Cooperative control method and device for pipe-roofing-method cutting and welding robot

Abstract

The invention discloses a cooperative control method and device for a pipe-roofing-method cutting and welding robot, and relates to the technical field of intelligent construction. According to the method, the preset cutting and welding construction position of the pipe roofing steel pipe is determined according to the geological parameters of the construction site, and therefore the number of the needed cutting and welding robots is determined according to the construction position. Constructing a cooperative control model by taking the construction path of the cutting and welding robot as an optimization variable and taking the shortest total construction time of cutting and welding in the pipe roofing steel pipe as an optimization target; and then the cooperative control model is solved, the optimal construction path of each cutting and welding robot is obtained, and cooperative control is conducted on each cutting and welding robot in the pipe roofing steel pipe according to the optimal construction path. According to the method, collaborative construction of the multiple cutting and welding robots is achieved, and the construction collaboration and the construction efficiency of the cutting and welding robots are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent construction technology, and in particular to a collaborative control method and device for a pipe curtain cutting and welding robot. Background Art

[0002] At present, underground transportation infrastructure is developing rapidly. Traditional open-cut construction is very likely to cause urban traffic jams, bringing inconvenience to residents' lives, and can no longer meet the requirements of urban underground space construction. The pipe curtain method has the advantages of good stratum deformation control, small impact on ground traffic, and high construction safety. It has become a new trend in urban shallow underground engineering construction with strict deformation control requirements. Steel pipe cutting and welding construction is an important part of pipe curtain construction. It can ensure the continuity and integrity of the pipe curtain structure, improve the strength of steel pipe joints, and prevent the steel pipe from moving and dislocating under the action of external forces.

[0003] In the prior art, the cutting and welding of pipe-roof steel pipes are mostly performed manually. However, the environment inside the steel pipes is harsh, the manual pipe cutting is labor-intensive, and the construction quality and efficiency are low. An automated equipment is needed to realize unmanned operations of steel pipe cutting and welding. Research on intelligent rapid cutting and welding robots for pipe-roof steel pipes has been conducted, which has proved the applicability of such robots in pipe-roof construction.

[0004] However, today, the cutting and welding robots are still dispatched and controlled by experienced technicians, which relies heavily on the technicians’ experience. In addition, the cutting and welding robots controlled by manual dispatch have poor construction coordination and low construction efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a collaborative control method and device for a pipe curtain cutting and welding robot to address the above technical problems.

[0006] The present invention adopts the following technical solutions: The present invention provides a collaborative control method for a pipe curtain cutting and welding robot. First, according to the geological parameters of the construction site, the preset construction location of the cutting and welding of the pipe curtain steel pipe is determined, and then the number of cutting and welding robots required is determined according to the construction location. Then, the construction path of the cutting and welding robot is used as the optimization variable, and the movement speed of each welding robot is less than or equal to the maximum movement speed, the total operation time of a single welding robot is less than or equal to the maximum operation time, and the construction sequence requirements are met as constraints. The total construction time of cutting and welding in the pipe curtain steel pipe is minimized as the optimization goal, and a collaborative control model is constructed. Then, the collaborative control model is solved to obtain the optimal construction path of each cutting and welding robot, and the cutting and welding robots in the pipe curtain steel pipe are collaboratively controlled based on this.

[0007] The present invention provides a cooperative control device for a pipe curtain cutting and welding robot, comprising: A determination module is used to determine the construction position for cutting and welding of the preset pipe curtain steel pipe according to the geological parameters of the construction site; and to determine the number of cutting and welding robots required according to the construction position; A modeling module is used to construct a collaborative control model with the construction path of each cutting and welding robot as the optimization variable, the moving speed of each welding robot being less than or equal to the maximum moving speed, the total operating time of a single welding robot being less than or equal to the maximum operating time, and the construction sequence requirements being met as the constraints, and the total construction time of cutting and welding inside the pipe curtain steel pipe being the shortest as the optimization goal; The solution control module is used to solve the collaborative control model to obtain the optimal construction path of each cutting and welding robot; according to the optimal construction path of each cutting and welding robot, the cutting and welding robots in the pipe curtain steel pipe are collaboratively controlled.

[0008] The present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the collaborative control method of the pipe curtain method cutting and welding robot is implemented.

[0009] The present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the collaborative control method of the pipe curtain cutting welding robot is implemented.

