Pipe belt conveyor route arrangement method and pipe belt conveyor route arrangement system

Abstract

The invention provides an arrangement method and an arrangement system of a pipe belt conveyor route, which can improve the arrangement efficiency of the pipe belt conveyor route and is also beneficial to reducing the error rate. The arrangement method of the pipe belt conveyor route comprises the steps that the starting position and the final position of the pipe belt conveyor route to be designed are determined, and the route section is determined according to the section of a pipe belt conveyor; determining an initial route according to a planar graph of an area between the initial position and the final position; determining a next target point of flight of the unmanned aerial vehicle according to the initial route; determining whether there is an obstacle in the route section when the central point of the route section is located at the next target point; if no obstacle exists, the unmanned aerial vehicle is controlled to fly to the next target point; if an obstacle exists, the flight height is increased or the unmanned aerial vehicle deviates in the horizontal direction so as to avoid the obstacle, the next target point serves as the next actual target point after the flight height or the horizontal offset is increased, and the unmanned aerial vehicle flies towards the next actual target point; and determining a pipe belt conveyor arrangement route according to the actual flight route of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of pipe-belt conveyors, and in particular to a method for arranging a pipe-belt conveyor route and a system for arranging a pipe-belt conveyor route. Background Art

[0002] The pipe-belt conveyor includes a curled pipe belt, and the material is placed in the pipe belt for transportation, which makes the transportation safer and more reliable. The conveying distance of the pipe-belt conveyor is usually long, ranging from tens of meters to hundreds of meters or even longer. In this way, the pipe-belt conveyor has a large span in a certain area, which requires considering the relevant geographical conditions, buildings, etc. in the area in order to reasonably design the layout route of the pipe-belt conveyor.

[0003] At present, the layout of the pipeline conveyor route is mainly carried out by engineers through on-site surveys, which leads to efficiency problems. It is also easy to make mistakes if the design relies solely on engineers. Summary of the invention

[0004] The purpose of this application is to provide a method and system for arranging a pipe conveyor route, which relies on drones to improve the efficiency of arranging the pipe conveyor route and also helps to reduce the error rate.

[0005] In order to solve the above technical problems, the present application provides a method for arranging a pipe belt conveyor route, comprising:

[0006] Determine the starting and ending positions of the pipe-belt conveyor route to be designed, and determine the route section according to the cross section of the pipe-belt conveyor;

[0007] According to the plan view of the area between the starting position and the end position, at least one initial route from the starting position to the end position is determined; then, the UAV is controlled to fly to the target position of the initial route according to the following steps:

[0008] Determine the next target point of the UAV flight according to the initial route;

[0009] Determine whether there is an obstacle in the route section when the center point of the route section is located at the next target point;

[0010] If there is no obstacle, control the drone to fly to the next target point;

[0011] If there is an obstacle, the flight altitude is increased or the horizontal offset is made to avoid the obstacle. The next target point is increased in flight altitude or horizontal offset to become the next actual target point, and the UAV flies to the next actual target point.

[0012] After the flying drone flies to the terminal position, the route of the belt conveyor is determined according to the actual flight route of the drone.

[0013] Optionally, the initial route includes a starting straight line route and an ending straight line route;

[0014] Controlling the UAV to fly from the starting position along the starting straight line route;

[0015] After completing the flight of the starting straight line route, determining the next target point or the next actual target point according to the next target point and the center point of the route cross section;

[0016] The starting point of the terminal straight line is the target position. After the drone flies to the target position, it flies along the terminal straight line to the terminal position.

[0017] Optionally, the route cross section is the cross section of the belt conveyor; or, the route cross section is obtained by expanding the cross section of the belt conveyor outward by a predetermined size.

[0018] Optionally, the drone is controlled to fly in an area between the starting position and the end position, and the plan view of the area between the starting position and the end position is obtained by scanning with the drone.

[0019] Optionally, when the UAV turns, its turning radius is controlled not to exceed a preset value; and / or, the flight path of the UAV includes a straight line route and an arc route, and the arc route is tangent to the straight line route.

[0020] Optionally, the drone performs metal detection under the ground during flight.

