A Cooperative Control Method and Device for a Pipe Curtain Method Cutting and Welding Robot

Abstract

The present invention discloses a collaborative control method and device for a pipe curtain method cutting and welding robot, which relates to the technical field of intelligent construction. First, according to the geological parameters of the construction site, the construction positions for cutting and welding the preset pipe curtain steel pipes are determined, and thus the number of cutting and welding robots required is determined according to the construction positions. Then, taking the construction paths of the cutting and welding robots as optimization variables and the shortest total construction time for cutting and welding inside the pipe curtain steel pipes as the optimization goal, a collaborative control model is constructed. Then, the collaborative control model is solved to obtain the optimal construction paths of each cutting and welding robot, and based on this, the cutting and welding robots inside the pipe curtain steel pipes are collaboratively controlled. The present invention realizes the collaborative construction of multiple cutting and welding robots, and improves the construction collaboration and construction efficiency of each cutting and welding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent construction, and particularly relates to a cooperative control method and device for a pipe roof cutting and welding robot. Background Art

[0002] At present, the development of underground traffic infrastructure is rapid. The traditional open-cut method of construction is extremely likely to cause urban traffic jams, bringing inconvenience to residents' lives, and can no longer meet the requirements of urban underground space construction. Due to its advantages such as good control of ground deformation, little impact on ground traffic, and high construction safety, the pipe roof method has become a new trend in the construction of urban shallow-buried underground projects with strict requirements for deformation control. The cutting and welding construction of steel pipes is an important part of pipe roof construction, which can ensure the continuity and integrity of the pipe roof structure, improve the strength of the steel pipe joints, and prevent the steel pipes from moving and misaligning under external forces.

[0003] In the prior art, the cutting and welding of pipe roof steel pipes are mostly carried out manually. However, the environment inside the steel pipes is harsh, the labor intensity of manual pipe cutting is high, and the construction quality and efficiency are low. There is a need for an automated device to realize unmanned operation of steel pipe cutting and welding. There has been research on intelligent and rapid cutting and welding robots for pipe roof steel pipes, which has proved the applicability of such robots in pipe roof construction.

[0004] However, at present, experienced technicians are still relied on to schedule and control the cutting and welding robots, which has a great dependence on the experience of the technicians, and the cutting and welding robots controlled manually have poor construction coordination and low construction efficiency. Summary of the Invention

[0005] Based on this, it is necessary to provide a cooperative control method and device for a pipe roof cutting and welding robot in view of the above technical problems.

[0006] The present invention adopts the following technical solutions:

[0007] The present invention provides a cooperative control method for a pipe roof cutting and welding robot.

[0008] First, according to the geological parameters of the construction site, determine the construction positions of the preset cutting and welding of the pipe roof steel pipes, and then determine the number of required cutting and welding robots according to the construction positions. Then, taking the construction paths of the cutting and welding robots as optimization variables, with the constraints that the moving speeds of each welding robot are 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 longest running time, and the construction sequence requirements are met, and with the shortest total construction time of the cutting and welding inside the pipe roof steel pipe as the optimization goal, construct a cooperative control model. Then solve the cooperative control model to obtain the optimal construction paths of each cutting and welding robot, and perform cooperative control on each cutting and welding robot inside the pipe roof steel pipe based on this.

[0009] The present invention provides a cooperative control device for a pipe roof method cutting and welding robot, comprising:

[0010] a determination module, configured to determine a construction position for cutting and welding a preset pipe roof steel pipe according to geological parameters of a construction site; and determine the number of required cutting and welding robots according to the construction position;

[0011] a modeling module, configured to construct a cooperative control model with the construction paths of the cutting and welding robots as optimization variables, with constraints that the moving speeds of the welding robots are 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 longest running time, and the construction sequence requirements are met, and with the shortest total construction time for cutting and welding inside the pipe roof steel pipe as the optimization goal;

[0012] a solution control module, configured to solve the cooperative control model to obtain the optimal construction paths of the cutting and welding robots; and perform cooperative control on each cutting and welding robot inside the pipe roof steel pipe according to the optimal construction paths of the cutting and welding robots.