[0010] At least one of the above technical solutions adopted by the present invention can achieve the following beneficial effects: The present invention first determines the required number of cutting and welding robots, then takes the construction path of the cutting and welding robots as the optimization variable, forms constraints according to the construction needs of each cutting and welding robot, and constructs a collaborative control model of the cutting and welding robots with the goal of maximizing construction efficiency. The collaborative control model is then solved to obtain the optimal construction path so as to collaboratively control multiple cutting and welding robots. Usually, each pipe curtain structure includes multiple steel pipes, and the cutting of each steel pipe and the welding between the steel pipes can be collaboratively performed by multiple cutting and welding robots. By constructing and solving the collaborative control model, the self-collaborative construction of multiple cutting and welding robots is realized, thereby improving the construction coordination and construction efficiency of each cutting and welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1A schematic flow chart of a collaborative control method for a pipe curtain cutting and welding robot provided by the present invention; Figure 2 A schematic diagram of a pipe curtain cutting and welding construction method provided by the present invention; Figure 3 A schematic diagram of the movement paths of two cutting and welding robots provided by the present invention; Figure 4 A schematic diagram of a collaborative control device for a pipe curtain cutting and welding robot provided by the present invention. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0013] At present, the specifications require that steel pipes be cut and welded in sections and segments. This requires timely adjustment and control of the construction paths of each cutting and welding robot to achieve coordinated construction of each robot, thereby improving construction quality and efficiency while increasing equipment utilization.

[0014] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0015] Figure 1 The present invention is a schematic flow chart of a collaborative control method for a pipe curtain cutting and welding robot, which specifically includes the following steps: S101: Determine a preset construction position for cutting and welding of the pipe curtain steel pipe according to geological parameters of the construction site; and determine the number of required cutting and welding robots according to the construction position.

[0016] S102: Taking the construction path of each cutting and welding robot as the optimization variable, taking the moving speed of each welding robot less than or equal to the maximum moving speed, the total operating time of a single welding robot less than or equal to the maximum operating time and meeting the construction sequence requirements as constraints, and taking the shortest total construction time for cutting and welding inside the pipe curtain steel pipe as the optimization goal, a collaborative control model is constructed.

[0017] S103: Solving the collaborative control model to obtain the optimal construction path of each cutting and welding robot; and collaboratively controlling each cutting and welding robot in the pipe curtain steel pipe according to the optimal construction path of each cutting and welding robot.

[0018] For the convenience of explanation, the following description is only based on the server as the execution subject. The server mentioned in the present invention can be a server set up on the business platform, or a device such as a desktop computer, a notebook computer, etc. that can execute the solution of the present invention.

[0019] Usually, during the pipe curtain construction process, each pipe curtain steel pipe can be jacked first: the working well is excavated to the jacking position of the pipe curtain steel pipe, and multiple pipe curtain steel pipes are jacked to the designed position using a cylinder. After that, each pipe curtain steel pipe needs to be cut and welded, and the server of the business platform needs to determine the collaborative control scheme of each cutting and welding robot for collaborative construction.

[0020] Based on this, in one or more embodiments of the present invention, the server can determine the construction position for cutting and welding the preset pipe curtain steel pipe according to the geological parameters of the construction site. The geological parameters mentioned here include: the density of the soil layer , elastic modulus of soil layer E , soil cohesion c 、Internal friction angle of soil layer and Poisson's ratio of the soil layer At least one of them.

[0021] Specifically, in one or more embodiments of the present invention, when determining the construction location, the server may first determine the pipe curtain design structure for pipe curtain construction according to the geological parameters and construction conditions of the construction site. Then, according to the determined pipe curtain design structure and the preset pipe curtain steel pipe, the number of cutting and welding of the preset pipe curtain steel pipe is determined to determine the construction location for cutting and welding of the preset pipe curtain steel pipe.

[0022] Furthermore, in one or more embodiments of the present invention, when each cutting and welding robot performs cutting and welding at each construction location, the construction sequence requirements of cutting and welding can be further considered. Generally, the construction plan should ensure that the construction sequence of the pipe curtain steel pipe cutting and welding is carried out in sections along the length direction of the pipe curtain steel pipe; the cutting and welding of adjacent pipe curtain steel pipes is performed in sections, that is, the cutting and welding is performed in a jump welding manner, so that the cutting and welding of adjacent pipe curtain steel pipes alternately exist in the construction section and the non-construction section, such as Figure 2 As shown, Figure 2 This is a schematic diagram of a pipe curtain cutting and welding construction method in the present invention. Figure 2 In the figure, the ground layer 1, the pipe curtain steel pipe 2, the construction section 3 and the non-construction section 4 are shown. And the cutting and welding sections (construction section 3 and non-construction section 4) on both sides of any pipe curtain steel pipe are staggered.