[0021] The present application also provides a system for arranging a pipe belt conveyor route, including a drone, wherein the drone has:

[0022] A distance module, used to detect the distance between the drone and obstacles;

[0023] A cross-section simulation module, used for obtaining a route cross-section according to the cross-section of the belt conveyor;

[0024] an obstacle avoidance module storing an initial route and used to determine whether there is an obstacle in the route section when the center point of the route section is located at the next target point of the initial route according to the distance detected by the distance module;

[0025] If there is no obstacle, the obstacle avoidance module controls the drone to fly to the next target point;

[0026] If there is an obstacle, the obstacle avoidance module controls the drone to increase the flight altitude or shift in the horizontal direction to avoid the obstacle. The next target point increases the flight altitude or the horizontal offset amount to become the next actual target point, and the obstacle avoidance module controls the drone to fly to the next actual target point.

[0027] Optionally, the drone further includes a flight restriction module, and the obstacle avoidance module controls the flight of the drone according to a restriction instruction of the flight restriction module, and the restriction instruction includes at least one of the following:

[0028] The UAV flies a first predetermined distance in a straight line from the starting position, and the UAV starts to fly in a straight line when it is a second predetermined distance away from the end position;

[0029] The turning radius of the UAV when turning does not exceed a preset value;

[0030] The flight path of the UAV includes an arc route and a straight route, and the arc route is tangent to the straight route.

[0031] Optionally, the drone further comprises a metal detection module, and the metal detection module is used for performing metal detection under the ground.

[0032] Optionally, the drone further includes a scanning module for scanning and obtaining a plan view of an area between a starting position and an end position of a pipe conveyor route.

[0033] This layout method and layout system are different from the traditional layout method mentioned in the background technology, in which engineers survey and design the pipe-belt machine route. Instead, it uses drone flight technology to intelligently plan the pipe-belt machine route route, and achieves measurement difficulties such as accurate avoidance of obstacles. Compared with manual survey, it is less prone to errors. Accordingly, it can also reduce the difficulty and intensity of engineers' work, allowing drones to intelligently plan, replace engineers to survey the site, and arrange the pipe-belt machine route by themselves, which can improve the layout efficiency. Moreover, it can also save costs such as on-site surveys. At the same time, drones can provide multiple routes for the engineering department to choose through flight, which is conducive to achieving the optimal solution for the pipe-belt machine route through comparison, and then achieving overall energy saving for the project. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a flow chart of a method for arranging a pipe belt conveyor route in an embodiment of the present application;

[0035] Figure 2 This is a cross-sectional schematic diagram of a belt conveyor in an embodiment of the present application;

[0036] Figure 3 It is a plan view of the area between the starting position and the end position of the belt conveyor in the embodiment of the present application;

[0037] Figure 4 Schematic diagram of the pipe belt conveyor route selected in the embodiment of the present application, Figure 3 The route of Option 2;

[0038] Figure 5 for Figure 4 Elevation layout of the central pipe belt conveyor route.

[0039] The following are the descriptions of the reference numerals: 100-pipe belt conveyor; 101-roller; 102-fixed bracket; 103-pipe belt; 104-base frame; 1041-bottom frame; 1042-side frame; 100A-route section; 200-land acquisition area; 301- tail transfer station; 302- head transfer station; 400-built factory buildings; 500 - roads; 600 - River; 700-The belt conveyor corridor has been built; 800-built buildings; 900-column; L1-actual route one; L2-actual route two; La-starting position; Ld-end point. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] Please refer to Figure 1 and Figure 2 , Figure 1 This is a flow chart of a method for arranging a pipe belt conveyor route in an embodiment of the present application; Figure 2 It is a cross-sectional schematic diagram of a belt conveyor in an embodiment of the present application.

[0042] The pipe belt conveyor 100 is the abbreviation of a tubular belt conveyor. The pipe belt 103 of the pipe belt conveyor 100 includes a load-bearing section and a return section. The pipe belt conveyor 100 can curl the conveyor belt into a tubular pipe belt 103 to convey materials. The materials are conveyed in the pipe belt 103 in a more stable and safe manner. The pipe belt 103 of the pipe belt conveyor 100 is as short as tens of meters and as long as hundreds of meters. In this span, the route of the pipe belt conveyor needs to be arranged relatively reasonably. The embodiment of the present application provides a method and system for arranging the route of the pipe belt conveyor, which mainly uses drones to arrange the route of the pipe belt conveyor.

