A pump body pipeline automatic leveling docking method and system

Abstract

The present application discloses a method and system for automatic leveling and docking of a pump body and pipeline, comprising the following steps: adjusting the height of the lifting platform based on the installation height of the first pipeline so that the second pipeline is flush with the first pipeline; performing PID adjustment on the front and rear heights of the lifting platform based on the level detection so that the second pipeline is in a horizontal state; obtaining the first coordinate information of the first screw hole based on the image of the first screw hole and the CA‑YOLOv5s model; adjusting the position of the mounting platform based on the first coordinate information so that the screw hole of the second pipeline is aligned with the first screw hole. The method of the present application has an automatic leveling function and an automatic identification and alignment function, and can realize automatic leveling of the workbench at a slope within 45 degrees, so that the pump body and pipeline are always kept horizontal, ensuring the stability and safety of the pump body and pipeline during transportation; the structure of the present application can realize the automatic installation of the pump body and pipeline, avoiding the need to consume a lot of material and manpower during the installation process.

Description

Technical Field

[0001] The present application belongs to the technical field of hydraulic mechanical pumps, and in particular relates to a method and system for automatic leveling and docking of a pump body and a pipeline. Background Art

[0002] In water conservancy projects, during the professional construction of water conservancy pipelines, since the pump body and pipeline need to be installed and transported, when encountering slopes and uneven road conditions, the workbench and the pump body and pipeline support seat thereon will tilt, causing the pump body and pipeline to have the risk of slipping. In addition, due to the uneven distribution of gravity of the pump body and pipeline during the installation process, the tilt is caused. At the same time, in order to ensure manual alignment of the pipeline, the splicing is difficult, and the splicing process is time-consuming and labor-intensive. Summary of the invention

[0003] The present application provides a method and system for automatically leveling and docking a pump body pipeline, so as to solve the technical problem that the pump body pipeline is easy to tilt and difficult to splice.

[0004] In order to solve the above technical problems, a technical solution adopted in the present application is: a method for automatically leveling and docking a pump body pipeline, comprising the following steps:

[0005] Based on the installation height of the first pipeline, adjusting the height of the lifting platform so that the second pipeline is flush with the first pipeline;

[0006] Based on the level detection, the front and rear heights of the lifting platform are adjusted by PID to make the second pipeline in a horizontal state;

[0007] Based on the image of the first screw hole and the CA-YOLOv5s model, obtain first coordinate information of the first screw hole;

[0008] Based on the first coordinate information, the position of the mounting platform is adjusted so that the screw hole of the second pipe is aligned with the first screw hole; wherein the second pipe is fixed to the mounting platform according to a predetermined position.

[0009] Further, based on the installation height of the first pipeline, the method for adjusting the height of the lifting platform includes:

[0010] Controlling the lifting of the lifting platform based on a first distance between the lifting platform and the first pipeline;

[0011] In response to the first distance being greater than a preset value, the lifting platform rises horizontally;

[0012] In response to the first distance being smaller than a preset value, the lifting platform is lowered horizontally.

[0013] Furthermore, based on the level detection, the method for PID adjustment of the front and rear height of the lifting platform includes:

[0014] In response to the lifting platform not being in a horizontal state, the lifting height of the front and rear sides of the lifting platform is adjusted through PID, and the inclination signal is fed back in real time;

[0015] In response to the lift being in a level state, the PID controller stops adjusting the lift.

[0016] Further, based on the image of the first screw hole and the CA-YOLOv5s model, a method for obtaining first coordinate information of the first screw hole includes:

[0017] Based on the captured image of the first screw hole, the CA-YOLOv5s model recognizes the image of the first screw hole and obtains a second distance between the center of the first screw hole and the camera;

[0018] Based on the second distance and the coordinate transformation, first coordinate information of the center of the first screw hole relative to the camera is obtained.

[0019] Further, based on the first coordinate information, the method for adjusting the position of the mounting platform includes:

[0020] Based on the first coordinate information and the second coordinate information of the camera relative to the mounting platform, obtaining the third coordinate information of the center of the first screw hole relative to the mounting platform;

[0021] Based on the third coordinate information, the mounting platform is controlled to move along the first direction and the second direction so that the screw hole of the second pipe is aligned with the first screw hole.