[0023] Furthermore, in one or more embodiments of the present invention, the server may also determine the number of cutting and welding robots required according to the construction location.

[0024] For example, if a single steel pipe is 8 meters long and divided into 8 sections with a total of 7 construction locations, the server can arrange 2 cutting and welding robots for construction, the robot movement speed is set to 1m / s, and the construction time at each location is set to 2h. The movement paths of the two robots can be preliminarily planned, such as Figure 3 As shown, Figure 3 This is a schematic diagram of the movement paths of two cutting and welding robots in the present invention. It can be seen that the two cutting and welding robots ① and ② move alternately and perform construction in the spaced construction sections, forming two corresponding construction paths, ABFE and CDHG, respectively.

[0025] Each cutting and welding robot may include a transport and carrying device, a cutting mechanical arm, a welding mechanical arm, an intelligent cutting and welding control system, a visual recognition system, a positioning system and a communication system. Among them, the robot's cutting and welding mechanical arms are mounted on the transport and carrying device and can move inside the pipe curtain steel pipe; the cutting mechanical arm is used for cutting the pipe curtain steel pipe; the welding mechanical arm is used for welding adjacent pipe curtain steel pipes; the intelligent cutting and welding control system has built-in cutting program modules and welding program modules for creating cutting and welding programs; the visual recognition system is used to design the weldability of the welding position and the recognition of obstacles; the positioning system is used to determine the position coordinates of each robot in the steel pipe; the communication system can realize the transmission of information such as position and construction progress between each robot and between the robot and the control platform.

[0026] After determining the construction location, construction sequence requirements and the number of cutting and welding robots required as described above, the server can model and solve the construction path of each cutting and welding robot based on this.

[0027] Problem description: Each pipe curtain steel pipe can be composed of construction sections and non-construction sections arranged at intervals along the length direction. In a certain pipe curtain steel pipe, a cutting and welding robot will perform multi-area pipe curtain steel pipe cutting and welding construction. After completing the cutting and welding construction of the construction section, the cutting and welding robot will go to the next construction section to start work.

[0028] Problem assumptions: ① The cutting and welding robot starts from one end of a pipe curtain steel pipe, and constructs in one direction along the length of the pipe curtain steel pipe and ends at the other end.

[0029] ② Set up 2n sections in each pipe-curtain steel pipe, including n construction sections and n non-construction sections arranged at intervals. There is a cutting and welding position on both sides of the pipe-curtain steel pipe in each construction section, that is, the cutting and welding construction needs to be carried out 2n times in total.

[0030] ③ Arrange m cutting and welding robots to perform construction on various cutting and welding positions inside a pipe curtain steel pipe.

[0031] ④ During the construction of a pipe curtain steel pipe, each cutting and welding position is constructed only once.

[0032] Variable definition of the optimization model: Assume that the length of a single pipe curtain steel pipe is L , then the length of each construction section and non-construction section for ; For the i The number of the cutting and welding robots, ; v The moving speed of the cutting and welding robot; S k For the k The number of the construction section. ; S kj For the k The construction section is left ( j =1) / right side ( j =2) cutting and welding position number, .

[0033] For the convenience of description, or To indicate the various construction welding positions in turn, when A and B are odd numbers, they indicate the left cutting welding position of the pipe curtain steel pipe, and when they are even numbers, they indicate the right cutting welding position. or ; is the relative position of the ith robot inside the steel tube of the tube roof, indicating that k The left side of the construction section ( j =1) / right( j =2) Side cutting welding position; is the distance between the two cutting and welding positions A and B; For the i The time required for a cutting and welding robot to carry out one cutting and welding operation at the cutting and welding position; For the i The time required for a cutting and welding robot to move from cutting and welding position A to cutting and welding position B, ; The maximum operating time for a single cutting and welding robot; It is the maximum speed at which the cutting and welding robot moves inside the pipe curtain steel pipe.

[0034] Decision variable definition: , , .

[0035] Based on the above, an optimization model can be constructed: Objective function: .

[0036] in, Indicates the inside of a single tube curtain steel pipe Cutting and welding robot pairs The total construction time for each cutting and welding position is the shortest.