[0043] The arrangement method of the pipe belt conveyor route in this embodiment is as follows:

[0044] Step 1: It is necessary to determine the starting position La and the end position Ld of the pipe conveyor route to be designed.

[0045] As mentioned above, the pipe conveyor 100 is used to transport materials. When designing the pipe conveyor route, the location of the material is determined, such as the material production workshop or material storage plant, material transfer station, etc., then the starting position La of the pipe conveyor route can be determined according to the material output position; and the material transportation target position is also determined, that is, the location of the material needs to be determined, such as a storage plant or a production workshop where the material is needed for production, or the next transfer station of the material, etc., then the terminal position Ld is determined according to the location where the storage plant or the production workshop or transfer station needs to unload the material. The pipe 103 of the pipe conveyor 100 has an elevation requirement, that is, the pipe 103 of the pipe conveyor 100 cannot be lower than a predetermined height, such as not lower than 4.5m or 5m from the ground, etc., and then according to the actual environment scene, the lowest height of each position of the pipe conveyor 100 can be determined to relatively accurately obtain the coordinates of the starting position La and the terminal position Ld.

[0046] In addition, the route cross section 100A is determined according to the cross section of the belt conveyor 100 .

[0047] Figure 2 In the embodiment, the straight conveyor belt is curled into a pipe belt 103 under the action of a plurality of rollers 101 distributed along the circumferential direction. The pipe belt conveyor 100 also includes a fixed support 102. A group of rollers 101 are installed on a corresponding fixed support 102. In addition, the pipe belt conveyor 100 also includes a base frame 104 extending along the conveying direction. The fixed support 102 is installed on the base frame 104. The base frame 104 includes a bottom frame 1041 supporting the fixed support 102 and side frames 1042 located on both sides of the bottom frame 1041. The side frames 1042 on both sides are located outside the fixed support 102. The cross section of the pipe belt conveyor 100 is the cross section of the pipe belt conveyor 100 perpendicular to its transportation direction. The cross section of the pipe belt conveyor 100 can be expanded outward by a predetermined size to obtain the route cross section 100A of the pipe belt conveyor 100. Figure 2 In the figure, the upper, lower, left and right sides of the cross section of the pipe conveyor 100 are respectively expanded outward by 300 mm to obtain a route cross section 100A of the pipe conveyor 100, as shown by the dotted line. The route cross section 100A may be a regular rectangular or square cross section.

[0048] Step 2: Determine at least one initial route from the starting position La to the end position Ld based on the plan view of the area between the starting position La and the end position Ld.

[0049] like Figure 3 As shown, Figure 3 1 is a plan view of the area between the starting position La and the end position Ld of the belt conveyor 100 in the embodiment of the present application.

[0050] The coordinates of the starting position La and the end position Ld are shown in the plan view. The coordinates of each object in the geodetic coordinate system are unique. After determining the starting point and the unloading point of the material, the coordinates of the starting position La and the end position Ld can be obtained by adding the elevation of the belt conveyor 100. Define the coordinates (X, Y, Z) of each object. Figure 3 The coordinates of the starting position La are (X=5585.073, Y=5280.556, Z (elevation)=4.5m), and the coordinates of the end position Ld are (X=5709.285, Y=5285.975, Z (elevation)=8.00m).

[0051] As mentioned above, the starting position La and the end position Ld can be determined according to actual design requirements. In theory, according to the principle that the straight line between two points is the shortest, the straight line path from the starting position La to the end position Ld is the shortest path. This straight line path is used as the pipe conveyor route, which will have the lowest cost and the most economical. However, due to geographical restrictions and building restrictions between the starting position La and the end position Ld, the pipe conveyor 100 cannot be arranged in a straight line from the starting position La to the end position Ld. This requires understanding the geographical conditions and building distribution of the area between the starting position and the end position Ld, so as to obtain a plan view.