[0022] Furthermore, the construction method of the CA-YOLOv5s model includes:

[0023] Collect multiple sets of screw hole images, perform data enhancement, and obtain sample sets;

[0024] Based on the sample set, build and train the YOLOv5s model;

[0025] Based on the attention mechanism module and the YOLOv5s model, the attention machine module is introduced into the YOLOv5s model to construct the CA-YOLOv5s model.

[0026] Another technical solution adopted in this application is: a pump body pipeline automatic leveling docking system, comprising:

[0027] A support clamping assembly for fixing the second pipe;

[0028] A moving assembly is arranged at the lower side of the supporting and clamping assembly, wherein the moving assembly is used to adjust the horizontal position of the second pipeline;

[0029] A lifting component is arranged at the lower end of the moving component, wherein the lifting component is used to adjust the docking height of the second pipeline; wherein the lifting component includes a lifting platform arranged parallel to the second pipeline.

[0030] An inclination sensor is arranged on the supporting clamping assembly, wherein the inclination sensor is used to detect the horizontal state of the second pipeline;

[0031] A position sensor is arranged on a side of the lifting platform close to the first pipeline, wherein the position sensor is used to detect a first distance between the first pipeline and the lifting platform;

[0032] The camera assembly includes a camera, wherein the camera assembly is used to capture an image of the first screw hole.

[0033] A main control component is connected to the camera component, the tilt sensor and the position sensor respectively, wherein the main control component is used to control the movement of the moving component and the lifting and lowering of the lifting component;

[0034] The trolley assembly is fixedly connected below the lifting assembly, wherein the trolley assembly is used to carry all the components and transport the second pipeline.

[0035] Further, the support clamping assembly comprises:

[0036] A mounting platform for carrying a second pipeline;

[0037] A clamp is disposed on the front and rear opposite sides of the mounting platform, wherein the clamp is used to fix the second pipe;

[0038] The fixing plate is fixedly connected to the bottom of the mounting platform, wherein the inclination sensor is arranged on the fixing plate.

[0039] Further, the mobile component includes:

[0040] A first sliding mechanism is movably disposed below the fixed plate, wherein the first sliding mechanism is used to control the fixed plate to move along a first direction;

[0041] A second sliding mechanism is movably arranged at the lower side of the first sliding mechanism and fixedly connected to the lifting platform, wherein the second sliding mechanism is used to control the first sliding mechanism to move along a second direction perpendicular to the first direction;

[0042] A first motor connected to the main control assembly and located in the first sliding mechanism, wherein the first motor controls the movement of the fixed plate based on the instruction of the main control assembly;

[0043] The second motor is connected to the main control component and is located in the second sliding mechanism, wherein the second motor controls the movement of the first sliding mechanism based on the instruction of the main control component.

[0044] Furthermore, the lifting assembly also includes:

[0045] A scissor-type lifting mechanism is arranged on both sides of the lifting platform along the second direction, wherein the scissor-type lifting mechanism is used to adjust the height of the corresponding side ends of the lifting platform;

[0046] The hydraulic controller is connected to the main control component, wherein the hydraulic controller is used to control the hydraulic proportional valve of the scissor-type lifting mechanism to control the lifting and lowering of the scissor-type lifting mechanism.

[0047] The beneficial effects of the present application are as follows: the method of the present application has an automatic leveling function and automatic identification and alignment with the first screw hole. During transportation, the workbench can be automatically leveled at a slope within 45 degrees, so that the pump body and the pipeline are always kept level, ensuring the stability and safety of the pump body and the pipeline during transportation; the structure of the present application can realize the automatic installation of the pump body and the pipeline, avoiding the need to consume a large amount of material and manpower during the installation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flow chart of an embodiment of a method for automatic leveling and docking of a pump body and a pipeline of the present application;

[0049] Figure 2 yes Figure 1 A schematic flow chart of an embodiment of step S1 in FIG.

[0050] Figure 3 yes Figure 1 A schematic flow chart of an embodiment of step S2 in FIG.

[0051] Figure 4 yes Figure 1 A schematic flow chart of an embodiment of step S3 in FIG.

[0052] Figure 5 yes Figure 4 A schematic flow chart of an embodiment of step S31 in FIG.

[0053] Figure 6 yes Figure 1 A schematic flow chart of an embodiment of step S4 in FIG.

[0054] Figure 7 It is a structural schematic diagram of an embodiment of the pump body and pipeline automatic leveling and docking system of the present application;

[0055] Figure 8 It is a structural block diagram of an embodiment of the pump body and pipeline automatic leveling and docking system of the present application;

[0056] Fig. 9 yes Figure 7 A structural schematic diagram of an embodiment of a support and clamping assembly;

[0057] Fig.10 yes Figure 7 A schematic structural diagram of an embodiment of a mobile component in FIG.