[0037] Constraints: , indicating that the cutting and welding robot moves at a speed not exceeding the maximum speed; , indicating that the total operating time of a single cutting and welding robot does not exceed its maximum operating time; and and Not existing at the same time , which means that there is only one cutting and welding robot working in the same construction section at the same time, ensuring that the working units on both sides of the pipe curtain steel pipe are staggered in construction.

[0038] After constructing the collaborative control model as described above, the server can further solve the model to determine the construction path of each cutting and welding robot.

[0039] In one or more embodiments of the present invention, the server may use a particle swarm optimization algorithm (PSO) to solve the model. The server may first randomly generate a construction path for each cutting and welding robot according to a preset search range of the cutting and welding robot's construction path, use the generated construction path of each cutting and welding robot as the position of a particle corresponding to a solution, and randomly generate a speed of the particle representing the update of the solution, and randomly generate multiple particles to form a particle swarm. The particle swarm optimization algorithm can simulate the mutual cooperation of individuals in a group to find the optimal solution to the problem, and there is mutual cooperation between the cutting and welding robots. Therefore, the particle swarm optimization algorithm can better simulate and solve the collaborative control between the cutting and welding robots, determine the preferred construction path of each cutting and welding robot, and achieve better collaborative cooperation between the cutting and welding robots.

[0040] Then, the fitness of each particle is determined according to the total construction time of each cutting and welding robot corresponding to each particle, and the individual optimal solution corresponding to each particle and the global optimal solution corresponding to all particles are determined according to the fitness value of each particle.

[0041] Afterwards, according to the individual optimal solution corresponding to each particle and the global optimal solution corresponding to all particles, the speed and position of each particle are updated, and the individual optimal solution and the global optimal solution are updated according to the fitness of each particle after the update. And the solution corresponding to the particle swarm is optimized through multiple rounds of iteration until the preset number of iterations or the preset fitness requirements are reached. If all conditions are met, the operation is terminated and the current global optimal solution is used as the optimal construction path of each cutting and welding robot. If not met, the solution process is repeated.

[0042] Specifically, the fitness of each particle in the particle swarm can be calculated based on the fitness function f Sure: , that is, the total construction time of each cutting and welding robot for all cutting and welding positions in the solution corresponding to each particle is taken as the fitness.

[0043] For each particle, its individual optimal solution can be determined according to the following formula: .

[0044] In the formula, For the i The particle d Vidi k The individual optimal solution of the iteration (i.e., i The solution corresponding to the particle d The construction path of the cutting and welding robot is k The individual optimal construction path in the iteration), For the i The particle d Vidi k+ The position of the 1st iteration (i.e., i The solution corresponding to the particle d The first cutting and welding robot k+ 1 iteration of the construction path).

[0045] For the entire particle swarm, the global optimal solution can be determined according to the following formula: .

[0046] In the formula, is the first particle swarm d Vidi k The global optimal solution of the iteration (i.e., the solution corresponding to the entire particle swarm) d The first cutting and welding robot k The global optimal construction path for each iteration).

[0047] When updating the speed and position of each particle in the particle swarm, you can refer to the following formula: , .

[0048] In the formula, For the i The particle d Vidi k The speed of the iteration (i.e., i The solution corresponding to the particle d The update amount of the construction path of the cutting and welding robot), , is a learning factor in the range [0, 4], r 1. r 2 is a random number between [0, 1], For the i The particle d Vidi k The position of the iteration (i.e., i The solution corresponding to the particle d The first cutting and welding robot k construction path for each iteration).

[0049] The optimization model constructed based on a single pipe curtain steel pipe mentioned above, in specific applications, the pipe curtain steel pipes are usually close to each other. The cutting and welding of one side of the pipe curtain steel pipe actually involves two pipe curtain steel pipes. Cutting refers to cutting the two pipe curtain steel pipes at the target position. After cutting, the two pipe curtain steel pipes are connected at the target position. Welding is also the welding of the two steel pipes at the target position. In this way, an optimization sub-problem can be constructed with two pipe curtain steel pipes as a group. When the cutting and welding of the subsequent pipe curtain steel pipes are planned on the basis of this group of pipe curtain steel pipes, the construction sequence requirements must also be met. Therefore, a process of continuously increasing constraints is formed based on the increase of pipe curtain steel pipes. Based on the cutting and welding of each pipe curtain steel pipe, a total optimization problem will be formed, which can be gradually solved during the solution. For example, the first group of pipe curtain steel pipes may obtain multiple construction paths. When adding pipe curtain steel pipes and calculating again, constraints will be added on the basis of the first group of optimization results, so that the construction paths will become fewer, until the construction paths of all the cutting and welding robots of the pipe curtain steel pipes are finally optimized.

