Timber removal method and device

Abstract

The present invention is a method and device for clearing and transporting wood, wherein the wood clearing and transporting device includes a detection device, a clearing and transporting execution device and a control device, wherein the detection device includes a group of sensors or at least two groups of sensors spaced apart in the vertical direction of the excavation, and each group of sensors includes a distance sensor or at least two distance sensors spaced apart in the direction of the excavation axis. The control device can judge the timing of performing the wood clearing and transporting operation according to the sum of the vertical distances detected by each distance sensor in a group of sensors, so as to control the clearing and transporting execution device to move and grab the wood and then clear the wood to a designated position. The present invention can accurately, stably and efficiently realize the automatic clearing and transporting operation of wood on the pipe segment, thereby effectively solving the problem that the operator needs to stand on the marshaling train or multi-functional transport vehicle to pick up the wood or knock the pipe segment wood on the unloader into the tunnel during the current shield construction operation, and then the operator needs to enter the tunnel to pick up the wood.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel construction, and in particular to a method and device for clearing and transporting cushions. Background Art

[0002] With the annual expansion of the construction scale of underground projects such as urban subways and cross-river and cross-sea tunnels, the shield construction method is being applied in more and more projects due to its high efficiency, high safety and environmental friendliness. When the shield machine is carrying out tunnel construction, a large number of pipe segments are needed. The stacked pipe segments are transported to the rear matching pipe segment unloading area of ​​the shield machine through a rolling stock or a multi-purpose transport vehicle (MSV). Supporting pads are placed between the stacked pipe segments to protect the pipe segments. After the pipe segment crane in the rear matching pipe segment unloading area lifts the pipe segment, the pads will be left above the next layer of pipe segments, causing the pipe segment crane to be unable to grab the next pipe segment normally, so the operator needs to remove the pads left on the pipe segment.

[0003] In existing construction operations, operators stand on the pipe segments to remove the pads; in some other projects, operators also stand on trains or multi-purpose transport vehicles to take the pads; if there is an unloader, the operator usually knocks the pads off the pipe segments into the tunnel first, and then enters the tunnel to pick up the pads. From the perspective of safe construction, the above methods of taking pads are very likely to cause accidents and lead to casualties. In particular, in some equipment, relevant specifications and standards prohibit personnel from standing on the pipe segments or going down to the tunnel to take pads.

[0004] The utility model patent with publication number CN215057467U discloses a pipe segment lifting system, in which a driving device is provided on the trailer walking beam to drive the manipulator to move in order to remove the wood pads on the pipe segments. Although the patent mentions that an identification device is installed to identify the shape and position of the wood pads on the pipe segments, it does not mention the specific identification and positioning method, and the conventional mature visual recognition system is not very applicable to the complex construction environment of the shield. For example, dust, water vapor, equipment vibration, etc. in the tunnel are not suitable for the existing recognition system. At the same time, the patent does not mention how the manipulator grabs and removes the wood pads on the pipe segments, but simply states it.

[0005] The invention patent with publication number CN111706369A discloses a wood-shield grabbing device and a control method thereof. An axial walking unit and a wood-shield grabbing unit are arranged in the segment unloading area. The axial walking unit moves forward and backward and drives the grabbing unit to move synchronously. The grabbing unit can grab the wood-shield in the segment unloading area. Driven by the axial walking unit, the wood-shield is transported to a specific position, and the operators standing on both sides of the trailer remove the wood-shield from the grabbing unit. However, the method of grabbing the sleepers mentioned in the patent has the following problems: since the placement position of the sleepers is different each time, it is necessary to manually drive the axial walking unit to adjust the position of the grabbing unit with the help of a remote control or other means; if the placement position of the sleepers is tilted or vibration causes the sleepers to tilt, the double grabbers on both sides of the balance beam will have a serious problem of not being able to firmly grab the sleepers at the same time; because there is a phenomenon of grabbing sleepers with more than two layers of pipe segments, the patent uses the lifting rope to drive the grabbing unit to complete the grabbing operation of the sleepers, and does not mention how to judge whether the lifting rope has reached the grabbing position of the sleepers; the most important thing is that the removal of the sleepers requires the participation of multiple manual judgments, such as judging whether to remove the sleepers; the lifting rope may be manually determined to determine whether it has reached the grabbing position of the sleepers, and when grabbing the sleepers, it is necessary to manually adjust the axial movement back and forth to ensure that the grabber can grab accurately, etc.

[0006] Therefore, facing the complex shield construction working conditions and the requirements of efficient and safe construction, it is urgent to design an automatic detection and removal method and a removal mechanism for segment pads used in shield machine construction.

[0007] Therefore, the inventor, relying on many years of experience and practice in related industries, proposes a method and device for clearing and transporting cushions to overcome the defects of the prior art. Summary of the invention

[0008] The purpose of the present invention is to provide a method and device for clearing the wood pads, which can accurately, stably and efficiently realize the automatic clearing operation of the wood pads on the pipe segments, thereby effectively solving the problem that the operators in the current shield construction operation need to stand on the marshaling train or multi-functional transport vehicle to pick up the wood pads or knock the pipe segment wood pads on the unloader into the tunnel, and the operators then enter the tunnel to pick up the wood pads.

[0009] The above-mentioned purpose of the present invention can be achieved by adopting the following technical solutions:

[0010] The present invention provides a method for clearing and transporting skids, wherein a group of sensors is arranged at the top of a segment unloading area or at least two groups of sensors are arranged at intervals along a vertical direction of tunneling, each group of sensors includes a distance sensor or at least two distance sensors spaced apart along a tunneling axis direction; and when the number of sensor groups is at least two, the number of distance sensors included in each group of sensors is the same, and the connecting lines of the corresponding distance sensors in each group of sensors are parallel to the vertical direction of tunneling; the method for clearing and transporting skids comprises the following steps:

[0011] S1. After the segment crane enters the segment unloading area, grabs the N-(m-1)th layer of segments and leaves the segment unloading area, the sum of the vertical distances detected by each distance sensor in a group of sensors is calculated according to the vertical distances detected by each distance sensor, and recorded as H;

[0012] S2, when h N +(m-1)x+α<H≤h N +mx+α, prepare to carry out the wood removal operation on the wood on the Nmth layer of segments;

[0013] S3, moving the clearing and transporting execution device to the segment unloading area, grabbing the pads above the Nm-th layer of segments, and clearing and transporting the pads to the designated location, thus completing the clearing and transporting operation of the pads above the Nm-th layer of segments;

[0014] S4, moving the cleaning execution device to a safe area for cleaning;

[0015] S5, repeating steps S1-S4 until the removal of the pads above the first layer of segments is completed;

[0016] Among them, h N It represents the sum of the vertical distances from each distance sensor in a group of sensors to the Nth layer of the segment; 1≤m≤N-1, and m and N are both positive integers, N represents the total number of segments in a stack of segments on the segment transportation device; 0<α<x, x represents the vertical height difference between the upper surfaces of two adjacent segments, and α represents the control accuracy.

[0017] In a preferred embodiment of the present invention, in step S1, when T+α<H≤h N +α, the segment hoist enters the segment unloading area and grabs the Nth layer of segments; where T represents the shortest vertical distance from the horizontal plane where the distance sensor probe is located to the Nth layer of segments.

[0018] In a preferred embodiment of the present invention, there are two groups of sensors; in step S1, when the absolute value of the difference between the vertical distances detected by the two corresponding distance sensors in each group of sensors is less than or equal to a preset value, the cleaning execution device is in a working standby mode; otherwise, the cleaning execution device is in a power-off protection state.

[0019] In a preferred embodiment of the present invention, the cleaning and transporting execution device comprises a movably connected telescopic mechanical arm and an end grasping mechanism; in step S3, the cleaning and transporting execution device is moved to the segment unloading area, the cushion above the Nm-th layer of the segment is grasped, and the cushion is cleaned and transported to the designated position, including the following steps:

[0020] Adjust the axis direction of the cleaning and transporting actuator from the initial vertical state to the horizontal state;

[0021] Move the cleaning and transporting execution device along the excavation axis to the segment unloading area;

[0022] The telescopic mechanical arm is swung from a horizontal position to a direction close to the corresponding pad by a preset angle, so as to be swung to a position close to the corresponding pad;

[0023] According to the number of pipe segments where the corresponding pads are located, the telescopic mechanical arm is extended to a preset length, and the end gripping mechanism is swung relative to the telescopic mechanical arm in a direction close to the corresponding pads;

[0024] The telescopic mechanical arm is swung inward to a vertical position, and at the same time, the end gripping mechanism is swung back to be coaxial with the telescopic mechanical arm, so as to move the corresponding pad from the outside to the bottom of the Nm-th layer of the segment;

[0025] Retract the telescopic robotic arm to a preset length, and open the corresponding claws of the end grasping mechanism; then extend the telescopic robotic arm to a preset length, and contract the corresponding claws of the end grasping mechanism to grasp the corresponding pads; retract the telescopic robotic arm and adjust it to a horizontal position, and transport the corresponding pads to the pad placement box by moving and adjusting the clearing execution device.

[0026] In a preferred embodiment of the present invention, a monitoring camera and a buzzer are also provided in the segment unloading area. The monitoring camera can monitor the segment unloading area in all directions; in step S3 and step S4, the buzzer can sound an alarm.

[0027] In a preferred embodiment of the present invention, when the monitoring camera detects that there are people in the segment unloading area, the segment crane and the removal execution device are both shut down, and the buzzer sounds an alarm.