[0013] The present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the cooperative control method for the pipe roof method cutting and welding robot as described above is implemented.

[0014] The present invention provides a computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the cooperative control method for the pipe roof method cutting and welding robot as described above is implemented.

[0015] The above at least one technical solution adopted by the present invention can achieve the following beneficial effects:

[0016] The present invention first determines the number of required cutting and welding robots, then takes the construction paths of the cutting and welding robots as optimization variables, forms constraints according to the construction needs of each cutting and welding robot, constructs a cooperative control model for the cutting and welding robots with the highest construction efficiency as the goal, and then solves the cooperative control model to obtain the optimal construction paths to perform cooperative control on multiple cutting and welding robots. Generally, each pipe roof structure includes multiple steel pipes, and the cutting of each steel pipe and the welding between each steel pipe can be carried out cooperatively by multiple cutting and welding robots. By constructing and solving the cooperative control model, the self-cooperative construction of multiple cutting and welding robots is realized, and the construction cooperation and construction efficiency of each cutting and welding robot are improved. Description of the Drawings

[0017] The accompanying drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic 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:

[0018] Figure 1 It is a schematic flow chart of a cooperative control method for a pipe curtain method cutting and welding robot provided by the present invention;

[0019] Figure 2 It is a schematic diagram of a pipe curtain cutting and welding construction method provided by the present invention;

[0020] Figure 3 It is a schematic diagram of the movement paths of two cutting and welding robots provided by the present invention;

[0021] Figure 4 It is a schematic diagram of a cooperative control device for a pipe curtain method cutting and welding robot provided by the present invention. Detailed implementation manners

[0022] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions 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 a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Currently, the specifications require the segmented cutting and welding of steel pipes, which requires timely adjustment and control of the construction paths of each cutting and welding robot to achieve the cooperative construction of each robot, improving the construction quality, construction efficiency, and at the same time, improving the utilization rate of the equipment.

[0024] The following will detail the technical solutions provided by each embodiment of the present invention in conjunction with the drawings.

[0025] Figure 1 It is a schematic flow chart of a cooperative control method for a pipe curtain method cutting and welding robot in the present invention, specifically including the following steps:

[0026] S101: Determine the construction position of the preset pipe curtain steel pipe cutting and welding according to the geological parameters of the construction site; determine the number of required cutting and welding robots according to the construction position.

[0027] S102: Taking the construction paths of each cutting and welding robot as optimization variables, with the movement speeds of each welding robot being less than or equal to the maximum movement speed, the total running time of a single welding robot being less than or equal to the longest running time, and meeting the construction sequence requirements as constraints, and taking the shortest total construction time of cutting and welding inside the pipe roof steel pipes as the optimization objective, a collaborative control model is constructed.

[0028] S103: Solve the collaborative control model to obtain the optimal construction paths of each cutting and welding robot; according to the optimal construction paths of each cutting and welding robot, conduct collaborative control on each cutting and welding robot inside the pipe roof steel pipes.

[0029] For the convenience of description, only the server is used as the execution entity for description below. The server mentioned in the present invention can be a server set up on the service platform, or devices such as a desktop computer or a laptop computer that can execute the solution of the present invention.

[0030] Generally, during the construction process of the pipe roof method, the jacking construction of each pipe roof steel pipe can be carried out first: excavate the working well to the jacking position of the pipe roof steel pipe, and use the oil cylinder to jack multiple pipe roof steel pipes to the designed position. After that, the cutting and welding construction of each pipe roof steel pipe is required, and the server of the service platform needs to determine the collaborative control scheme of each cutting and welding robot for collaborative construction.