[0050] After determining the optimal construction path for each cutting and welding robot, the server can generate corresponding control instructions and send each control instruction to each cutting and welding robot, so that each cutting and welding robot goes to the construction position according to the optimal construction path, takes pictures of the pipe curtain steel pipe through the visual system, creates cutting and welding programs through the intelligent cutting and welding control system, and performs cutting / welding operations through the cutting / welding robot arm. First, cut the steel pipe wall on one side, remove the earth between the two steel pipe walls, then cut off the steel pipe wall on the other side, weld the waterproof steel plate and the fixed steel plate, use the jack to tighten the waterproof steel plate and the fixed steel plate, install the incision support, remove the jack, and perform secondary cutting, welding and incision support operations.

[0051] Furthermore, in one or more embodiments of the present invention, the server can also quantitatively evaluate the cutting and welding construction efficiency of the pipe curtain steel pipe: first, obtain the stratum monitoring data and pipe curtain detection data of the construction site after the collaborative control of each cutting and welding robot in the pipe curtain steel pipe. Then, according to the total construction efficiency of each cutting and welding robot and the distance between two adjacent construction positions of each cutting and welding robot, quantitatively evaluate the determined optimal construction path; if the evaluation value of the current optimal construction path is less than the preset threshold, the collaborative control model is solved again.

[0052] Among them, the formation monitoring data includes the displacement of the soil around the pipe curtain and the displacement of the surrounding pipelines after cutting, and the pipe curtain detection data includes the deformation of the pipe curtain after cutting. The total construction efficiency of each cutting and welding robot is , which indicates the displacement of soil around the pipe curtain after cutting , displacement of surrounding pipelines and pipe curtain deformation The total construction time required to complete the pipe curtain cutting and welding under the condition of . The preset threshold of the evaluation value can be , indicating the displacement of the soil around the pipe curtain after the preset minimum cut , displacement of surrounding pipelines and pipe curtain deformation The shortest total construction time required to complete pipe curtain cutting and welding under the circumstances.

[0053] based on Figure 1The collaborative control method of the pipe curtain cutting and welding robot shown in the figure first determines the preset construction position of the cutting and welding of the pipe curtain steel pipe according to the geological parameters of the construction site, so as to determine the number of cutting and welding robots required according to the construction position. Then, the construction path of the cutting and welding robot is used as the optimization variable, and the moving speed of each welding robot is less than or equal to the maximum moving speed, the total running time of a single welding robot is less than or equal to the maximum running time, and the construction sequence requirements are met as constraints. The total construction time of cutting and welding in the pipe curtain steel pipe is the shortest as the optimization goal, and a collaborative control model is constructed. Then, the collaborative control model is solved to obtain the optimal construction path of each cutting and welding robot, and the cutting and welding robots in the pipe curtain steel pipe are collaboratively controlled based on this, so as to realize the self-cooperative construction of multiple cutting and welding robots, and improve the construction coordination and construction efficiency of each cutting and welding robot.

[0054] When applying the cooperative control method of the pipe curtain cutting welding robot provided by the present invention, it is not necessary to follow Figure 1 The steps are executed in the order shown. The specific execution order of the steps can be determined according to needs, and the present invention does not limit this.

[0055] The present invention also provides an embodiment of a collaborative control method for a cutting welding robot using a pipe curtain method.

[0056] Problem assumption: 8 sections are set up in the steel pipe, including 4 construction sections and 4 non-construction sections arranged at intervals. There is a cutting and welding position on both sides of the steel pipe in each construction section, that is, the cutting and welding construction needs to be carried out 8 times in total. Arrange 2 pipe curtain cutting and welding robots to construct each cutting and welding position in a steel pipe. During the construction of a steel pipe, each cutting and welding point is constructed only once.