[0028] The present invention further provides a pad clearing device, which is used to detect and clear pads on the pipe segments transported to the pipe segment unloading area, and the pad clearing device comprises:

[0029] A detection device, comprising a group of sensors located at the top of the segment unloading area or at least two groups of sensors spaced apart along the vertical direction of the excavation, each group of sensors comprising a distance sensor or at least two distance sensors spaced apart along the direction of the excavation axis; and when the number of sensor groups is at least two, the number of distance sensors contained in each group of sensors is the same, and the connecting line of the corresponding distance sensors in each group of sensors is parallel to the vertical direction of the excavation;

[0030] A clearing and transporting actuator, which can move back and forth in the excavation direction and can be used to grab the skids;

[0031] The control device is electrically connected to the detection device and the removal execution device, and can judge the timing of performing the wood removal operation according to the sum of the vertical distances detected by each distance sensor in a group of sensors, so as to control the movement of the removal execution device and grab the wood and then remove the wood to the designated position.

[0032] In a preferred embodiment of the present invention, the cleaning and transporting execution device includes a track beam, a mounting part, a telescopic mechanical arm and an end gripping mechanism, the track beam is used to be fixed on the top of the trailer, and the length direction of the track beam is parallel to the direction of the excavation axis; the mounting part can be slidably suspended on the track beam, and the upper and lower ends of the telescopic mechanical arm are respectively movably connected to the mounting part and the end gripping mechanism; when the cleaning and transporting execution device is in a state of moving the pads, the upper end of the telescopic mechanical arm can swing relative to the mounting part in a horizontal direction perpendicular to the direction of the excavation axis, and the end gripping mechanism can swing relative to the telescopic mechanical arm in a horizontal direction perpendicular to the direction of the excavation axis.

[0033] In a preferred embodiment of the present invention, the telescopic mechanical arm includes an upper swing cylinder, an upper flange plate, a telescopic arm, a lower swing cylinder and a lower flange plate, and the upper swing cylinder and the lower swing cylinder are electrically connected to the control device through corresponding electric control valves; when the cleaning and transportation execution device is in the state of moving the pads, the axes of the upper swing cylinder and the lower swing cylinder are arranged in a horizontal direction perpendicular to the direction of the excavation axis; the cylinder body of the upper swing cylinder is connected to the mounting part, and the output shaft of the upper swing cylinder is connected to the fixed end of the telescopic arm through the upper flange plate, the telescopic end of the telescopic arm is connected to the cylinder body of the lower swing cylinder, and the output shaft of the lower swing cylinder is connected to the end grasping mechanism through the lower flange plate.

[0034] In a preferred embodiment of the present invention, the telescopic arm includes an outer cylinder with an opening at the bottom, an inner rod body that can be axially slidably inserted into the outer cylinder, and a linear cylinder arranged in the outer cylinder, and the linear cylinder is electrically connected to the control device through a corresponding electric control valve; the top of the outer cylinder is fixedly connected to the upper flange plate, and the two ends of the linear cylinder are respectively hinged to the top of the outer cylinder and the upper end of the inner rod body; the lower end of the inner rod body can extend from the bottom opening of the outer cylinder and be fixedly connected to the cylinder body of the lower swing cylinder.

[0035] In a preferred embodiment of the present invention, the end gripping mechanism includes a fixed plate, a guide rail, a cylinder, a first clamp and a second clamp, and the cylinder is electrically connected to the control device through a corresponding electric control valve; the upper surface of the fixed plate is fixedly connected to the lower flange plate, and the guide rail, the cylinder and the first clamp are all fixedly arranged on the lower surface of the fixed plate; when the cleaning and transporting execution device is in a state of moving the pads, the length direction of the guide rail is parallel to the direction of the excavation axis, and the first clamp and the second clamp are arranged in parallel and spaced apart along the direction of the excavation axis; the second clamp is slidably connected to the guide rail through a slider, and the output shaft of the cylinder is connected to the second clamp, and can drive the second clamp to move along the guide rail toward or away from the first clamp.

[0036] In a preferred embodiment of the present invention, the track beam includes two single beams arranged in parallel and spaced apart, the mounting member includes a mounting plate and two groups of pulley pairs arranged in parallel and spaced apart on the mounting plate, each group of pulley pairs includes two pulleys arranged opposite to each other, and the two pulleys in each group of pulley pairs can be slidably clamped on the corresponding single beam; a motor is also provided on the mounting plate, the motor is electrically connected to the control device, the motor is connected to one of the pulleys through a coupling, and can drive the pulley to rotate.

[0037] In a preferred embodiment of the present invention, a rotary drive mechanism is further provided between the mounting member and the telescopic robotic arm, the rotary drive mechanism is electrically connected to the control device, the mounting member is connected to the fixed part of the rotary drive mechanism, and the telescopic robotic arm is connected to the rotating part of the rotary drive mechanism.

[0038] In a preferred embodiment of the present invention, the timber clearing device also includes a monitoring camera and a buzzer. The monitoring camera is used to perform all-round monitoring of the pipe segment unloading area. The monitoring camera and the buzzer are both electrically connected to the control device. The control device can control the buzzer to sound an alarm when the clearing execution device performs the timber clearing operation, and can control the clearing execution device to shut down and the buzzer to sound an alarm when the monitoring camera detects that there is someone in the pipe segment unloading area.

[0039] As described above, the method and device for clearing the wood in the present invention use distance sensors to detect in the unloading area of ​​the pipe segment. The distance sensors collect stable data and have strong environmental applicability. Based on the collected data, it is judged and analyzed whether to perform the wood clearing operation and which layer of the pipe segment needs to be cleared. This avoids related problems such as machine vision detection being highly sensitive to the environment and deep learning detection sample parameters being large. Based on the feedback results, the clearing execution device automatically performs construction operations based on the wood on different layers and different sides of the pipe segment. The use of machines to replace people effectively improves the efficiency of tunnel construction and reduces labor intensity. The entire method and device are relatively simple and highly stable, and have good applicability to the construction site environment. They can safely and efficiently realize the automatic clearing of wood, reduce the labor intensity of operators, and ensure the safety and reliability of construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0041] Figure 1 : A schematic structural diagram of the rear supporting area of ​​the shield machine provided by the present invention.

[0042] Figure 2 :for Figure 1 A cross-sectional schematic diagram of the cleaning execution device.

[0043] Figure 3 : A schematic diagram of the structure of the cleaning and transportation execution device provided by the present invention Figure 1 .

[0044] Figure 4 : A schematic diagram of the structure of the cleaning and transportation execution device provided by the present invention Figure 2 .

[0045] Figure 5 : A schematic structural diagram of the telescopic mechanical arm provided by the present invention.

[0046] Figure 6 : A schematic structural diagram of the end gripping mechanism provided by the present invention.

[0047] Figure 7 : A schematic diagram of the installation of four distance sensors provided by the present invention.

[0048] Figure 8 : A schematic diagram comparing theoretical data collection and actual data collection when the first distance sensor and the second distance sensor provided by the present invention perform data collection.

[0049] Fig. 9 : A schematic diagram of data collection by the first distance sensor and the third distance sensor when the pipe segment provided by the present invention is in a standard position.

[0050] Fig.10 : Schematic diagram of the first distance sensor and the third distance sensor collecting data when the segment transport vehicle provided by the present invention deviates forward.

[0051] Fig.11 : A schematic diagram of data collection by the first distance sensor and the third distance sensor when the segment transport vehicle provided by the present invention deviates backward.

[0052] Fig.12 : A schematic diagram of data collection by the first distance sensor and the third distance sensor when there is an arcuate offset in the pipe segment provided by the present invention.

[0053] Fig.13: A schematic diagram of data collection by the first distance sensor and the third distance sensor when there is a parallel offset of the pipe segment along the vertical direction of excavation provided by the present invention.

[0054] Fig.14 : A schematic diagram of the structure of the cleaning and transportation execution device provided by the present invention during its working process.

[0055] Fig.15 : Another structural schematic diagram of the rear supporting area of ​​the shield machine provided by the present invention.

[0056] Fig.16 : A schematic diagram of the supporting segment portion in the marshaling train provided by the present invention.

