly related to the overall construction efficiency and operation safety. In the prior art, the size difference between the trapezoidal K-block and the segment is relatively large, making it difficult to grasp the trapezoidal K-block, resulting in low K-block transfer efficiency and unable to achieve full-process automation of K-block transfer, leading to low operation efficiency. Summary of the Invention

[0004] Embodiments of the present invention provide a trapezoidal K-block transfer system to achieve full-process automation of K-block transfer and improve operation efficiency. The system includes: a support device, a crane, a transport vehicle, and a control center; wherein,

[0005] The support device includes two pillar structures, a driving device, and an internal connection structure. The two pillar structures are connected to the driving device through the internal connection structure. The support device is installed on the transport vehicle and is arranged between two segment supports of the transport vehicle; after confirming that the type of the K-block is a trapezoidal K-block based on the contour information of the K-block, the driving device is used to drive the two pillar structures to rise according to the control instruction issued by the control center, and support the K-block through the two pillar structures;

[0006] The crane is used to grasp and release the K-block according to the control instruction issued by the control center.

[0007] The transport vehicle is used to transport the K-block to a specified position according to the control instruction issued by the control center.

[0008] Embodiments of the present invention also provide a control method for a trapezoidal K-block transfer system, which is applied to the control center to achieve full-process automation of K-block transfer and improve operation efficiency. The method includes:

[0009] Issuing a rising instruction to the support device to control the two pillar structures in the support device to rise and support the K-block;

[0010] Issuing a grasping instruction to the crane to control the crane to move above the position of the K-block and grasp the K-block;

[0011] Send a transportation instruction to the transport vehicle to control the transport vehicle to transport the K blocks to the designated location.

[0012] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the control method of the above-mentioned trapezoidal K-block transfer system is implemented.

[0013] An embodiment of the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the control method of the above-mentioned trapezoidal K-block transfer system is implemented.

[0014] An embodiment of the present invention also provides a computer program product. The computer program product includes a computer program. When the computer program is executed by a processor, the control method of the above-mentioned trapezoidal K-block transfer system is implemented.

[0015] In an embodiment of the present invention, by sending a raising instruction to the supporting device, controlling the two pillar structures in the supporting device to rise to support the K blocks; sending a grasping instruction to the crane, controlling the crane to move above the position of the K blocks to grasp the K blocks; sending a transportation instruction to the transport vehicle to control the transport vehicle to transport the K blocks to the designated location. In the above process, in the embodiment of the present invention, by controlling the supporting device to rise to support the trapezoidal K blocks, the trapezoidal K blocks are easy to grasp. The K blocks are lifted to the transport vehicle by the crane, realizing the full-process automation of K-block transfer and improving the operation efficiency. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings. In the drawings:

[0017] Figure 1 It is a schematic diagram of the trapezoidal K-block transfer system in an embodiment of the present invention;

[0018] Figure 2 It is an actual diagram of segment and K-block transportation in an embodiment of the present invention;

[0019] Figure 3 It is a schematic diagram of segment and K-block transportation in an embodiment of the present invention;

[0020] Figure 4 It is a flowchart of the control method of the trapezoidal K-block transfer system in an embodiment of the present invention;

[0021] Figure 5Flow chart of the control support device in the embodiment of the present invention;

[0022] Figure 6 Flow chart of another control support device in the embodiment of the present invention;

[0023] Figure 7 Schematic diagram of the transfer process of the K block and segment in the embodiment of the present invention;

[0024] Figure 8 Schematic diagram of raising the support device to support the K block in the embodiment of the present invention. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer and more understandable, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Herein, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

[0026] In the technical solutions of the present application, the acquisition, storage, use, processing, etc. of data all comply with the relevant regulations of national laws and regulations.

[0027] Figure 1 Schematic diagram of the trapezoidal K block transfer system in the embodiment of the present invention. The system includes: a support device 01, a crane 02, a transport vehicle 03, and a control center 04. Figure 2 Actual diagram of the transportation of segments and K blocks in the embodiment of the present invention. As Figure 2 shown, the K block, as a key component in the segments, is usually placed above the larger segments during transportation due to its small volume. And in the specific transfer operation. Figure 3 Schematic diagram of the transportation of segments and K blocks in the embodiment of the present invention. The isosceles trapezoidal object located at Figure 3 the middle position of the third column is the K block. The K block is the last segment to be lifted. Since the K block has a small volume, if it is directly placed between the two segment pillows of the transport vehicle, the K block segment will tilt. Figure 3 The cylinders in the first column and the second column are two segment pillows. To solve the problem that the K block segment will tilt, the embodiment of the present invention proposes a trapezoidal K block transfer system, wherein,

[0028] The support device includes two strut structures, a driving device, and an internal connection structure. The two strut structures are connected to the driving device through the internal connection structure. The support device is installed on the transport vehicle and is arranged between the two segment pillows of the transport vehicle; after confirming that the type of the K block is a trapezoidal K block based on the contour information of the K block, the driving device is used to drive the two strut structures to rise according to the control instruction issued by the control center, and support the K block through the two strut structures;

[0029] The crane 02 is used to grasp and release the K-block according to the control instructions issued by the control center 04;

[0030] The transport vehicle 03 is used to transport the K-block to the designated position according to the control instructions issued by the control center 04.