[0057] Variable definition of the optimization model: Assuming the length of a single pipe curtain steel pipe is L, the length of each construction section and non-construction section is for , then the length of the pipe curtain steel pipe L is 8m, and the length of each section is 1m; For the i The number of the cutting and welding robots, ; v The moving speed of the cutting and welding robot is 1m / s; S k For the k The number of the construction section. ; S kj For the k Segment left ( j =1) / right side ( j =2) cutting and welding position number, For the convenience of description, or To indicate the cutting and welding positions in turn, when A and B are odd numbers, they indicate the cutting and welding positions on the left side of the pipe curtain steel pipe, and when they are even numbers, they indicate the cutting and welding positions on the right side. or ; is the relative position of the i-th cutting and welding robot inside the pipe curtain steel pipe, indicating that k The left side of the construction section ( j =1) / right( j =2) Side cutting welding position; The distance between the two cutting and welding construction positions A and B; The time required for the i-th cutting and welding robot to perform a cutting and welding operation at the cutting and welding position is the time required for the i-th cutting and welding robot to move from cutting and welding position A to cutting and welding position B, ; The maximum operating time for a single cutting and welding robot; It is the maximum speed at which the cutting and welding robot moves inside the pipe curtain steel pipe.

[0058] Decision variable definition: , , .

[0059] Based on the above, an optimization model can be constructed: Objective function: .

[0060] Constraints: , indicating that the robot moves at a speed not exceeding the maximum speed; , indicating that the total running time of a single robot does not exceed its maximum running time; and and Not existing at the same time , which means that only one robot is working in the same section at the same time, ensuring that the working units on both sides of the steel pipe are staggered in construction.

[0061] Then the above constructed model can be analyzed and solved by particle swarm optimization algorithm. The implementation process of particle swarm optimization algorithm is as follows: (1) Initialize the positions and velocities of all particles in the particle swarm by default.

[0062] (2) Establish a fitness function and calculate the fitness value. By comparing the calculated fitness values, the individual optimal solution and the global optimal solution are updated in real time.

[0063] (3) Refresh the velocity and position of the particle swarm to ensure that the velocity of the particles is within the specified range, and initialize the particles outside the search area.

[0064] (4) Determine whether the particle has a good enough position and whether the upper limit of the number of iterations has been reached. If all conditions are met, terminate the run. If not, return to the second step and run again.

[0065] The path is optimized through the above process. When the fitness and objective function values ​​reach the set values, the calculation is terminated and the final optimized path is obtained.

[0066] The above is a cooperative control method for a pipe curtain cutting welding robot provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding cooperative control device for a pipe curtain cutting welding robot, such as Figure 4 shown.

[0067] Figure 4 A schematic diagram of a cooperative control device for a pipe curtain cutting and welding robot provided by the present invention comprises: The determination module 201 is used to determine the construction position for cutting and welding of the preset pipe curtain steel pipe according to the geological parameters of the construction site; and determine the number of cutting and welding robots required according to the construction position; The modeling module 202 is used to construct a collaborative control model with the construction path of each cutting and welding robot as the optimization variable, the moving speed of each welding robot being less than or equal to the maximum moving speed, the total operation time of a single welding robot being less than or equal to the maximum operation time, and the construction sequence requirements being met as the constraints, and the total construction time of cutting and welding inside the pipe curtain steel pipe being the shortest as the optimization goal; The solution control module 203 is used to solve the collaborative control model to obtain the optimal construction path of each cutting and welding robot; according to the optimal construction path of each cutting and welding robot, the cutting and welding robots in the pipe curtain steel pipe are collaboratively controlled.

[0068] For the specific definition of the cooperative control device of the pipe curtain method cutting welding robot, please refer to the definition of the cooperative control method of the pipe curtain method cutting welding robot above, which will not be repeated here. Each module in the above-mentioned cooperative control device of the pipe curtain method cutting welding robot can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0069] The present invention also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A collaborative control method for a pipe curtain cutting and welding robot is provided.

[0070] The present invention also provides a computer device. At the hardware level, the computer device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 A collaborative control method for a pipe curtain cutting and welding robot is provided.

[0071] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0072] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present invention.

Claims

1. A collaborative control method for a pipe curtain cutting and welding robot, characterized in that: include: Determine the construction location for cutting and welding of the preset pipe curtain steel pipes according to the geological parameters of the construction site; determine the number of cutting and welding robots required according to the construction location; The construction paths of each cutting and welding robot are taken as optimization variables, the moving speed of each welding robot is less than or equal to the maximum moving speed, the total operation time of a single welding robot is less than or equal to the maximum operation time, and the construction sequence requirements are met as constraints, and the total construction time of cutting and welding inside the pipe curtain steel pipe is minimized as the optimization goal, and a collaborative control model is constructed. The collaborative control model is solved to obtain the optimal construction path of each cutting and welding robot; according to the optimal construction path of each cutting and welding robot, the cutting and welding robots in the pipe curtain steel pipe are collaboratively controlled.