[0052] Figure 3 It is shown in the figure that the starting position La is located at the tail transfer station 301 of the material, and the end position Ld is located at the head transfer station 302. The area between the starting position La and the end position Ld includes the land acquisition area 200, the built building 800, the built belt conveyor corridor 700, the road 500, the river 600, the built factory building 400, etc. Of course, Figure 3 This is just a specific example. Different layout scenarios may have different situations, so I will not list them one by one.

[0053] The plan view of the area between the starting position La and the end position Ld can be obtained by drone flight mapping, or by obtaining an existing plan view of the area. After the drone flies to a certain height in the air between the starting position La and the end position Ld, a 360° full-range scan is performed to obtain a plan view. The drone can be equipped with an image module, for example, and the measured plan view can display the distribution situation. The area size of the plan view can be determined according to actual needs. For example, based on the line connecting the starting position La and the end position Ld, the drone scans about 50m on both sides in the horizontal direction. There is no restriction here. It is mainly determined according to the actual layout requirements of the pipe conveyor 100, that is, the areas that the pipe conveyor 100 may pass through can be scanned to be included in the plan view.

[0054] After obtaining the plan view of the area between the starting position La and the end position Ld, the information of obstacles such as buildings distributed in the area between the starting position La and the end position Ld is basically clear. For example, some buildings are too high and obviously need to be avoided, or some buildings such as residential buildings need to be avoided. In this case, the shortest straight line between two points can be used as the basic principle, and then obstacles that obviously hinder the extension of the belt conveyor 100 (such as Figure 3 800 of the built buildings in the figure), to obtain an initial route. It is understandable that the initial route may not be limited to one, such as Figure 3 In the figure, there are high existing buildings 800 on the straight path between the starting position and the end position Ld, and it is necessary to bypass the existing buildings 800. The pipe conveyor 100 needs to be offset to the left or right side of the existing buildings 800. There is a land acquisition area 200 on the left side, and there are no other obstacles that need to be obviously avoided. There are rivers 600, roads 500 and existing factory buildings 400 on the right side. The top height of the existing factory building 400 is 5m (this information can be obtained by drone mapping. In principle, drones can map and obtain the geodetic coordinates of various obstacles), and it does not obviously hinder the extension of the pipe conveyor 100. Then, two initial routes can be obtained.

[0055] After the initial route is determined, step three can be executed, where the drone flies along the initial route and further optimizes the route during flight.

[0056] Step 3: Control the drone to fly according to the following steps S1 and S2:

[0057] S1, determine the next target point of the drone flight according to the initial route;

[0058] Figure 3 The initial route is the general direction of the UAV flight, that is, the X and Y values ​​of the geodetic coordinate system of each position in the initial route can be determined, and the Z value can be set to the elevation of the pipe belt machine 100. When the UAV flies along the initial route, the coordinates (X, Y, Z) of the next target point are determined relative to the current position of the UAV.

[0059] S2. Before flying to the next target point, it is necessary to determine whether there is an obstacle in the route section 100A when the center point of the route section 100A determined according to the cross section of the pipe belt machine 100 is located at the next target point. As mentioned above, before step 3 (not limited to the one obtained in step 1), the route section 100A needs to be obtained. The center point of the route section 100A is the intersection of its horizontal and vertical center lines. At this time, the drone is compared to the center of the route section 100A. When the drone is located at the next target point, it means that the center position of the pipe belt machine 100 is at the next target point. If there is an obstacle in the route section 100A at the next target point, it means that the pipe belt machine 100 will interfere with the obstacle when it extends to that place. Then, the next target point in the initial route cannot be really used as the target point, and it is necessary to avoid this position. For example, if it is determined that there is an obstacle in the route section 100A, the drone can be controlled to increase the flight altitude or deviate in the horizontal direction to avoid the obstacle. After increasing the flight altitude or horizontal offset at the next target point, the coordinates of the next actual target point can be determined, and the drone flies to the next actual target point.