[0057] Description of Figure Numbers:

[0058] 1. Trailer;

[0059] 2. Segment crane;

[0060] 3. Segment; 31. Timber;

[0061] 4. Segment quick unloading device; 41. Support seat;

[0062] 5. Train formation;

[0063] 6. Distance sensor; 61. First distance sensor; 62. Second distance sensor; 63. Third distance sensor; 64. Fourth distance sensor;

[0064] 7. Cleaning and transportation execution device;

[0065] 71. Track beam;

[0066] 72. Mounting part; 721. Mounting plate; 722. Pulley pair; 723. Motor; 724. Coupling;

[0067] 73. Rotation drive mechanism; 731. Connecting plate;

[0068] 74, telescopic mechanical arm; 741, upper swing cylinder; 742, upper flange plate; 743, telescopic arm; 7431, outer cylinder; 7432, inner rod body; 7433, linear cylinder; 744, lower swing cylinder; 745, lower flange plate;

[0069] 75, end gripping mechanism; 751, fixed plate; 752, guide rail; 7521, slider; 753, cylinder; 754, first clamping jaw; 755, second clamping jaw;

[0070] 8. Surveillance cameras;

[0071] 9. Buzzer. DETAILED DESCRIPTION

[0072] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0073] Implementation Method 1

[0074] like Figures 1 to 16 As shown, this embodiment provides a method for clearing and transporting cushions, wherein a group of sensors is arranged at the top of the segment unloading area or at least two groups of sensors are arranged at intervals along the vertical direction of the excavation (i.e., perpendicular to the excavation axis direction), each group of sensors includes a distance sensor 6 or at least two distance sensors 6 spaced apart along the excavation axis direction; and when the number of sensor groups is at least two groups, the number of distance sensors 6 included in each group of sensors is the same, and the connecting line of each corresponding distance sensor 6 in each group of sensors is parallel to the vertical direction of the excavation; the method for clearing and transporting cushions comprises the following steps:

[0075] S1, after the segment crane 2 enters the segment unloading area, grabs the N-(m-1)th layer of segments and leaves the segment unloading area, the sum of the vertical distances detected by each distance sensor 6 in a group of sensors is calculated according to the vertical distances detected by each distance sensor 6, and recorded as H;

[0076] S2, when h N +(m-1)x+α<H≤h N +mx+α, prepare to perform the wood removal operation on the wood 31 on the Nm-th layer of the pipe segment;

[0077] S3, moving the clearing and transporting execution device 7 to the segment unloading area, grabbing the pad 31 above the Nm-th layer of segments, and clearing and transporting the pad 31 to the designated location, thereby completing the clearing and transporting operation of the pad 31 above the Nm-th layer of segments;

[0078] S4, moving the removal execution device 7 to a safe removal area;

[0079] S5, repeating steps S1-S4 until the removal of the pads 31 above the first layer of segments is completed;

[0080] Among them, h N It represents the sum of the vertical distances from each distance sensor 6 in a group of sensors to the Nth layer of the segment; 1≤m≤N-1, and m and N are both positive integers, N represents the total number of segments 3 in a stack of segments 3 on the segment transportation device; 0<α<x, x represents the vertical height difference between the upper surfaces of two adjacent segments 3, and α represents the control accuracy.

[0081] It can be understood that the probes of each distance sensor 6 are arranged vertically downward, and the probes of each distance sensor 6 are located in the same horizontal plane. For the above-mentioned distance sensor 6, a laser sensor can be used as needed, or other sensors that can measure distance can be used. In this embodiment, a laser sensor is more preferably used, and the collected data is more stable and has stronger environmental adaptability. When the number of sensor groups is at least two groups, the distance sensors 6 contained in each group of sensors are sequentially recorded as the first distance sensor to the ath distance sensor (a≥1) from front to back along the excavation axis, and the center of the bth distance sensor (1≤b≤a) in each group of sensors is located on the same straight line and parallel to the vertical direction of excavation. In addition, generally N≥1. When N=1, there is no need to place wood sleepers 31 on this layer of segments 3, so there is no need to perform wood sleeper removal operations. The segment crane 2 only needs to perform segment grabbing operations on this layer of segments 3. When N≥2, there are wood sleepers 31 on at least one layer of segments 3. Therefore, the above-mentioned wood sleeper removal method will be used to determine the timing of clearing the specific wood sleepers 31 and the layer of segments 3 on which the wood sleepers 31 will be removed.

[0082] In step S1, the number of times the segment crane 2 enters and exits the segment unloading area can be counted by setting corresponding detectors (such as proximity switches or other existing detectors) to facilitate the determination of the timing of the segment crane 2 entering and exiting the segment unloading area. In step S3, the two sleepers 31 above the Nm-th layer of segments must be transported to the designated location (generally referring to the sleeper placement box) before the removal of the sleepers 31 above the Nm-th layer of segments is completed; during operation, the two sleepers 31 can be grabbed together and then transported to the designated location, or they can be grabbed separately and transported to the designated location. The safe removal area mentioned in step S4 can be the area where the sleeper placement box is located, or it can be other designated areas, which can be set as needed.

[0083] Therefore, the method for clearing the pads in this embodiment uses the distance sensor 6 for detection in the segment unloading area. The distance sensor 6 collects stable data and has strong environmental applicability. Based on the collected data, it is judged and analyzed whether to perform the clearing operation of the pads 31 and which layer of the segment 3 needs to be cleared. This avoids related problems such as the high sensitivity of machine vision detection to the environment and the large parameters of deep learning detection samples. Based on the feedback results, the clearing execution device 7 automatically performs construction operations according to the pads 31 on different layers and different sides of the segment 3. The use of machines instead of people effectively improves the efficiency of tunnel construction and reduces labor intensity. The entire method is relatively simple and highly stable. It has good applicability to the construction site environment and can safely and efficiently realize the automatic clearing of the pads 31, reduce the labor intensity of operators, and ensure the safety and reliability of construction operations.

[0084] Preferably, each sensor group includes at least two distance sensors 6 .

[0085] In this way, the above-mentioned H is the sum of the vertical distances detected by at least two distance sensors 6 in a group of sensors; regardless of whether the position of the pipe segment 3 is consistent each time, for the same layer of pipe segments 3, the sum H of the vertical distances is a certain value, and the sum H of the vertical distances is compared with the set judgment parameters to determine whether to perform the clearing operation of the pads 31 and on which layer of pipe segments 3 the pads 31 need to be cleared. The placement position error of the pipe segment 3 can be taken into account, and the timing of the clearing operation and the layer of pipe segments 3 on which the pads 31 need to be cleared can be determined more accurately.

[0086] The specific analysis is as follows: a trailer 1 and a segment crane 2 are provided in the rear supporting area of ​​the shield machine. The segment crane 2 is provided on the trailer 1 and can move forward and backward along the excavation axis direction (i.e., the tunnel axis direction) to grab the segments 3. A segment unloading area is provided in the lower area of ​​the trailer 1. The segment transport device can transport the stacked segments 3 to the segment unloading area. Two blocks of wood 31 are placed between adjacent segments 3 of the stacked segments 3. The segment transport device can use either a segment transport vehicle or a train set 5.

[0087] When the segment transport device adopts a segment transport vehicle, refer to Figure 1 and Figure 2 In the segment unloading area, a segment quick unloading device 4 is also provided. A segment quick unloading device 4 includes two unloading devices symmetrically arranged along the axis of the trailer 1. Each unloading device has two support seats 41. The segment quick unloading device 4 is installed on the trailer 1. A total of four support seats 41 can be used to temporarily lift the stacked segments 3 on the segment transport vehicle (after lifting the segments 3, the segment transport vehicle can leave the segment unloading area), so that the segment crane 2 can grab the segments 3. When the segment transport device adopts a train assembly 5, refer to Fig.15 and Fig.16 Since the train assembly 5 has two supporting areas similar to the sides of the sleepers 31 and the structure of the area is symmetrical, this situation is a structural form without a pipe segment quick unloading device 4; when the pipe segment 3 is placed on the train assembly 5, the pipe segment 3 can be supported by the supporting structure of the supporting area. Before all the pipe segments 3 on the train assembly 5 are hoisted away, the train assembly 5 will not leave the pipe segment unloading area.

[0088] During construction, the segment transport vehicle first transports the segment 3 to the segment unloading area, the segment quick unloading device 4 lifts the segment 3 from the segment transport vehicle, and the segment crane 2 grasps the segment 3 from the segment quick unloading device 4 and lifts it to the assembly area; or the marshaling train 5 transports the segment 3 to the segment unloading area, and the segment crane 2 directly lifts the segment 3 from the marshaling train 5.

[0089] Taking the example of a segment transport device using a segment transport vehicle and a segment fast unloading device 4 being provided in the segment unloading area, since the segment unloading area is relatively fixed relative to other structures of the shield machine, and the track on which the segment transport vehicle travels is also basically consistent with the spatial relative position of the shield machine, the position of the segment transport vehicle arriving at the segment unloading area is basically the same each time, and the segment fast unloading device 4 will also lift the stacked segments 3 to the same height each time; therefore, it can be ensured that the position where the distance sensor 6 irradiates the same layer of segments 3 is within a relatively fixed height range and the error will not be too large, such as Figure 8 As shown, Figure 8 L1 and L2 are theoretical collected data, and e is the collected data error.

[0090] The segment quick unloading device 4 uses four support seats 41 to synchronously lift the stacked segments 3 from the segment transport vehicle. At the same time, the segments 3 used by the shield are part of a standard annular structure. In the same construction tunnel, the radius of the outer arc surface of the segments 3 used is the standard R, and the inner diameter is the standard r. Since each layer of segments 3 and the pads 31 between each layer are manually lifted and placed, the positions of the segments 3 placed on the segment transport vehicle are different each time. Each time the segment transport vehicle arrives at the segment unloading area and is lifted by the segment quick unloading device 4, the segments 3 will have four states relative to the standard position (the standard position is that the segments 3 are lifted by the segment quick unloading device 4 or are at the center position on the segment transport vehicle, that is, the theoretical design position, without any deviation): the segment transport vehicle is offset forward and backward along the excavation axis, the segment 3 is offset parallel to the excavation vertical direction, the segment 3 is offset in the arc direction, and the mixed offset along the excavation axis, the excavation vertical direction, and the segment 3 in the arc direction.