[0058] Fig.11 yes Figure 7A structural schematic diagram of an embodiment of a lifting assembly in FIG. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments.

[0060] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0061] like Figure 1 As shown, Figure 1 1 is a flow chart of an embodiment of a method for automatic leveling and docking of a pump body and a pipeline of the present application. The method comprises the following steps:

[0062] Step S1. Based on the installation height of the first pipeline, adjust the height of the lifting platform so that the second pipeline is flush with the first pipeline.

[0063] Specifically, the first pipeline is a pipeline that has been installed, and the second pipeline is a pipeline that needs to be docked and installed. In other embodiments, the second pipeline can be a water conservancy pipeline that needs to be installed, and can also be a pump body pipeline for connecting other water pipes.

[0064] like Figure 2 As shown, Figure 2 yes Figure 1 The method of step S1 includes:

[0065] Step S11. Based on a first distance between the lifting platform and the first pipeline, control the lifting of the lifting platform.

[0066] Specifically, since the distance between the lifting platform and the installed second pipeline is a fixed value, when the lifting height is increased, it is only necessary to adjust the first distance between the lifting platform and the first pipeline to make the first pipeline flush with the second pipeline.

[0067] Step S12: In response to the first distance being greater than a preset value, the lifting platform rises horizontally.

[0068] Specifically, when the distance between the lifting platform and the first pipeline is too large, the lifting platform is controlled to rise until the first distance is equal to a preset value.

[0069] Step S13: In response to the first distance being less than a preset value, the lifting platform is lowered horizontally.

[0070] Specifically, when the distance between the lifting platform and the first pipeline is too small, the lifting platform is controlled to descend until the first distance is equal to a preset value.

[0071] Step S2. Based on the level detection, PID adjustment is performed on the front and rear heights of the lifting platform to make the second pipeline in a horizontal state.

[0072] Specifically, the horizontal state of the second pipeline is detected in real time. When the lifting platform is not in a horizontal position, the front and rear heights are adjusted through PID, thereby adjusting the horizontal angle of the lifting platform.

[0073] like Figure 3 As shown, Figure 3 yes Figure 1 The specific method of step S2 includes:

[0074] Step S21. In response to the lifting platform not being in a horizontal state, the lifting height of the front and rear sides of the lifting platform is adjusted through PID, and the inclination signal is fed back in real time.

[0075] Specifically, it is detected that the second pipeline is not in a horizontal state, and the lifting height adjustment of the front and rear sides of the lifting platform is controlled by PID, and the inclination signal is fed back in real time. If it is not yet horizontal, the lifting height is adjusted again, so that the lifting platform slowly tends to be horizontal.

[0076] Step S22: In response to the lifting platform being in a horizontal state, stop adjusting the lifting platform.

[0077] Specifically, when it is detected that the second pipeline is in a horizontal state, the height adjustment of the front and rear sides of the lifting platform is stopped.

[0078] Step S3. Based on the image of the first screw hole and the CA-YOLOv5s model, obtain the first coordinate information of the first screw hole.

[0079] Specifically, Figure 4 As shown, Figure 4 yes Figure 1 The method of step S3 includes:

[0080] Step S31. Based on the captured image of the first screw hole, the CA-YOLOv5s model recognizes the image of the first screw hole and obtains the second distance between the center of the first screw hole and the camera.

[0081] Specifically, the camera located under the second pipe can take a photo image of the first screw hole of the first pipe, and then input the image into a pre-trained CA-YOLOv5s model for intelligent recognition to obtain the second distance between the center of the first screw hole and the camera.

[0082] like Figure 5 As shown, Figure 5 yes Figure 4The above-mentioned CA-YOLOv5s model construction method is as follows:

[0083] Step S311. Collect multiple groups of screw hole images, perform data enhancement, and obtain a sample set;

[0084] Specifically, we first collected 1,000 images of pump bodies and pipe installation screw holes, and converted the color images into grayscale through image processing. To avoid network overfitting, we enhanced the image data through rotation, random cropping, thresholding and other image processing methods. The expanded image data set totaled 2,000 images to form a sample set.

[0085] Step S312: Based on the sample set, build and train the YOLOv5s model.