[0060] As mentioned above, each object has unique coordinates in the geodetic coordinate system. The next actual target point can be obtained by increasing the target flight altitude Y2 or the horizontal offset X2 as needed. The coordinates of the next actual target point are, for example, (X1, Y1+Y2, Z1) or (X1+X2, Y1, Z1).

[0061] When encountering obstacles, you can choose to increase the flight altitude. However, if the obstacle is too high, increasing the flight altitude too much may cause large peaks to appear on the conveyor route, which will be detrimental to the safe transportation of materials. The conveyor route should try to avoid large peaks and troughs, so you can choose horizontal offset. Similarly, if there are many obstacles located within the route section 100A, the horizontal offset will be larger, and the turning amplitude of the conveyor 100 may be larger. For greater safety, you can choose to increase the flight altitude to avoid it. That is, you can choose the next actual target point according to the actual situation, or you can let the drone fly according to the increase in flight altitude and horizontal offset respectively, and make a choice based on the final impact on the route.

[0062] If it is determined based on the initial route that there are no obstacles within the route section 100A at the next target point, the drone can be controlled to fly to the next target point, that is, it still flies along the initial route.

[0063] After following the above steps S1 and S2, the drone flies to the next target point or the next actual target point. The next target point or the next actual target point becomes the current position. A new next target point can be determined based on the initial route, and then the above steps S1 and S2 are repeated until the drone flies to the target position of the initial route. The target position can be the end position Ld or a position at a certain distance from the end position Ld. It will be mentioned later that a straight line route needs to be set when approaching the end position Ld.

[0064] Step 4: Determine the route for arranging the pipe belt machine 100 according to the actual flight route of the UAV.

[0065] It should be noted that, according to the above description, when there is one initial route, the actual flight route of the UAV may also obtain more than one actual flight route based on the purpose of obstacle avoidance. When there are two or more initial routes, multiple actual flight routes will inevitably be obtained. At this time, multiple actual routes can be compared to obtain the best route, for example, the most suitable route can be selected as the pipe belt machine route based on comprehensive construction convenience, safety, cost and other factors.

[0066] You can continue to refer to Figure 3 After the drone flies, two actual routes are obtained, namely, actual route 1 L1 and actual route 2 L2. Accordingly, two schemes 1 and 2 of the pipe conveyor routes are obtained. Then, the difference in engineering cost under the two schemes can be considered. For example, the total length of the pipe conveyor 100 in scheme 1 is 188 meters, and the total length of the pipe conveyor 100 in scheme 2 is 175 meters.

[0067] In the first scheme, the pipe belt conveyor route needs to cross the land acquisition area 200, while the second scheme does not need to cross the land acquisition area 200. The cost of the land acquisition area 200 is usually uncertain. If this part of the land acquisition area 200 can be negotiated, the project cost other than the land acquisition area 200 can be compared. Figure 3 In the scheme, since the overall length of the belt conveyor 100 of scheme 2 is also shorter, the engineering cost of scheme 2 is obviously lower. According to engineering practice, the total cost of scheme 1 is at least 3.76 million yuan, while the engineering cost of scheme 2 is about 3.5 million yuan. In terms of cost, scheme 2 is better.

[0068] On this basis, the site conditions can also be determined according to the UAV flight conditions to consider the possible difficulties of the routes of the two options in the actual construction process. Figure 3 As for the two schemes, the construction difficulty is basically the same. Therefore, comprehensively speaking, the route of scheme 2 can be selected as the final pipe-belt machine route to arrange the pipe-belt machine 100.

[0069] It can be seen that the arrangement method of the pipe belt conveyor route in the embodiment of the present application can achieve the following technical effects:

[0070] This layout method is different from the traditional layout method mentioned in the background technology, in which engineers survey and design the pipe-belt machine route. Instead, it uses drone flight technology to intelligently plan the pipe-belt machine route, and achieves measurement difficulties such as accurate avoidance of obstacles. Compared with manual survey, it is less prone to errors. Accordingly, it can also reduce the difficulty and intensity of engineers' work, allowing drones to intelligently plan, replace engineers to survey the site, and arrange the pipe-belt machine route by themselves, which can improve the layout efficiency. Moreover, it can also save costs such as on-site surveys. At the same time, drones can provide multiple routes for the engineering department to choose through flight, so as to achieve the optimal solution for the pipe-belt machine route through comparison, and achieve overall energy saving for the project.