[0031] In one embodiment, the control center 04 is specifically used for:

[0032] Locate the K-block, control the crane to move above the position of the K-block, and perform the grasping and releasing operation on the K-block.

[0033] In one embodiment, the two segment supports of the transport vehicle 03 are used to support the segments.

[0034] In one embodiment, the two pillar structures of the support device 01 are arranged between the two segment supports of the transport vehicle, and the maximum installation distance between the two pillar structures is less than the short side distance of the trapezoidal K-block.

[0035] In the embodiment of the present invention, a control method for a trapezoidal K-block transfer system is also provided as described in the following embodiments. Since the principle of the device for solving problems is similar to that of the trapezoidal K-block transfer system, the implementation of this method can refer to the implementation of the trapezoidal K-block transfer system, and the repeated parts will not be described again.

[0036] Figure 4 The flowchart of the control method for the trapezoidal K-block transfer system in the embodiment of the present invention is applied to the control center. The method includes:

[0037] Step 401: Issue a raising instruction to the support device, control the two pillar structures in the support device to rise, and support the K-block;

[0038] Step 402: Issue a grasping instruction to the crane, control the crane to move above the position of the K-block, and grasp the K-block;

[0039] Step 403: Issue a transportation instruction to the transport vehicle, control the transport vehicle to transport the K-block to the designated position.

[0040] The transfer operation of the K-block in the actual application process of the embodiment of the present invention is as follows:

[0041] 1. Initialize the segment crane and enter the segment automatic control mode.

[0042] 2. Based on the radars installed on the top and around the trailer, perform multi-radar point cloud acquisition, data fusion, and segment identification on the segments on the segment vehicle.

[0043] 3. Determine whether there are segments or K-blocks. If so, determine again whether the current object to be grasped is a segment or a K-block. If it is a K-block, enter the K-block transfer mode; otherwise, enter the segment lifting mode.

[0044] The following specifically describes each step for entering the K-block transfer mode.

[0045] In step 401, a lifting instruction is sent to the support device to control the lifting of the two strut structures in the support device to support the K-block.

[0046] Figure 5 The following is a flowchart for controlling the support device in an embodiment of the present invention. In one embodiment, before sending the lifting instruction to the support device, it further includes:

[0047] Step 501: According to the control instruction, perform contour scanning on the currently grabbed object, and judge whether the currently grabbed object is a segment or a K-block based on the scanned contour information;

[0048] Sending the lifting instruction to the support device includes:

[0049] Step 502: When the grabbed object is a K-block, send a lifting instruction to the support device to lift the two strut structures.

[0050] Figure 6 The following is another flowchart for controlling the support device in an embodiment of the present invention. In one embodiment, before sending the lifting instruction to the support device, it further includes:

[0051] Step 601: According to the control instruction, perform point cloud detection on the preset K-block placement area to obtain the obstacle point cloud detection result of the preset K-block placement area;

[0052] Sending the lifting instruction to the support device includes:

[0053] Step 602: When the obstacle point cloud detection result indicates no obstacle, send a lifting instruction to the support device.

[0054] In a specific embodiment, according to the collected point cloud, the center coordinate position of the segment transport vehicle head is identified; the radar point cloud technology is used to detect whether there are obstacles in the preset K-block placement area; if there are no obstacles, the K-block transfer is performed. Figure 7 The following is a schematic diagram of the K-block and segment transfer process in an embodiment of the present invention. The K-block transfer and segment hoisting processes are as follows:

[0055] S1: The communication module of the control center is connected to the communication module of the transport vehicle to receive and send data and control instructions.

[0056] S2: The control center sends a lifting instruction to the support device.

[0057] S3: After the support device on the transport vehicle receives the lifting instruction, the control center controls the drive device to push the strut structure from the 0 position (the hidden state of the strut structure) to the lifted state (the manually set lifting height).Figure 8 Schematic diagram of the lifting support device supporting the K block in the embodiment of the present invention.

[0058] S4: After detecting that the ascent is in place through the proximity switch, send an ascent completion signal to the control center.

[0059] S5: The crane grabs the K block and lifts it to the set safe height.

[0060] S6: The control center controls the crane to move the K block onto the support device and complete the issuance of the segment. As Figure 2 shown, the process of segment issuance is as follows: When the K block moves onto the support device, the crane grabs the segment that was originally below the K block to complete the transportation of the segment.