[0086] Use LabelImg to annotate the sample set, divide the training set and test set into 8:2, and build and train the YOLOv5s model.

[0087] Step S313. Based on the attention mechanism module and the YOLOv5s model, the attention mechanism module is introduced into the YOLOv5s model to construct a CA-YOLOv5s model.

[0088] In order to improve the success rate of bolt hole detection, the attention mechanism module (CA module) is introduced and added behind the CSP module in the Backbone area of ​​the YOLOv5s model to build a CA-YOLOv5s model, which can effectively extract the target information of the bolt hole and reduce the difficulty of distance recognition.

[0089] Step S32: Based on the second distance and the coordinate transformation, obtain the first coordinate information of the center of the first screw hole relative to the camera.

[0090] Specifically, by performing coordinate transformation according to the second distance, first coordinate information of the center of the first screw hole in a coordinate system with the camera as the origin can be obtained, thereby completing the positioning of the second screw hole.

[0091] Step S4. Based on the first coordinate information, adjust the position of the mounting platform so that the screw hole of the second pipe is aligned with the first screw hole; wherein the second pipe is fixed to the mounting platform according to a predetermined position.

[0092] Specifically, Figure 6 , Figure 6 yes Figure 1 FIG. 1 is a flow chart of an embodiment of step S4 in FIG. 1 .

[0093] The specific method of step S4 includes:

[0094] Step S41. Based on the first coordinate information and the second coordinate information of the camera relative to the mounting platform, obtain the third coordinate information of the center of the first screw hole relative to the mounting platform.

[0095] Specifically, since the camera is installed at a fixed position and the second pipe to be installed also needs to be installed at the set position, the mounting platform is also at a fixed point relative to the camera, which is equivalent to the second coordinate information of the mounting platform being in a coordinate system with the center of the camera as the origin. The second coordinate information is a fixed value, so that the third coordinate information of the center of the first screw hole relative to the mounting platform can be obtained.

[0096] Step S42: Based on the third coordinate information, control the mounting platform to move along the first direction and the second direction so that the screw hole of the second pipe is aligned with the first screw hole.

[0097] Specifically, the third coordinate information is used to control the installation platform to move in the first direction (longitudinal direction) and the second direction (lateral direction), thereby performing the docking operation of the second pipeline.

[0098] The structure of the present application can realize the automatic installation of the pump body and the pipeline, avoiding the need for a large amount of material and manpower during the installation process; it also has the functions of automatic leveling and automatic identification and alignment with the first screw hole. During transportation, the workbench can be automatically leveled at a slope within 45 degrees, so that the pump body and the pipeline always remain level, ensuring the stability and safety of the pump body and the pipeline during transportation.

[0099] like Figure 7-8 As shown, Figure 7 It is a structural schematic diagram of an embodiment of the pump body and pipeline automatic leveling and docking system of the present application; Figure 8 This is a control structure diagram of an embodiment of the pump body pipeline automatic leveling docking system of the present application. The system includes: a support clamping component 1, a moving component 2, a lifting component 3, an inclination sensor 4, a position sensor 5, a camera component 6, a main control component 7 and a cart component 8.

[0100] The support and clamping assembly 1 is used to clamp and fix the second pipe. The moving assembly 2 is arranged on the lower side of the support and clamping assembly 1, wherein the moving assembly 2 is used to adjust the horizontal position of the second pipe; the moving assembly 2 can adjust the second pipe to move longitudinally or laterally on the horizontal plane. The lifting assembly 3 is arranged at the lower end of the moving assembly 2, wherein the lifting assembly 3 is used to adjust the docking height of the second pipe; wherein the lifting assembly 3 includes a lifting platform arranged parallel to the second pipe. The inclination sensor 4 is arranged on the support and clamping assembly 1, wherein the inclination sensor 4 is used to detect the horizontal state of the second pipe; the position sensor 5 is arranged on the side of the lifting platform close to the first pipe, wherein the position sensor 5 is used to detect the first distance between the first pipe and the lifting platform; the camera assembly 6 includes a camera, wherein the camera assembly 6 is used to capture the image of the first screw hole.

[0101] The main control component 7 is respectively connected to the camera component 6, the inclination sensor 4 and the position sensor 5, wherein the main control component 7 is used to control the movement of the mobile component 2 and the lifting and lowering of the lifting component 3; in some embodiments, the main control component 7 may include a main control chip and a PLC module, wherein the main control chip is loaded with a trained CA-YOLOv5s model and a PID adjustment program, so as to recognize the image input by the camera component 6, complete the positioning of the first screw hole, and output a movement signal to the PLC module, and the PID adjustment program is used to adjust the horizontal position of the mounting table.