[0071] For the above-mentioned method for arranging the route of the pipe conveyor, the determined initial route may include a starting straight line route and a terminal straight line route. When controlling the flight of the drone, it can fly from the starting position La along the starting straight line route; after completing the flight of the starting straight line route, determine how to fly through the above-mentioned steps S1 and S2, that is, according to the next target point and the center point of the route section 100A, determine the next target point or the next actual target point of the initial route, until flying to the terminal straight line route, fly along the terminal straight line route to the terminal position Ld, and the starting point of the terminal straight line route is the above-mentioned target position. That is, the starting section of the pipe conveyor route connected to the starting position La and the terminal section connected to the terminal position Ld are preferably set as straight lines, and no turning is allowed, so that the layout space of the head and tail transition sections of the pipe conveyor 100 can be reserved, and there needs to be a certain amount of straight running before and after the transition section to ensure the stability of the pipe conveyor 100 during operation. The distance between the starting straight line and the ending straight line is, for example, 40 times the outer diameter of the pipe 103 of the pipe conveyor 100 + 20 meters. The distance of the straight line segment can be set according to the model of the pipe conveyor 100 and operational safety.

[0072] In the above method, when determining the route cross section 100A, the cross section of the pipe conveyor 100 is expanded outward by a predetermined distance. It can be seen that the cross section of the pipe conveyor 100 can also be used as the route cross section 100A, but expanding the cross section outward as a basis for determining obstacle avoidance is more conducive to ensuring the reliability of obstacle avoidance and preventing the detection error of the drone on the obstacle from affecting the safety of the route layout.

[0073] You can continue to refer to Figure 4 , 5 understand, Figure 4 Schematic diagram of the pipe belt conveyor route selected in the embodiment of the present application, Figure 3 The route of Option 2; Figure 5 for Figure 4 Elevation layout of the central pipe belt conveyor route.

[0074] After the route of the pipe conveyor is determined, the positions of the multiple columns 900 supporting the pipe conveyor 100 can be determined. After the pipe conveyor 100 is arranged, it is at a certain distance from the ground. The pipe conveyor 100 needs to be supported on the ground by multiple columns 900 distributed along the length direction of the pipe conveyor 100. The arrangement positions of the multiple columns 900 can be roughly designed according to the load-bearing requirements. Then, a drone can be used to fly along the determined route of the pipe conveyor. When the drone flies to the position corresponding to the column 900, metal detection is performed under the ground at that position to verify whether the ground is suitable for foundation excavation to fix the column 900, that is, to provide data for the feasibility analysis of the fixation of the column 900. For example, if the detected metal type, content and other factors will affect the construction, the position of the column 900 can be adjusted, and accordingly, the columns 900 at other positions may also be adjusted based on the load-bearing requirements until all the columns 900 can be smoothly constructed and installed. It can be seen that the drone is not limited to metal detection at the designed position of the column 900, but can also directly perform comprehensive metal detection along the determined belt conveyor route, and then determine the number and distribution plan of the columns 900 according to the metal detection conditions on the ground below the belt conveyor route and the load-bearing requirements.

[0075] The above mainly discusses a method for arranging a pipe-belt conveyor route. Accordingly, an embodiment of the present application provides a system for arranging a pipe-belt conveyor route. The system includes a drone having a distance module, a cross-section simulation module, and an obstacle avoidance module.

[0076] Among them, the distance module is used to detect the distance between the drone and the obstacle, which can be a vertical distance or a horizontal distance. The distance module can transmit the measured distance data to the obstacle avoidance module.