[0091] Taking the case where there are two groups of sensors, each group of sensors includes two distance sensors 6, the two distance sensors 6 in the first group of sensors are respectively recorded as the first distance sensor 61 and the third distance sensor 63, and the two distance sensors 6 in the second group of sensors are respectively recorded as the second distance sensor 62 and the fourth distance sensor 64. The connecting line between the first distance sensor 61 and the second distance sensor 62 and the connecting line between the third distance sensor 63 and the fourth distance sensor 64 are all arranged along the vertical direction of the excavation. The connecting line between the first distance sensor 61 and the third distance sensor 63 and the connecting line between the second distance sensor 62 and the fourth distance sensor 64 are all arranged along the excavation axis direction (generally, the connecting line between the first distance sensor 61 and the third distance sensor 63 is normally arranged along the excavation axis direction; it may not be arranged along the axis direction as needed, and some deviations will not affect it), and the first distance sensor 61 and the second distance sensor 62 are both close to the front of the excavation direction, and the third distance sensor 63 and the fourth distance sensor 64 are both close to the rear of the excavation direction.

[0092] When the pipe segment 3 is in the standard position, refer to Fig. 9, the data detected by the four distance sensors 6 are recorded as H1, H2, H3 and H4 respectively, then, H1=H2=H3=H4.

[0093] (1) Along the excavation axis, the segment transport vehicle has a front-to-back offset relative to the standard setting position:

[0094] When the segment transport vehicle deviates from the relative position to the segment unloading area, it is lifted by the segment fast unloading device 4 and becomes Fig.10 As shown, only one end of the pipe segment 3 is slightly higher and the other end is slightly lower. The data detected by the four distance sensors 6 are recorded as H11, H21, H31 and H41 respectively, then H11+H31=H21+H41;

[0095] When the segment transport vehicle shifts relative to the segment unloading area, it is lifted by the segment fast unloading device 4 and becomes Fig.11 As shown, only one end of the pipe segment 3 is slightly higher and the other end is slightly lower. The data detected by the four distance sensors 6 are recorded as H12, H22, H32 and H42 respectively, then H12+H32=H22+H42;

[0096] Since the inner diameter of the segment 3 is the standard r, no matter the segment transport vehicle has a forward offset or a backward offset, after being lifted by the segment quick unloading device 4, H11+H31=H12+H32=H1+H3 is satisfied.

[0097] (2) Segment 3 has arc deviation:

[0098] Since the radius of the outer arc surface of the pipe segment 3 is the standard R, and the radius of the inner arc surface is the standard r, even if the pipe segment 3 has an arc deviation so that the placement is different each time, the pipe segment 3 rotates around the fixed ring axis; Fig.12 In this state, the data collected by the four laser sensors are recorded as H13, H23, H33 and H43 respectively. After being lifted by the pipe segment rapid unloading device 4, H13=H23=H33=H43, so H13+H33=H23+H43=H1+H3.

[0099] (3) There is parallel offset of segment 3 along the vertical direction of excavation:

[0100] Reference Fig.13 When the pipe segment 3 is laterally offset in parallel, the positions where the four distance sensors 6 hit the pipe segment 3 in the standard position are shown as four circles, and when offset, they are shown as four small squares. Therefore, it is only a translation along the vertical direction of excavation. The data collected by the four laser sensors are recorded as H14, H24, H34 and H44 respectively. After being lifted by the pipe segment quick unloading device 4, H14=H24=H34=H44, so H14+H34=H24+H44=H1+H3.

[0101] (4) Mixed deviation along the excavation axis, the excavation vertical direction, and the segment 3 arc direction:

[0102] This state is the superposition of the above three states. After being lifted by the segment quick unloading device 4, it can be seen from the above analysis that the data collected by the four laser sensors in this state are respectively recorded as H15, H25, H35 and H45, then H15+H35=H1+H3.

[0103] Based on the above analysis, it can be seen that for the same construction tunnel, the segment transport vehicle is fixed and the segment 3 is fixed. Even if the position of the segment 3 is different each time, the same layer of segments 3 only has the above four states relative to the standard position, and the data collected by the distance sensor 6 for the same layer of segments 3 are consistent. Regardless of the combination of the above states of the segment 3, after the segment 3 is lifted by the segment fast unloading device 4, for the same layer of segments 3, the data collected by the four distance sensors 6 all meet the requirement that the sum of the detection data of the two distance sensors 6 in the first group of sensors is equal to the sum of the detection data of the two distance sensors 6 in the second group of sensors, which is equal to H1+H3=H2+H4 and the result remains basically unchanged. Similarly, when the segment transport device adopts a train assembly 5, the state of the segment 3 on the train assembly 5 also has the four offset states mentioned above. Since its supporting structure is similar to the segment quick unloading device 4, similarly, the detection results of the second and third offset conditions also satisfy that the sum of the detection data of the two distance sensors 6 in the first group of sensors is equal to the sum of the detection data of the two distance sensors 6 in the second group of sensors, both equal to H1+H3=H2+H4, and the corresponding layer results are basically consistent; the first and fourth offset conditions are H1+H3≈H2+H4.

[0104] Furthermore, for the same layer of pipe segments 3, the sum H of the vertical distances detected by each distance sensor 6 in each group of sensors is basically equal and is a certain value. The sum H of the vertical distances detected by each distance sensor 6 in one group of sensors is compared with the set judgment parameters to determine the timing of clearing the pads 31 and on which layer of pipe segments 3 the pads 31 should be cleared, and the judgment is more accurate.

[0105] Because the segments 3 are separated into layers by pads 31 of certain standard specifications, even if the positions of the segments 3 and / or pads 31 are slightly different each time, the overall height of the segments 3 in the same layer is basically the same.

[0106] Taking N=3 and the segment transport device using a segment transport vehicle as an example, the data collected by the above four distance sensors 6 are analyzed, and five key thresholds T, B, C, h1, and h3 are set in the detection scheme. The meanings of these five thresholds are as follows:

[0107] T represents the shortest vertical distance between the horizontal plane where the probe of distance sensor 6 is located and the third layer of segments (i.e., the top layer of segments);

[0108] B represents the distance between the horizontal plane where the probe of the distance sensor 6 is located and the bottom of the tunnel;

[0109] C represents the vertical distance between the horizontal plane where the probe of the distance sensor 6 is located and the upper surface of the support seat 41 of the segment quick unloading device 4;

[0110] h3 represents the sum of the vertical distances from two distance sensors 6 in a group of sensors to the third layer of segments;

[0111] h1 represents the sum of the vertical distances from two distance sensors 6 in a group of sensors to the first layer of pipe segments, which is also equal to h3+(N-1)x=h3+2x.

[0112] The feedback results of judging whether the segment crane 2 can grab the segment 3 and whether the pads 31 above the segment 3 need to be removed based on the data detected by the four distance sensors 6 and the five thresholds are as follows in Table 1: H represents the sum of the detection data of two distance sensors 6 in one group of sensors, and α represents the control accuracy. When the segment crane 2 performs the lifting operation in the segment unloading area, the data collected by the distance sensor 6 is invalid.

[0113] Table 1 Feedback results of distance sensor 6

[0114]

[0115] It can be understood that in the above table, (h1+h3) / 2=h3+x.

[0116] Of course, by analogy, when there are more layers of segments 3, additional threshold parameters can be set, and the principle of the method remains unchanged. Specifically, for a stack of segments 3 with N layers of segments 3, threshold parameters T, B, C, h are generally set. N , x and α, T represents the shortest vertical distance between the horizontal plane where the probe of the distance sensor 6 is located and the Nth layer of the segment (i.e., the top layer of the segment), and B represents the distance between the horizontal plane where the probe of the distance sensor 6 is located and the bottom of the tunnel. When the segment transport device adopts a segment transport vehicle, C represents the vertical distance between the horizontal plane where the probe of the distance sensor 6 is located and the upper surface of the support seat 41 of the segment fast unloading device 4; when the segment transport device adopts a train assembly 5, C represents the vertical distance between the horizontal plane where the probe of the distance sensor 6 is located and the support surface for supporting the segment 3 in the train assembly 5. h N represents the sum of the vertical distances from each distance sensor 6 in a group of sensors to the Nth layer of the pipe segment, x represents the vertical height difference between the upper surfaces of two adjacent pipe segments 3, and α represents the control accuracy. NThe value of can be a theoretical design value calculated after the shield structures are designed, or it can be an actual value detected on site using the distance sensor 6. Generally, it is determined according to the theoretical design value.

[0117] When the segment crane 2 performs lifting operations in the segment unloading area, the data collected by the distance sensor 6 is invalid. When H≤T+α, it means that the cleaning execution device 7 blocks the distance sensor 6, and the cleaning execution device 7 is performing a cleaning operation; of course, if the components of the cleaning execution device 7 are arranged more reasonably, it may be possible that the cleaning execution device 7 will not block the distance sensor 6, and H≤T+α will not appear. When C+α<H≤B+α, it means that there is no segment 3. In order to avoid the possibility of misjudgment of the lifting timing of the Nth layer of segments due to the cleaning execution device 7 blocking the distance sensor 6, in step S1, when T+α<H≤h N +α, the segment crane 2 will enter the segment unloading area and grab the Nth layer of segments, which is more reasonable and reliable.

[0118] After the Nth layer of segments are hoisted by segment crane 2, h N +(m-1)x+α<H≤h N +mx+α, a timber clearing operation can be performed on a layer of timbers 31 (i.e., two timbers 31) on the Nm-th layer of the segment, that is, the clearing work on the two timbers 31 on the Nm-th layer of the segment is completed; thereafter, the segment crane 2 is used to continue to perform the segment 3 grabbing operation on the next layer of the segment 3 after the clearing execution device 7 is moved to a safe clearing area.