2. The collaborative control method of the pipe curtain cutting and welding robot according to claim 1, characterized in that: The construction sequence requirements include: the cutting and welding construction sequence is carried out along the length direction of the pipe curtain steel pipe, the cutting and welding of adjacent pipe curtain steel pipes adopts a skip welding method, and the cutting and welding sections on both sides of any pipe curtain steel pipe are staggered.

3. The collaborative control method of the pipe curtain cutting and welding robot according to claim 1, characterized in that: The collaborative control model is solved to obtain the optimal construction path of each cutting and welding robot, specifically including: According to a preset search range of the construction path of the cutting and welding robot, a construction path of each cutting and welding robot is randomly generated, the generated construction path of each cutting and welding robot is used as the position of a particle corresponding to a solution, and a speed of the particle representing the update of the solution is randomly generated, and a plurality of particles are randomly generated to form a particle group; According to the total construction time of each cutting and welding robot corresponding to each particle, the fitness of each particle is determined; according to the fitness value of each particle, the individual optimal solution corresponding to each particle and the global optimal solution corresponding to all particles are determined; According to the individual optimal solution corresponding to each particle and the global optimal solution corresponding to all particles, the speed and position of each particle are updated, and the individual optimal solution and the global optimal solution are updated according to the fitness of each particle after the update; The solution corresponding to the particle swarm is optimized through multiple rounds of iterations until the preset number of iterations is reached, and the current global optimal solution is used as the optimal construction path for each cutting and welding robot.

4. The collaborative control method of the pipe curtain cutting and welding robot according to claim 1, characterized in that: The geological parameters include at least one of the density of the soil layer, the elastic modulus of the soil layer, the cohesion of the soil layer, the internal friction angle of the soil layer and the Poisson's ratio of the soil layer.

5. The collaborative control method of the pipe curtain cutting and welding robot according to claim 1 or 4, characterized in that: Determining the construction position for cutting and welding the preset pipe curtain steel pipe according to the geological parameters of the construction site specifically includes: Determine the pipe curtain design structure for pipe curtain construction based on the geological parameters of the construction site and the construction conditions; According to the determined pipe curtain design structure and the preset pipe curtain steel pipe, the number of cutting and welding of the preset pipe curtain steel pipe is determined to determine the construction position of cutting and welding of the preset pipe curtain steel pipe.

6. The cooperative control method of the pipe curtain cutting and welding robot according to claim 1, characterized in that: The method further comprises: Obtaining the stratum monitoring data and pipe-roof inspection data of the construction site after coordinated control of the cutting and welding robots in the pipe-roof steel pipe; According to the total construction efficiency of each cutting and welding robot and the distance between two adjacent construction positions of each cutting and welding robot, the determined optimal construction path is quantitatively evaluated; if the evaluation value of the current optimal construction path is less than the preset threshold, the collaborative control model is solved again; Among them, the formation monitoring data includes the displacement of soil around the pipe curtain and the displacement of surrounding pipelines after cutting, the pipe curtain detection data includes the deformation of the pipe curtain after cutting, and the total construction efficiency of each cutting and welding robot is the total construction time required to complete the pipe curtain cutting and welding under the conditions of soil displacement around the pipe curtain, displacement of surrounding pipelines and deformation of the pipe curtain after cutting.

7. A cooperative control device for a pipe curtain cutting and welding robot, characterized in that: include: A determination module is used to determine the construction position for cutting and welding of the preset pipe curtain steel pipe according to the geological parameters of the construction site; and to determine the number of cutting and welding robots required according to the construction position; A modeling module is used to construct a collaborative control model with the construction path of each cutting and welding robot as the optimization variable, the moving speed of each welding robot being less than or equal to the maximum moving speed, the total operating time of a single welding robot being less than or equal to the maximum operating time, and the construction sequence requirements being met as the constraints, and the total construction time of cutting and welding inside the pipe curtain steel pipe being the shortest as the optimization goal; The solution control module is used to solve the collaborative control model to obtain the optimal construction path of each cutting and welding robot; according to the optimal construction path of each cutting and welding robot, the cutting and welding robots in the pipe curtain steel pipe are collaboratively controlled.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

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