[0077] The cross-section simulation module is used to obtain the route cross-section 100A of the belt conveyor 100, and can transmit the simulated route cross-section 100A to the obstacle avoidance module;

[0078] Among them, the obstacle avoidance module stores the initial route, and the relevant data of the initial route can be input into the obstacle avoidance module of the drone. The avoidance module is also used to determine whether there is an obstacle in the route section 100A when the center point of the route section 100A is located at the next target point of the initial route according to the spacing detected by the distance module and the route section 100A. That is, the obstacle avoidance module determines whether it is necessary to change the initial route. If there is no obstacle in the route section 100A, the obstacle avoidance module controls the drone to fly to the next target point. If there is an obstacle in the route section 100A, the obstacle avoidance module controls the drone to increase the flight altitude or offset in the horizontal direction to avoid the obstacle. The next target point increases the flight altitude or the horizontal offset amount as the next actual target point, and the drone flies to the next actual target point.

[0079] The route arrangement system of the pipe belt machine in this embodiment also includes a flight restriction module. The obstacle avoidance module controls the flight of the UAV according to the restriction instructions stored in the flight restriction module. The stored restriction instructions include at least one of the following:

[0080] Restriction instruction 1: The UAV flies a first predetermined distance in a straight line from the starting position La, that is, flies along the starting straight line route, the length of the starting straight line route is the first predetermined distance, and the UAV starts to fly in a straight line when the UAV is a second predetermined distance away from the end position Ld, that is, flies along the end straight line route, the length of the end straight line route is the second predetermined distance;

[0081] Restriction command 2: The turning radius of the drone does not exceed the preset value;

[0082] Restriction instruction three: The flight path of the drone includes an arc route and a straight route, and the arc route and the straight route are tangent.

[0083] Regarding the second limiting instruction, for example, you can refer to the following table:

[0084] Among them, d g (mm) is the diameter of the pipe belt 103.

[0085] The pipe belt conveyor 100 may have a curved segment in the vertical plane, and the curved segment includes a convex arc segment and a concave arc segment. The convex arc segment is a local segment of the pipe belt conveyor 100 that is arched upward, and the concave arc segment is a local segment of the pipe belt conveyor 100 that is sunken downward. The turning radius is the radius of curvature. The radius of curvature needs to be subject to certain restrictions according to the different materials of the pipe belt 103. In this way, the safety of the pipe belt conveyor 100 can be guaranteed. When the obstacle avoidance module performs the obstacle avoidance operation, it can determine the obstacle avoidance amplitude in combination with the limited instruction 2 stored in the restricted flight module. It can be seen from the above table that the hardness of the steel wire rope core is greater than that of the polyester fabric core and the polyurethane fabric core, and the minimum curvature radius needs to be set relatively larger to avoid damaging the pipe belt 103. According to the convex and concave differences of the vertical curved segment, the minimum curvature radius is also different. The minimum curvature radius of the concave arc segment can be designed to be relatively small, which is also adaptively designed based on the stress difference of the concave and convex loads.

[0086]

[0087] When the pipe belt 103 adopts polyester and polyurethane fabric core, the center angle is not likely to exceed 100°, and the center angle of the horizontal turning section of the pipe belt 103 with a steel wire rope core is not likely to exceed 90°.

[0088] Similarly, the minimum curvature radius of the horizontal turning section is also affected by the material of the pipe belt 103. Table 2 lists how to select the minimum curvature radius corresponding to more material types of the pipe belt 103. The main principles include the following: the greater the material hardness, the greater the minimum curvature radius of the horizontal turning section; the greater the pipe diameter, the greater the minimum curvature radius of the horizontal turning section; the greater the central angle, the greater the minimum curvature radius of the horizontal turning section.

[0089] The third restriction instruction mentioned above is to ensure that the designed pipe conveyor route is as smooth as possible. In theory, any continuous and smooth curve can be used as the route curve of the pipe conveyor 100. In actual design, the difficulty of design and production is taken into consideration. When the flight path of the drone includes an arc route and a straight route, the arc route and the straight route can be set tangently.

[0090] In addition to the above-mentioned restriction instructions, the flight restriction module can also set other restriction instructions, such as avoiding areas that cannot be crossed or are costly to cross, such as other enterprise factories, villages, sea tidal flats, basic farmland, etc. If these areas are on the obtained plan, the restriction instructions can be input into the flight restriction module of the drone. For example, if there are undulating terrain along the way, there are no large peak-to-valley height differences and a large number of tunnels or tall columns in the overall section, if they exist, they can also be excluded when designing the initial route, or excluded in subsequent flight planning.