[0119] During the whole process, the clearing of the wood blocks 31 should be carried out before the segment crane 2 lifts the segment 3 and moves it back and forth between the segment unloading area and before the segment crane 2 enters the segment assembly area, that is, the wood block clearing operation and the segment 3 lifting operation in the segment unloading area should be staggered and interlocked, that is, the segment crane 2 cannot enter the segment unloading area to perform the segment 3 lifting operation when the wood blocks 31 are cleared. The segment 3 can only be lifted after the clearing execution device 7 removes the two wood blocks 31 above a layer of segment 3 and returns them to the safe area for clearing. In addition, since the data detected by the distance sensors 6 do not change during the period from when one layer of segments 3 is lifted away by the segment crane 2 to when the next layer of segments 3 is lifted away by the segment crane 2, and two pads 31 are placed on the segments 3, for the same stack of segments 3, in step S2, when H satisfies the formula and the removal of the pads 31 is triggered, only one removal operation is triggered, and the removal operation should include the action of clearing the layer of pads 31 (i.e., two pads 31) on the segment 3 to complete the removal of all the pads 31 on the Nm-th layer of segments.

[0120] The number of sensor groups and the number of distance sensors 6 in each sensor group can be determined as needed. Considering the deviation factor of the placement position of the pipe segment 3, it is preferred that the number of distance sensors 6 in each sensor group is greater than or equal to two. When arranging, each distance sensor 6 can be staggered at the position of the cushion 31, or can be set corresponding to the cushion 31, which has no effect. In theory, the sum of the detection data of the distance sensors 6 contained in each sensor group is equal, but if an operator is in the pipe segment unloading area and causes the detection data of one of the distance sensors 6 to be biased, it will cause an error in the H calculation, which may cause the system to misjudge.

[0121] Therefore, in order to avoid the occurrence of such misjudgment, it is more preferred that the number of sensor groups is at least two. For example, in this embodiment, the number of sensor groups is two; in step S1, when the absolute value of the difference in vertical distance detected by the two corresponding distance sensors 6 in each sensor group is less than or equal to the preset value, the cleaning execution device 7 is in the working standby mode; otherwise, the cleaning execution device 7 is in the power-off protection state.

[0122] Taking each group of sensors including two distance sensors 6 as an example, in step S1, the segment crane 2 is started, moved to the segment unloading area, and a layer of segments 3 is grabbed before leaving the segment unloading area; after the segment crane 2 enters the segment unloading area and leaves the segment unloading area twice, the data detected by the four sensors are recorded as H16, H26, H36 and H46 respectively. When ︱H16-H26︱≤Δ, and ︱H36-H46︱≤Δ, it means that the data values ​​measured by the first distance sensor 61 and the second distance sensor 62 are close, and the data values ​​measured by the third distance sensor 63 and the fourth distance sensor 64 are close, then the cleaning execution device 7 is triggered at the same time to be in the working standby mode (that is, it is powered and can be started at any time), and the sum H of the vertical distances detected by the above group of sensors is calculated; otherwise, the cleaning execution device 7 is in the power-off protection state; thereby effectively increasing the reliability of the system and making the judgment more accurate. Generally, 0<preset value Δ<5mm, for example, in this embodiment, Δ is the accuracy of the distance sensor 6.

[0123] Further, in step S3, in order to facilitate the removal execution device 7 to grab the cushion 31, refer to Figures 3 to 6 , the cleaning and transporting execution device 7 includes a movably connected telescopic mechanical arm 74 and an end grasping mechanism 75;

[0124] In step S3, the removal execution device 7 is moved to the segment unloading area, the cushion 31 above the Nm-th layer of segments is grabbed, and the cushion 31 is removed to the designated location, including the following steps:

[0125] S31, adjusting the axis direction of the cleaning and transporting execution device 7 from the initial vertical state to the horizontal state (that is, keeping the telescopic mechanical arm 74 and the end grasping mechanism 75 in the coaxial state, adjusting them from the initial vertical position to the horizontal state, so as to ensure that the cleaning and transporting execution device 7 does not interfere with the pipe segment 3 or other equipment during the movement);

[0126] S32, moving the cleaning and transporting execution device 7 along the excavation axis direction to the segment unloading area;

[0127] S33, swinging the telescopic mechanical arm 74 from the horizontal position to a preset angle in a direction close to the corresponding pad 31, so as to swing to a position close to the corresponding pad 31 (at this time, the end grasping mechanism 75 and the corresponding pad 31 still maintain a certain distance and do not contact each other);

[0128] S34, according to the number of segments where the corresponding pads 31 are located, the telescopic mechanical arm 74 is extended by a preset length, and the end gripping mechanism 75 is swung relative to the telescopic mechanical arm 74 in a direction close to the corresponding pads 31 (the specific extension length of the telescopic mechanical arm 74 should ensure that the end gripping mechanism 75 can touch the corresponding pads 31 when the pads 31 are later moved, and a certain safety distance is still left between the bottom end of the end gripping mechanism 75 and the segment 3);

[0129] S35, swing the telescopic mechanical arm 74 inward to a vertical position, and at the same time swing the end gripping mechanism 75 back to be coaxial with the telescopic mechanical arm 74, so as to move the corresponding pad 31 from the outside to the bottom of the Nm-th layer of the segment;

[0130] S36, retract the telescopic robot arm 74 to a preset length (so that the lower end of the end gripping mechanism 75 is located a certain distance above the corresponding pad 31), and open the corresponding claws of the end gripping mechanism 75; then extend the telescopic robot arm 74 to a preset length (to ensure that the corresponding claws of the end gripping mechanism 75 can stably touch and grip the pad 31), and contract the corresponding claws of the end gripping mechanism 75 to grip the corresponding pad 31; retract the telescopic robot arm 74 and adjust it to a horizontal position (that is, the telescopic robot arm 74 carrying the clamped pad 31 is retracted and the axis of the telescopic robot arm 74 and the end gripping mechanism 75 is adjusted to a horizontal state to ensure that the transfer of the pad 31 does not interfere with the pipe segment 3 or other structures of the equipment), and move and adjust the clearing execution device 7 to transport the corresponding pad 31 to the pad placement box.

[0131] After S36 is executed, the posture of the removal execution device 7 is adjusted and the removal execution device 7 is moved to a safe area to be removed. At this time, the removal execution device 7 returns to the initial vertical position.

[0132] It can be understood that in the initial position, the telescopic robot arm 74 is in a fully retracted state, and the telescopic robot arm 74 and the end gripping mechanism 75 are not swinging, and the two are coaxial and the axis is in a vertical position. In step S33, the telescopic robot arm 74 remains in a retracted state to ensure that when the telescopic robot arm 74 drives the end gripping mechanism 75 to swing in a circle toward the direction close to the pad 31, the lower end of the end gripping mechanism 75 has a certain safety distance from the upper surface of the pad 31 and will not interfere with the pad 31. In step S34, the extension action of the telescopic robot arm 74 and the swinging action of the end gripping mechanism 75 can be performed separately (regardless of the order), or they can be performed simultaneously; at this time, the lower end of the end gripping mechanism 75 should be lower than the upper surface of the pad 31 but still have a certain safety distance from the upper surface of the pipe segment 3, so that it will not interfere with the pipe segment 3, and can slowly move the pad 31 during subsequent actions. At this time, the position of the cleaning execution device 7 is as shown in FIG. Fig.14 In step S35, the corresponding pad 31 is moved to the position at the bottom of the pipe segment 3 as shown in FIG. Fig.14 As shown by the dotted line in .

[0133] Since there are two pads 31 on the Nm-th layer of the pipe segment, when performing one pad removal operation, it is necessary to completely remove one layer of pads 31 on the Nm-th layer of the pipe segment, that is, the two pads 31.

[0134] For example, the two pieces of wood 31 on the same layer of pipe segments 3 can be operated as follows: after both pieces of wood 31 are moved to the bottom of the pipe segments 3, they are simultaneously grasped by the end grasping mechanism 75; specifically, after steps S31-S35 are executed, one side of the wood 31 is moved to the bottom of the Nm-th layer of pipe segments; then, step S355 is entered, the telescopic robot arm 74 is retracted and swung outward from a vertical position to a preset position outside the other side of the wood 31; thereafter, steps S34 and S35 are executed to move the other side of the wood 31 to the bottom of the Nm-th layer of pipe segments; then, S36 is executed to simultaneously grasp the two pieces of wood 31 by using the corresponding claws of the end grasping mechanism 75 to remove the two pieces of wood 31 at the same time.

[0135] For another example, the two wooden blocks 31 on the same layer of pipe segments 3 can also be operated as follows: after one side of the wooden blocks 31 is pushed to the bottom of the pipe segment 3, the grabbing action is performed first, and then the other side of the wooden blocks 31 are pushed to the bottom of the pipe segment 3, and then the grabbing action is performed; specifically, after steps S31-S36 are executed, after one side of the wooden blocks 31 on the Nm-th layer of pipe segments is pushed to the bottom of the pipe segment 3, it is grabbed and the posture of the cleaning execution device 7 is adjusted to transport the side of the wooden block 31 to the wooden block placement box; then the posture of the cleaning execution device 7 is adjusted to the initial vertical state, and S31-S36 is executed again (at this time, the horizontal position of the cleaning execution device 7 in step S31 is exactly opposite to that of the previous execution, with a difference of 180°), so as to move the other side of the wooden block 31 on the Nm-th layer of pipe segments to the bottom of the pipe segment 3, grab it and adjust the posture of the cleaning execution device 7, and transport the other side of the wooden block 31 to the wooden block placement box.