[0061] S7: The control center hoists the segment below the K block to the position of the transport vehicle, and then grabs the K block on the support device by the crane and places it on the transport vehicle to be transported to the designated position.

[0062] In step 402, a grabbing instruction is issued to the crane to control the crane to move above the position of the K block and grab the K block; in step 403, a transportation instruction is issued to the transport vehicle to control the transport vehicle to transport the K block to the designated position.

[0063] In a specific embodiment, the automatic segment hoisting operation mode is started, and the radar collects the point cloud information of the operation area. When it is recognized that the segment to be grabbed is the K block, it is detected whether there are obstacles in the K block transfer area of the segment transport vehicle. If there are no obstacles, the target position of the K block transfer and placement area is calculated by identifying the three-dimensional coordinates of the transport vehicle. Then the automatic control center of segment hoisting completes the grabbing of the K block, sends a lifting instruction to the support device, and after the support device automatically completes the lifting action and sends a completion instruction to the automatic control center of segment hoisting, the automatic control center of segment hoisting controls the crane to complete the transfer of the K block, and then the control center automatically completes the hoisting work of all segments. After completing all hoisting operations, the control center sends a descent signal to the support device. After receiving the signal, the support device is controlled to retract, realizing the full automation of one ring of segments.

[0064] The embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the control method of the above trapezoidal K block transfer system.

[0065] The embodiment of the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method of the above trapezoidal K block transfer system.

[0066] An embodiment of the present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the control method of the above trapezoidal K-block transfer system.

[0067] In an embodiment of the present invention, by issuing a raising instruction to the support device, the two pillar structures in the support device are controlled to rise to support the K-block; by issuing a grasping instruction to the crane, the crane is controlled to move above the position of the K-block to grasp the K-block; by issuing a transportation instruction to the transport vehicle, the transport vehicle is controlled to transport the K-block to a specified position. In the above process, in the embodiment of the present invention, by controlling the support device to rise to support the trapezoidal K-block, the trapezoidal K-block is easy to grasp, and the K-block is lifted to the transport vehicle by the crane, realizing the full process automation of K-block transfer and improving the operation efficiency.

[0068] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0069] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0070] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified functions in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps of the functions specified in one block or a plurality of blocks

[0072] The specific embodiments described above further elaborate on the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is only for the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A trapezoidal K-block transfer system, characterized in that Including: A support device, a crane, a transport vehicle, and a control center; wherein, The support device includes two pillar structures, a driving device, and an internal connection structure. The two pillar structures are connected to the driving device through the internal connection structure. The support device is installed on the transport vehicle and is arranged between two segment cradles of the transport vehicle. After confirming that the type of the K-block is a trapezoidal K-block based on the contour information of the K-block, the driving device is used to drive the two pillar structures to rise according to the control instruction issued by the control center, and support the K-block through the two pillar structures; A crane, used to grasp and release the K-block according to the control instruction issued by the control center; A transport vehicle, used to transport the K-block to a designated position according to the control instruction issued by the control center.

2. The system according to claim 1, characterized in that, The control center is specifically used for: Position the K-block, control the crane to move above the position of the K-block, and perform the grasping and releasing operation on the K-block.

3. The system according to claim 1, wherein The two segment cradles of the transport vehicle are used to support the segments.

4. The system according to claim 3, wherein The two pillar structures of the support device are arranged between the two segment cradles of the transport vehicle, and the maximum installation distance between the two pillar structures is less than the short side distance of the trapezoidal K-block.

5. A control method for the trapezoidal K-block transfer system according to any one of claims 1-4, characterized in that, Applied to the control center, including: Issue a rising instruction to the support device, control the two pillar structures in the support device to rise, and support the K-block; Issue a grasping instruction to the crane, control the crane to move above the position of the K-block, and grasp the K-block; Issue a transport instruction to the transport vehicle, control the transport vehicle to transport the K-block to a designated position.

6. The method according to claim 5, wherein Before issuing the rising instruction to the support device, it further includes: According to the control instruction, perform a contour scan on the currently grasped object, and judge whether the currently to-be-grasped object is a segment or a K-block according to the scanned contour information; Issuing a rising instruction to the support device includes: When the grasped object is a K-block, issue a rising instruction to the support device to raise the two pillar structures.

7. The method according to claim 5, characterized in that, Before issuing the rising instruction to the support device, it further includes: According to the control instruction, perform point cloud detection on the preset K-block placement area, and obtain the obstacle point cloud detection result of the preset K-block placement area; Issuing a rising instruction to the support device includes: When the obstacle point cloud detection result indicates no obstacle, issue a rising instruction to the support device.

8. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 5-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method according to any one of claims 5-7.

10. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method according to any one of claims 5-7.

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