[0091] In addition, the drone in this embodiment also has a metal detection module. As mentioned above, the metal detection module is used to perform metal detection under the ground in order to confirm the feasibility of excavating the foundation of the column 900.

[0092] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for arranging a pipe belt conveyor route, characterized in that: include: Determine the starting and ending positions of the pipe-belt conveyor route to be designed, and determine the route section according to the cross section of the pipe-belt conveyor; According to the plan view of the area between the starting position and the end position, at least one initial route from the starting position to the end position is determined; then, the UAV is controlled to fly to the target position of the initial route according to the following steps: Determine the next target point of the UAV flight according to the initial route; Determine whether there is an obstacle in the route section when the center point of the route section is located at the next target point; If there is no obstacle, control the drone to fly to the next target point; If there is an obstacle, the flight altitude is increased or the horizontal offset is made to avoid the obstacle. The next target point is increased in flight altitude or horizontal offset to become the next actual target point, and the UAV flies to the next actual target point. After the flying drone flies to the terminal position, the route of the belt conveyor is determined according to the actual flight route of the drone.

2. The method for arranging a belt conveyor route according to claim 1, characterized in that: The initial route includes a starting straight line route and an end straight line route; Controlling the UAV to fly from the starting position along the starting straight line route; After completing the flight of the starting straight line route, determining the next target point or the next actual target point according to the next target point and the center point of the route cross section; The starting point of the terminal straight line is the target position. After the drone flies to the target position, it flies along the terminal straight line to the terminal position.

3. The method for arranging a belt conveyor route according to claim 1, characterized in that: The route cross section is the cross section of the belt conveyor; or, the route cross section is obtained by expanding the cross section of the belt conveyor outward by a predetermined size.

4. The method for arranging a belt conveyor route according to claim 1, characterized in that: The drone is controlled to fly in the area between the starting position and the end position, and the plan view of the area between the starting position and the end position is obtained by scanning with the drone.

5. The method for arranging a belt conveyor route according to any one of claims 1 to 4, characterized in that: When the UAV turns, its turning radius is controlled not to exceed a preset value; and / or, the flight path of the UAV includes a straight line route and an arc route, and the arc route is tangent to the straight line route.

6. The method for arranging a belt conveyor route according to any one of claims 1 to 4, characterized in that: The drone performs metal detection under the ground during flight.

7. A system for arranging a pipe belt conveyor route, characterized in that: The invention comprises a drone, wherein the drone has: A distance module, used to detect the distance between the drone and obstacles; A cross-section simulation module, used for obtaining a route cross-section according to the cross-section of the belt conveyor; an obstacle avoidance module storing an initial route and used to determine whether there is an obstacle in the route section when the center point of the route section is located at the next target point of the initial route according to the distance detected by the distance module; If there is no obstacle, the obstacle avoidance module controls the drone to fly to the next target point; If there is an obstacle, the obstacle avoidance module controls the drone to increase the flight altitude or shift in the horizontal direction to avoid the obstacle. The next target point increases the flight altitude or the horizontal offset amount to become the next actual target point, and the obstacle avoidance module controls the drone to fly to the next actual target point.

8. The system for arranging the route of a belt conveyor according to claim 7, characterized in that: The drone further includes a flight restriction module, and the obstacle avoidance module controls the flight of the drone according to a restriction instruction of the flight restriction module, wherein the restriction instruction includes at least one of the following: The UAV flies a first predetermined distance in a straight line from the starting position, and the UAV starts to fly in a straight line when it is a second predetermined distance away from the end position; The turning radius of the UAV when turning does not exceed a preset value; The flight path of the UAV includes an arc route and a straight route, and the arc route is tangent to the straight route.

9. The system for arranging the route of a belt conveyor according to claim 7, characterized in that: The drone also has a metal detection module, which is used to detect metal under the ground.

10. The arrangement system of the belt conveyor route according to any one of claims 7 to 9, characterized in that: The drone also includes a scanning module for scanning and obtaining a plan view of an area between a starting position and an end position of a pipe conveyor route.

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