[0136] When operating two pieces of wood 31 on the same layer of segments 3, the swinging directions of the telescopic mechanical arm 74 and the end gripping mechanism 75 will be different, but the swinging angles, the telescopic length of the telescopic mechanical arm 74, etc. can be set in advance, and the specific values ​​can be set according to the actual situation. In addition, since the heights of the layers of segments 3 in a stack of segments 3 are different, after the wood 31 on one layer of segments 3 is cleared, when the wood 31 on the next layer of segments 3 is cleared, the telescopic length of the telescopic mechanical arm 74 should be changed and can be set in advance, and other actions are consistent with the clearing action of the previous layer of wood 31. After the clearing work of the two pieces of wood 31 on the layer of segments 3 is completed, the clearing execution device 7 returns to the initial safe area and posture, waiting for the next clearing work. The entire clearing action of the wood 31 does not require complex path planning, and only needs to perform a fixed clearing action for each layer according to the feedback result of the distance sensor 6, with high overall efficiency and high stability. Of course, according to the need for the clearing method, the system can also automatically plan the path based on the feedback result of the distance sensor 6 so that the clearing execution device 7 can execute the clearing operation of the cushion 31.

[0137] Compared with the prior art which requires the position detection and positioning of the pads 31, since the pipe segment 3 and the pads 31 are not easy to distinguish, the existing method of positioning the pads 31 and then using the corresponding device to move to the position of the pads 31 for grabbing is not accurate, and requires manual judgment and multiple adjustments. In this embodiment, when the pads 31 are cleared by the clearing execution device 7, there is no need to detect and locate the position of the pads 31. After the clearing execution device 7 is moved to the pipe segment unloading area, the pads 31 on the pipe segment 3 only need to be moved to the bottom center of the pipe segment 3 by the telescopic mechanical arm 74, the swing of the telescopic mechanical arm 74 and the swing of the end grabbing mechanism 75, and then the pads 31 can be grabbed downward by the end grabbing mechanism 75. No manual judgment is required, which is more accurate and convenient.

[0138] Furthermore, a monitoring camera 8 and a buzzer 9 are provided in the segment unloading area, and the monitoring camera 8 can monitor the segment unloading area in all directions; in step S3 and step S4, the buzzer 9 can sound an alarm. The monitoring camera 8 and the buzzer 9 further ensure the safety of the machine operation.

[0139] Preferably, when the monitoring camera 8 detects that there are people in the segment unloading area, the segment crane 2 and the removal execution device 7 are shut down, and the buzzer 9 sounds an alarm. Generally, when there are people, the control system will be completely shut down, making the construction safer.

[0140] Implementation Method 2

[0141] like Figures 1 to 16 As shown, the present application also provides a pad clearing device, which is used to detect and clear the pads 31 on the pipe segments 3 transported to the pipe segment unloading area, and the pad clearing device includes:

[0142] A detection device, comprising a group of sensors located at the top of the segment unloading area or at least two groups of sensors spaced apart along the vertical direction of the excavation, each group of sensors comprising a distance sensor 6 or at least two distance sensors 6 spaced apart along the direction of the excavation axis; and when the number of sensor groups is at least two, the number of distance sensors 6 included in each group of sensors is the same, and the connecting line of the corresponding distance sensors 6 in each group of sensors is parallel to the vertical direction of the excavation;

[0143] A clearing and transporting execution device 7, which can reciprocate along the excavation direction and can be used to grab the pads 31;

[0144] The control device is electrically connected to the detection device and the clearing execution device 7, and can judge the timing of performing the wood clearing operation according to the sum of the vertical distances detected by each distance sensor 6 in a group of sensors, so as to control the clearing execution device 7 to move and grab the wood 31 and then clear the wood 31 to the designated position.

[0145] The working principle and beneficial effects of the entire device are the same as those of the method in implementation mode 1, and will not be described in detail here.

[0146] Preferably, there are at least two groups of sensors, and each group of sensors includes at least two distance sensors 6, so as to effectively improve the accuracy of detecting the cleaning operation.

[0147] Furthermore, in order to facilitate the removal execution device 7 to grab the pad 31, as shown in FIG. Figures 3 to 6As shown, the cleaning and transporting execution device 7 includes a track beam 71, a mounting member 72, a telescopic mechanical arm 74 and an end gripping mechanism 75. The track beam 71 is used to be fixed on the top of the trailer 1, and the length direction of the track beam 71 is parallel to the direction of the excavation axis. The mounting member 72 can be slidably suspended on the track beam 71, and the upper and lower ends of the telescopic mechanical arm 74 are movably connected to the mounting member 72 and the end gripping mechanism 75 respectively; when the cleaning and transporting execution device 7 is in the state of shifting the pad 31, the upper end of the telescopic mechanical arm 74 can swing relative to the mounting member 72 in a horizontal direction perpendicular to the excavation axis, and the end gripping mechanism 75 can swing relative to the telescopic mechanical arm 74 in a horizontal direction perpendicular to the excavation axis.

[0148] The detailed process of moving the cleaning execution device 7 to the pipe segment unloading area, grabbing the pads 31 above the corresponding pipe segment 3 and transporting the pads 31 to the designated position has been described in detail in the above-mentioned embodiment 1, and will not be repeated here. The cleaning execution device 7 can move the pads 31 to the bottom of the pipe segment 3, grab the pads 31 and transfer them to the pad placement box through the joint action of various components; when using the cleaning execution device 7 to clean the pads 31, there is no need to detect and locate the position of the pads 31. After moving the cleaning execution device 7 to the pipe segment unloading area, it is only necessary to move the pads 31 on the pipe segment 3 to the bottom center of the pipe segment 3 through the extension and contraction of the telescopic mechanical arm 74, the swing of the telescopic mechanical arm 74 and the swing of the end gripping mechanism 75, and then use the end gripping mechanism 75 to grab the pads 31 downwards, without the need for manual judgment, which is more accurate and convenient.

[0149] More specifically, in order to facilitate the swinging of the telescopic mechanical arm 74 and the end gripping mechanism 75, the telescopic mechanical arm 74 includes an upper swing cylinder 741, an upper flange plate 742, a telescopic arm 743, a lower swing cylinder 744 and a lower flange plate 745. The upper swing cylinder 741 and the lower swing cylinder 744 are both electrically connected to the control device through corresponding electric control valves; when the cleaning and transportation execution device 7 is in the state of shifting the pad 31, the axes of the upper swing cylinder 741 and the lower swing cylinder 744 are both arranged in a horizontal direction perpendicular to the direction of the excavation axis. The cylinder body of the upper swing cylinder 741 is connected to the mounting member 72, the output shaft of the upper swing cylinder 741 is connected to the fixed end of the telescopic arm 743 through the upper flange plate 742, the telescopic end of the telescopic arm 743 is connected to the cylinder body of the lower swing cylinder 744, and the output shaft of the lower swing cylinder 744 is connected to the end gripping mechanism 75 through the lower flange plate 745.

[0150] In order to facilitate the extension and retraction of the telescopic arm 743, the telescopic arm 743 includes an outer cylinder 7431 with an opening at the bottom, an inner rod 7432 that can be axially slidably inserted into the outer cylinder 7431, and a linear cylinder 7433 arranged in the outer cylinder 7431. The linear cylinder 7433 is electrically connected to the control device through a corresponding electric control valve (the control device controls the action of the linear cylinder 7433 by controlling the electric control valve); the top of the outer cylinder 7431 is fixedly connected to the upper flange plate 742, and the two ends of the linear cylinder 7433 are respectively hinged to the top of the outer cylinder 7431 and the upper end of the inner rod 7432; the lower end of the inner rod 7432 can extend from the bottom opening of the outer cylinder 7431 and be fixedly connected to the cylinder body of the lower swing cylinder 744.

[0151] Generally, the upper flange plate 742 is a U-shaped plate with an opening facing upwards. The two side plates of the U-shaped plate are fixedly connected to the two ends of the output shaft of the upper swing cylinder 741 by bolts. The upper flange plate 742 can rotate and swing around the axis of the upper swing cylinder 741 to realize the swing of the telescopic mechanical arm 74. The fixed end of the telescopic arm 743 (specifically, the top surface of the outer cylinder 7431) is fixed to the bottom surface of the upper flange plate 742 by bolts; the linear oil cylinder 7433 is located inside the top of the outer cylinder 7431, and the inner rod 7432 can be moved axially along the outer cylinder 7431 by the extension and contraction of the piston rod of the linear oil cylinder 7433 to realize the telescopic function of the telescopic arm 743; the telescopic end of the telescopic arm 743 (specifically, the lower end of the inner rod 7432) is fixedly connected to the cylinder body of the lower swing cylinder 744 by bolts. The lower flange plate 745 also adopts a U-shaped plate body with an opening facing upward. The two side plates of the U-shaped plate body are fixedly connected to the two ends of the output shaft of the lower swing cylinder 744 by bolts. The lower flange plate 745 can rotate and swing around the axis of the lower swing cylinder 744 to realize the swing of the end grasping mechanism 75.