[0102] The trolley assembly 8 is fixedly connected below the lifting assembly 3, wherein the trolley assembly 8 is used to carry all the components and transport the second pipeline.

[0103] like Fig. 9 As shown, Fig. 9 yes Figure 7 The structural diagram of an embodiment of the support and clamping assembly in FIG. The support and clamping assembly 1 comprises: a mounting platform 11, a clamp 12 and a fixing plate 13.

[0104] The mounting platform 11 is used to carry the second pipe. The clamp 12 is arranged at the front and rear opposite sides of the mounting platform 11, wherein the clamp 12 is used to fix the second pipe. The fixing plate 13 is fixedly connected to the bottom of the mounting platform 11, wherein the inclination sensor 4 is arranged on the fixing plate 13. Since the second pipe is parallel to the fixing plate 13, the horizontal state of the second pipe is detected by sensing the horizontal state of the fixing plate 13.

[0105] like Fig.10 As shown, Fig.10 yes Figure 1 The moving assembly 2 comprises: a first sliding mechanism 21, a second sliding mechanism 22, a first motor 23 and a second motor 24.

[0106] The first sliding mechanism 21 is movably disposed below the fixed plate 13 , wherein the first sliding mechanism 21 is used to control the fixed plate 13 to move along a first direction; the first sliding mechanism 21 includes a first ball screw guide rail mechanism 211 and a first base 212 , wherein the first base 212 is fixedly connected below the fixed plate 13 .

[0107] See also Figure 7 and Fig.10 The first motor 23 is connected to the main control assembly 7 and is located in the first sliding mechanism 21, wherein the first motor 23 controls the movement of the fixed plate 13 based on the command of the main control assembly 7. The first motor 23 controls the rotation of the screw in the first ball screw guide rail mechanism 211 to drive the first base 212 to move.

[0108] The second sliding mechanism 22 is movably arranged at the lower side of the first sliding mechanism 21 and fixedly connected to the lifting platform, wherein the second sliding mechanism 22 is used to control the first sliding mechanism 21 to move along a second direction perpendicular to the first direction; the second sliding mechanism 22 includes a second ball screw slide rail mechanism 221 and a second base 222, wherein the second base 222 is fixedly connected to the bottom plate of the first sliding mechanism 21.

[0109] The second motor 24 is connected to the main control component 7 and is located in the second sliding mechanism 22, wherein the second motor 24 controls the movement of the first sliding mechanism 21 based on the command of the main control component 7; wherein the second motor 24 controls the rotation of the screw in the second ball screw slide rail mechanism 221 to drive the second base 222 to move.

[0110] like Fig.11 As shown, Fig.11 yes Figure 7 Schematic diagram of the structure of an embodiment of the lifting assembly in FIG. The lifting assembly 3 includes: a lifting platform 31, a scissor-type lifting mechanism 32 and a hydraulic controller 33. The scissor-type lifting mechanism 32 is arranged on both sides of the lifting platform 31 along the second direction (lateral direction), wherein the scissor-type lifting mechanism 32 is used to adjust the height of the corresponding side end of the lifting platform 31. The hydraulic controller 32 is connected to the main control assembly 7, wherein the hydraulic controller 33 is used to control the hydraulic proportional valve of the scissor-type lifting mechanism 32 to control the lifting and lowering of the scissor-type lifting mechanism 32.

[0111] The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A pump body pipeline automatic leveling docking method, characterized in that: The following steps are involved: Based on the installation height of the first pipeline, adjusting the height of the lifting platform so that the second pipeline is flush with the first pipeline; Based on the level detection, PID adjustment is performed on the front and rear heights of the lifting platform so that the second pipeline is in a horizontal state; Based on the image of the first screw hole in the first pipe and the CA-YOLOv5s model, obtaining first coordinate information of the first screw hole; Based on the first coordinate information, the position of the mounting platform is adjusted so that the screw hole of the second pipe is aligned with the first screw hole; wherein the second pipe is fixed to the mounting platform according to a predetermined position.

2. The method according to claim 1, characterized in that The method for adjusting the height of the lifting platform based on the installation height of the first pipeline includes: Controlling the lifting of the lifting platform based on a first distance between the lifting platform and the first pipeline; In response to the first distance being greater than a preset value, the lifting platform rises horizontally; In response to the first distance being smaller than a preset value, the lifting platform is lowered horizontally.