[0152] In order to facilitate the end-gripping mechanism 75 to grab the pad 31, the end-gripping mechanism 75 includes a fixed plate 751, a guide rail 752, a cylinder 753, a first clamp 754 and a second clamp 755. The cylinder 753 is electrically connected to the control device through a corresponding electric control; the upper surface of the fixed plate 751 is fixedly connected to the lower flange plate 745, and the guide rail 752, the cylinder 753 and the first clamp 754 are all fixedly arranged on the lower surface of the fixed plate 751; when the cleaning and transporting actuator 7 is in the state of moving the pad 31, the length direction of the guide rail 752 is parallel to the direction of the excavation axis, and the first clamp 754 and the second clamp 755 are arranged parallel and spaced along the direction of the excavation axis. The second clamp 755 is slidably connected to the guide rail 752 through the slider 7521, and the output shaft of the cylinder 753 is connected to the second clamp 755, and can drive the second clamp 755 to move along the guide rail 752 in the direction close to or away from the first clamp 754.

[0153] The fixing plate 751 can be fixedly connected to the bottom plate of the lower flange plate 745 by bolts in the direction perpendicular to the plate surface of the fixing plate 751, i.e., the axial direction of the end gripping mechanism 75. The guide rail 752, the cylinder body of the cylinder 753, and the first clamping jaw 754 are all fixedly connected to the fixing plate 751 by bolts. The guide rail 752 includes two parallel and spaced slide rails. The second clamping jaw 755 is fixedly connected to two sliders 7521 and the output shaft of the cylinder 753. The two sliders 7521 can be slidably connected to the two slide rails. The second clamping jaw 755 can slide along the guide rail 752 by retracting the output shaft of the cylinder 753. When the end actuator moves to the top of the pad 31, it first moves down a certain distance, and then uses the cylinder 753 to drive the second clamping jaw 755 to move in the direction close to the first clamping jaw 754 to grasp the pad 31, so as to realize the grasping of the pad 31, and the operation is simple.

[0154] The shapes of the two clamping jaws can be determined according to actual needs to meet the needs of different specifications of the pads 31 and have sufficient clamping surfaces; for example, in the present embodiment, the two clamping jaws are both flat plate structures, the plate surfaces of the two clamping jaws are perpendicular to the plate surface of the mounting plate 721, and the length direction of the two clamping jaws is perpendicular to the length direction of the guide rail 752; when grasping the pads 31, the two clamping jaws are in surface contact with the pads 31, and the grasping is more stable and reliable.

[0155] In order to facilitate the stable sliding of the mounting member 72 along the track beam 71, the track beam 71 includes two single beams arranged in parallel and at intervals, the mounting member 72 includes a mounting plate 721 and two groups of pulley pairs 722 arranged in parallel and at intervals on the mounting plate 721, each group of pulley pairs 722 includes two pulleys arranged opposite to each other, and the two pulleys in each group of pulley pairs 722 can be slidably clamped on the corresponding single beam; a motor 723 is also provided on the mounting plate 721, the motor 723 is electrically connected to the control device, the motor 723 is connected to one of the pulleys through a coupling 724, and can drive the pulley to rotate. The motor 723 can be fixed to the upper surface of the mounting plate 721 by bolts, and the motor 723 cooperates with the coupling 724 to drive one of the pulley pairs 722 to rotate, thereby realizing the forward and backward movement of the mounting member 72 along the tunnel axis (i.e., the excavation axis direction) on the track beam 71.

[0156] In actual applications, a rotary drive mechanism 73 is also provided between the mounting member 72 and the telescopic mechanical arm 74 to meet the needs of different positions of the wood pad placement box; the rotary drive mechanism 73 is electrically connected to the control device, the mounting member 72 is connected to the fixed part of the rotary drive mechanism 73, and the telescopic mechanical arm 74 is connected to the rotating part of the rotary drive mechanism 73 to realize the rotation of the telescopic mechanical arm 74.

[0157] The rotary drive mechanism 73 includes a fixed part, a rotating part and a driving part. The driving part can be driven by a hydraulic cylinder, a motor or other driving methods. The driving part is controlled by a control device (for example, when the driving part adopts a hydraulic cylinder, the control device will be connected to the hydraulic cylinder through a corresponding electric control valve to control the action of the hydraulic cylinder by controlling the electric control valve; when the driving part adopts a motor, the control device directly controls the action of the motor), so as to drive the rotating part to rotate relative to the fixed part; the specific structure of the rotary drive mechanism 73 is an existing structure and will not be described in detail here. Generally, the fixed part of the rotary drive mechanism 73 can be fixedly connected to the mounting plate 721 by bolts, and a connecting plate 731 is fixedly connected to the bottom of the rotating part of the rotary drive mechanism 73 by bolts, and the top of the telescopic mechanical arm 74 (specifically the cylinder body of the upper swing cylinder 741) is fixedly connected to the connecting plate 731 by bolts.

[0158] By adding a rotary drive mechanism 73, on the one hand, since the entire cleaning execution device 7 is in the initial position, that is, the telescopic mechanical arm 74 and the end grasping mechanism 75 have no relative swing and the telescopic arm 743 is in a fully retracted state, when the whole is in a vertical position, the two clamping claws of the end grasping mechanism 75 may not be in the correct position, and cannot contact the surface of the wood pad 31 when grasping the wood pad 31; therefore, by the rotating part of the rotary drive mechanism 73 rotating around the central axis of the rotary drive mechanism 73, the telescopic mechanical arm 74 and the end grasping mechanism 75 can be driven to rotate together to adjust the position of the end grasping mechanism 75 to ensure that it can reliably grasp the wood pad 31. On the other hand, the location of the timber placement box may be on both sides of the trailer 1 or at other locations; therefore, in step S36, after the corresponding timber 31 is grabbed by the end gripping mechanism 75, the posture of the clearing execution device 7 needs to be adjusted during the process of transporting the timber 31 to the timber placement box. Specifically, the rotation function of the rotary drive mechanism 73, the extension and retraction of the telescopic robot arm 74, the swing of the telescopic robot arm 74 and / or the swing of the end gripping mechanism 75 are utilized to complete the placement of the timber 31 under the timber placement boxes at different positions.

[0159] Furthermore, the skid removal device also includes a monitoring camera 8 and a buzzer 9. The monitoring camera 8 is used to monitor the pipe segment unloading area in all directions. The monitoring camera 8 and the buzzer 9 are both electrically connected to the control device. The control device can control the buzzer 9 to sound an alarm when the skid removal execution device 7 performs the skid removal operation, and can control the skid removal execution device 7 to stop and the buzzer 9 to sound an alarm when the monitoring camera 8 detects that there is someone in the pipe segment unloading area.

[0160] Generally, the monitoring camera is installed on the trailer 1, and the buzzer 9 can be installed on the cleaning and transportation execution device 7, for example, on the bottom surface of the above-mentioned mounting plate 721. When the cleaning and transportation operation is performed and / or there are people in the pipe segment unloading area, the buzzer 9 can issue an alarm prompt, and if there are people in the pipe segment unloading area, the entire device will be shut down, making the construction safer.

[0161] It should be noted that the method in the first embodiment can be implemented by the device in the second embodiment, and the device in the second embodiment can also be operated by the method in the first embodiment.

[0162] In summary, the method and device for clearing the wood of the present application are mainly used for automatically clearing the wood 31 on the pipe segment 3 during the construction of the shield machine. It can accurately, stably and efficiently detect the automatic clearing of the pipe segment wood in the complex shield machine construction process, and realize the automatic clearing of the pipe segment wood in the pipe segment unloading area of ​​the shield machine, so as to solve the technical problem that the existing technology cannot realize the automatic clearing of the pipe segment wood. In the pipe segment unloading area, the distance sensor 6, the clearing execution device 7 and the monitoring camera 8 are combined to realize the automatic clearing of the wood 31 on the pipe segment 3 and the real-time monitoring of the clearing operation; the distance sensor 6 is used to collect the pipe segment feature data on the pipe segment transport vehicle or the pipe segment fast unloading device 4 in the specific parking interval, and according to the collected data, it is judged and analyzed whether to perform the clearing operation of the wood 31 and which layer of the pipe segment 3 needs to clear the wood 31, so as to avoid the related problems such as the high sensitivity of machine vision detection to the environment and the large sample parameters of deep learning detection.

[0163] According to the feedback results, the cleaning execution device 7 automatically executes different cleaning processes according to the pads 31 on different layers and different sides of the pipe segments 3 (for example, when there are four pads 31 on two layers of pipe segments 3 that need to be cleaned, the two pads 31 on each layer of pipe segments 3 can be moved to the bottom of the pipe segments 3 and then grabbed at the same time, or one pad 31 can be moved first and then grabbed and the other pad 31 can be moved. Therefore, the two pads 31 on each layer of pipe segments 3 can have two cleaning paths. The system is equipped with four fixed cleaning paths and cleaning processes), or the system can automatically plan the path according to the feedback data to complete the cleaning operation of the pads 31. Both cleaning operation modes can safely and efficiently realize the automatic cleaning of the pads 31 on the pipe segments 3. The monitoring camera 8 installed in the pipe segment unloading area can display the cleaning screen of the cleaning execution device 7 more intuitively and in real time on the host computer, and is also equipped with a buzzer alarm reminder to further ensure the safety of the construction operation.

[0164] The entire method and device for clearing and transporting the cushions is relatively simple, highly stable, and well-suited to the construction site environment. It can safely and efficiently realize the automatic detection and removal of the cushions for the pipe segments, thereby improving the safety of tunnel construction operations. Using machines to replace people to perform operations can reduce the labor intensity of operators, improve the efficiency of tunnel construction operations, and more importantly, ensure the safety and reliability of construction operations.

[0165] The above are only exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for clearing and transporting cushions, characterized in that: A group of sensors is arranged at the top of the segment unloading area or at least two groups of sensors are arranged at intervals along the vertical direction of the excavation, each group of sensors includes a distance sensor or at least two distance sensors spaced apart along the excavation axis direction; and when the number of sensor groups is at least two, the number of distance sensors included in each group of sensors is the same, and the connecting line of each corresponding distance sensor in each group of sensors is parallel to the vertical direction of the excavation; the method for clearing the wood includes the following steps: S1, after the segment crane enters the segment unloading area, grabs the N-(m-1)th layer of segments and leaves the segment unloading area, the sum of the vertical distances detected by each distance sensor in a group of sensors is calculated according to the vertical distances detected by each distance sensor, and recorded as H; S2, when h N +(m-1)x+α<H≤h N +mx+α, prepare to carry out the wood removal operation on the wood on the Nmth layer of segments; S3, moving the clearing and transporting execution device to the segment unloading area, grabbing the pads above the Nm-th layer of segments, and clearing and transporting the pads to a designated location, thereby completing the clearing and transporting operation of the pads above the Nm-th layer of segments; S4, moving the cleaning execution device to a safe cleaning area; S5, repeating steps S1-S4 until the removal of the pads above the first layer of segments is completed; Among them, h N It represents the sum of the vertical distances from each distance sensor in a group of sensors to the Nth layer of segments; 1≤m≤N-1, and m and N are both positive integers, N represents the total number of segments in a stack of segments on the segment transportation device; 0<α<x, x represents the vertical height difference between the upper surfaces of two adjacent segments, and α represents the control accuracy.

2. The method for removing and transporting the cushions according to claim 1, characterized in that: In step S1, when T+α<H≤h N +α, the segment hoist enters the segment unloading area and grabs the Nth layer of segments; Wherein, T represents the shortest vertical distance between the horizontal plane where the probe of the distance sensor is located and the Nth layer of the segment.

3. The method for clearing and transporting the cushions according to claim 1, characterized in that: The number of sensor groups is two; In step S1, when the absolute value of the difference between the vertical distances detected by the two corresponding distance sensors in each group of sensors is less than or equal to a preset value, the cleaning execution device is in a working standby mode; otherwise, the cleaning execution device is in a power-off protection state.

4. The method for clearing and transporting the cushions according to claim 1, characterized in that: The cleaning and transportation execution device includes a movably connected telescopic mechanical arm and an end grasping mechanism; In step S3, the removal execution device is moved to the segment unloading area, the pads above the Nm-th layer of segments are grabbed, and the pads are removed to the designated location, including the following steps: Adjusting the axis direction of the cleaning and transporting execution device from an initial vertical state to a horizontal state; Moving the cleaning and transporting execution device along the excavation axis direction to the segment unloading area; The telescopic mechanical arm is swung from a horizontal position to a direction close to the corresponding pad by a preset angle, so as to be swung to a position close to the corresponding pad; According to the number of pipe segments where the corresponding pads are located, the telescopic mechanical arm is extended to a preset length, and the end gripping mechanism is swung relative to the telescopic mechanical arm in a direction close to the corresponding pads; The telescopic mechanical arm is swung inward to a vertical position, and at the same time, the end gripping mechanism is swung back to be coaxial with the telescopic mechanical arm, so as to move the corresponding pad from the outside to the bottom of the Nm-th layer of the segment; Retract the telescopic robotic arm to a preset length, and open the corresponding claws of the end gripping mechanism; then extend the telescopic robotic arm to a preset length, and contract the corresponding claws of the end gripping mechanism to grip the corresponding pads; retract the telescopic robotic arm and adjust it to a horizontal position, and transport the corresponding pads to the pad placement box by moving and adjusting the clearing execution device.

5. The method for clearing and transporting the cushions according to claim 1, characterized in that: A monitoring camera and a buzzer are also provided in the segment unloading area. The monitoring camera can perform all-round monitoring of the segment unloading area. In step S3 and step S4, the buzzer can emit an alarm sound.

6. The method for removing and transporting the cushions according to claim 5, characterized in that: When the monitoring camera detects that there is someone in the pipe segment unloading area, the pipe segment crane and the removal execution device are shut down, and the buzzer sounds an alarm.

7. A device for removing and transporting cushions, characterized in that: The pad clearing device is used to detect and clear pads on the pipe segments transported to the pipe segment unloading area, and the pad clearing device includes: A detection device, comprising a group of sensors located at the top of the segment unloading area or at least two groups of sensors spaced apart along the vertical direction of the excavation, each group of sensors comprising a distance sensor or at least two distance sensors spaced apart along the direction of the excavation axis; and when the number of sensor groups is at least two, the number of distance sensors contained in each group of sensors is the same, and the connecting line of each corresponding distance sensor in each group of sensors is parallel to the vertical direction of the excavation; A clearing and transporting execution device, which can reciprocate along the excavation direction and can be used to grab the pads; A control device is electrically connected to the detection device and the removal execution device, and can judge the timing of performing the wood removal operation according to the sum of the vertical distances detected by each of the distance sensors in a group of sensors, so as to control the movement of the removal execution device and grab the wood and then remove the wood to a designated position.

8. The device for removing and transporting the lumber according to claim 7, characterized in that: The cleaning and transportation execution device includes a track beam, a mounting part, a telescopic mechanical arm and an end grabbing mechanism. The track beam is used to be fixed on the top of the trailer, and the length direction of the track beam is parallel to the excavation axis direction; The mounting piece can be slidably suspended on the track beam, and the upper end and the lower end of the telescopic mechanical arm are movably connected to the mounting piece and the end grasping mechanism respectively; when the cleaning and transporting execution device is in a state of moving the pads, the upper end of the telescopic mechanical arm can swing relative to the mounting piece in a horizontal direction perpendicular to the direction of the excavation axis, and the end grasping mechanism can swing relative to the telescopic mechanical arm in a horizontal direction perpendicular to the direction of the excavation axis.

9. The device for removing and transporting the lumber according to claim 8, characterized in that: The telescopic mechanical arm comprises an upper swing cylinder, an upper flange plate, a telescopic arm, a lower swing cylinder and a lower flange plate, and the upper swing cylinder and the lower swing cylinder are electrically connected to the control device through corresponding electric control valves; when the cleaning and transportation execution device is in a state of shifting the pads, the axes of the upper swing cylinder and the lower swing cylinder are arranged in a horizontal direction perpendicular to the direction of the excavation axis; The cylinder body of the upper swing cylinder is connected to the mounting part, the output shaft of the upper swing cylinder is connected to the fixed end of the telescopic arm through the upper flange plate, the telescopic end of the telescopic arm is connected to the cylinder body of the lower swing cylinder, and the output shaft of the lower swing cylinder is connected to the end grasping mechanism through the lower flange plate.

10. The device for removing and transporting the pads according to claim 9, characterized in that: The telescopic arm includes an outer cylinder with an opening at the bottom, an inner rod body axially slidably inserted in the outer cylinder, and a linear cylinder arranged in the outer cylinder, and the linear cylinder is electrically connected to the control device through a corresponding electric control valve; the top of the outer cylinder is fixedly connected to the upper flange plate, and the two ends of the linear cylinder are respectively hinged to the top of the outer cylinder and the upper end of the inner rod body; the lower end of the inner rod body can extend from the bottom opening of the outer cylinder and be fixedly connected to the cylinder body of the lower swing cylinder.

11. The device for removing and transporting the lumber according to claim 9, characterized in that: The end gripping mechanism comprises a fixed plate, a guide rail, a cylinder, a first clamp and a second clamp, wherein the cylinder is electrically connected to the control device through a corresponding electric control valve; the upper surface of the fixed plate is fixedly connected to the lower flange plate, and the guide rail, the cylinder and the first clamp are all fixedly arranged on the lower surface of the fixed plate; when the cleaning and transporting execution device is in a state of shifting the pads, the length direction of the guide rail is parallel to the direction of the excavation axis, and the first clamp and the second clamp are arranged in parallel and spaced apart along the direction of the excavation axis; The second clamping jaw is slidably connected to the guide rail via a slider, and the output shaft of the cylinder is connected to the second clamping jaw and can drive the second clamping jaw to move along the guide rail toward or away from the first clamping jaw.

12. The device for removing and transporting the lumber according to claim 8, characterized in that: The track beam includes two single beams arranged in parallel and at intervals, the mounting member includes a mounting plate and two groups of pulley pairs arranged in parallel and at intervals on the mounting plate, each group of the pulley pairs includes two pulleys arranged opposite to each other, and the two pulleys in each group of the pulley pairs can be slidably clamped on the corresponding single beam; a motor is also provided on the mounting plate, the motor is electrically connected to the control device, the motor is connected to one of the pulleys through a coupling, and can drive the pulley to rotate.

13. The device for removing and transporting the lumber according to claim 8, characterized in that: A rotary drive mechanism is also provided between the mounting member and the telescopic mechanical arm. The rotary drive mechanism is electrically connected to the control device. The mounting member is connected to the fixed part of the rotary drive mechanism. The telescopic mechanical arm is connected to the rotating part of the rotary drive mechanism.

14. The device for removing and transporting the lumber according to claim 7, characterized in that: The skid removal device further comprises a monitoring camera and a buzzer, wherein the monitoring camera is used to perform all-round monitoring of the segment unloading area; The monitoring camera and the buzzer are both electrically connected to the control device. The control device can control the buzzer to sound an alarm when the cleaning execution device performs a wood clearing operation, and can control the cleaning execution device to shut down and the buzzer to sound an alarm when the monitoring camera detects that there is someone in the pipe segment unloading area.

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