3. The method according to claim 1, characterized in that The method for performing PID adjustment on the front and rear height of the lifting platform based on level detection comprises: In response to the lifting platform not being in a horizontal state, adjusting the lifting height of the front and rear sides of the lifting platform through PID, and feeding back the inclination signal in real time; In response to the lift being in a horizontal state, the PID controller stops adjusting the lift.

4. The method according to claim 3, characterized in that The method for acquiring first coordinate information of the first screw hole based on the image of the first screw hole and the CA-YOLOv5s model includes: Based on the captured image of the first screw hole, the CA-YOLOv5s model recognizes the image of the first screw hole and obtains a second distance between the center of the first screw hole and the camera; Based on the second distance and the coordinate transformation, the first coordinate information of the center of the first screw hole relative to the camera is obtained.

5. The method according to claim 4, characterized in that The method for adjusting the position of the mounting platform based on the first coordinate information includes: Based on the first coordinate information and the second coordinate information of the camera relative to the mounting platform, obtaining the third coordinate information of the center of the first screw hole relative to the mounting platform; Based on the third coordinate information, the mounting platform is controlled to move along the first direction and the second direction so that the screw hole of the second pipe is aligned with the first screw hole.

6. The method according to claim 4, characterized in that The method for constructing the CA-YOLOv5s model includes: Collect multiple sets of screw hole images, perform data enhancement, and obtain sample sets; Based on the sample set, build and train a YOLOv5s model; Based on the attention mechanism module and the YOLOv5s model, the attention mechanism module is introduced into the YOLOv5s model to construct the CA-YOLOv5s model.

7. A pump body pipeline automatic leveling docking system, characterized in that: include: a support clamp assembly for mounting a second pipe; A moving assembly, disposed at the lower side of the supporting and clamping assembly, wherein the moving assembly is used to adjust the horizontal position of the second pipe; A lifting assembly is arranged at the lower end of the moving assembly, wherein the lifting assembly is used to adjust the docking height of the second pipeline; wherein the lifting assembly includes a lifting platform arranged parallel to the second pipeline; an inclination sensor, disposed on the supporting clamping assembly, wherein the inclination sensor is used to detect the horizontal state of the second pipeline; A position sensor is disposed on a side of the lifting platform close to the first pipeline, wherein the position sensor is used to detect a first distance between the first pipeline and the lifting platform; A camera assembly, comprising a camera, wherein the camera assembly is used to capture an image of the first screw hole; A main control component is connected to the camera component, the tilt sensor and the position sensor respectively, wherein the main control component is used to control the movement of the moving component and the lifting of the lifting component; A trolley assembly is fixedly connected below the lifting assembly, wherein the trolley assembly is used to carry all the components and transport the second pipeline.

8. The system according to claim 7, characterized in that The support clamping assembly comprises: A mounting platform, used for carrying the second pipeline; A clamp, disposed at the front and rear opposite sides of the mounting platform, wherein the clamp is used to fix the second pipe; A fixing plate is fixedly connected below the mounting platform, wherein the inclination sensor is arranged on the fixing plate.

9. The system according to claim 8, characterized in that The mobile assembly comprises: A first sliding mechanism, movably disposed below the fixed plate, wherein the first sliding mechanism is used to control the fixed plate to move along a first direction; A second sliding mechanism, movably disposed at the lower side of the first sliding mechanism and fixedly connected to the lifting platform, wherein the second sliding mechanism is used to control the first sliding mechanism to move along a second direction perpendicular to the first direction; a first motor connected to the main control assembly and located in the first sliding mechanism, wherein the first motor controls the movement of the fixed plate based on an instruction of the main control assembly; A second motor is connected to the main control component and is located in the second sliding mechanism, wherein the second motor controls the movement of the first sliding mechanism based on the instruction of the main control component.

10. The system according to claim 9, characterized in that The lifting assembly also includes: a scissor-type lifting mechanism, arranged on both sides of the lifting platform along the second direction, wherein the scissor-type lifting mechanism is used to adjust the height of the corresponding side ends of the lifting platform; A hydraulic controller is connected to the main control component, wherein the hydraulic controller is used to control the hydraulic proportional valve of the scissor-type lifting mechanism to control the lifting and lowering of the scissor-type lifting mechanism.

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