[0031] Based on this, in one or more embodiments of the present invention, the server can determine the construction positions of the preset cutting and welding of the pipe roof steel pipes according to the geological parameters of the construction site. The geological parameters mentioned here include: the density of the soil layer 、the elastic modulus of the soil layer E 、the cohesion of the soil layer c 、the internal friction angle of the soil layer and the Poisson's ratio of the soil layer at least one of them.

[0032] Specifically, in one or more embodiments of the present invention, when determining the construction position, the server can first determine the pipe roof design structure for the pipe roof method construction according to the geological parameters and construction conditions of the construction site. Then, according to the determined pipe roof design structure and the preset pipe roof steel pipes, determine the cutting and welding quantities of the preset pipe roof steel pipes to determine the construction positions of the preset cutting and welding of the pipe roof steel pipes.

[0033] Further, in one or more embodiments of the present invention, when each cutting and welding robot performs cutting and welding on each construction position, the construction sequence requirements of cutting and welding can be further considered. Generally, the construction plan should ensure that the construction sequence of cutting and welding of the pipe roof steel pipes is carried out in zones along the length direction of the pipe roof steel pipes; the cutting and welding work of adjacent pipe roof steel pipes is carried out in a segmented skipping manner, that is, in a skip welding manner. Thus, there are alternately construction sections and non-construction sections in the cutting and welding of adjacent pipe roof steel pipes, as Figure 2 shown Figure 2 is a schematic diagram of a pipe roof cutting and welding construction method in the present invention, Figure 2 which shows the formation 1, the pipe roof steel pipe 2, the construction section 3 and the non-construction section 4. And the cutting and welding sections (construction section 3 and non-construction section 4) on both sides of any pipe roof steel pipe are staggered.

[0034] Further, in one or more embodiments of the present invention, the server can also determine the number of cutting and welding robots required according to the construction position.

[0035] For example, taking a single pipe roof steel pipe with a length of 8m and divided into 8 sections, with a total of 7 construction positions as an example, the server can arrange 2 cutting and welding robots for construction. The moving speed of the robots is set at 1m / s, and the time required for construction at each position is set at 2h. The moving paths of the two robots can be preliminarily planned, as Figure 3 shown Figure 3 is a schematic diagram of the moving 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 and construct alternately in the spaced construction sections, respectively forming two construction paths of A-B-F-E and C-D-H-G.

[0036] Each cutting and welding robot may include a transportation and loading device, a cutting robotic arm, a welding robotic arm, an intelligent cutting and welding control system, a vision recognition system, a positioning system, and a communication system. Among them, the cutting and welding robotic arms of the robot are mounted on the transportation and loading device and can move inside the pipe roof steel pipe; the cutting robotic arm is used for cutting the pipe roof steel pipe; the welding robotic arm is used for welding adjacent pipe roof steel pipes; the intelligent cutting and welding control system has a built-in cutting program module and a welding program module for creating cutting and welding programs; the vision recognition system is used for recognizing the weldability of the welding position and 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 positions and construction progress between each robot and between the robot and the control platform.

[0037] After determining the construction position, the construction sequence requirements, and the number of cutting and welding robots required as described above, the server can perform modeling and solution on the construction paths of each cutting and welding robot based on this.

[0038] Problem description: Each pipe roof steel pipe can be arranged at intervals of construction sections and non-construction sections along the length direction. Inside a certain pipe roof steel pipe, a cutting and welding robot performs cutting and welding construction in multiple areas. After completing the cutting and welding construction in the construction section, the cutting and welding robot will move to the next construction section to carry out work.

[0039] Problem assumption: ① The cutting and welding robot starts from one end of a certain pipe roof steel pipe and constructs unidirectionally along the length direction of the pipe roof steel pipe until it reaches the other end.

[0040] ② Set up 2n sections in each pipe roof steel pipe, including n construction sections and n non-construction sections arranged at intervals. Among them, there is a cutting and welding position on each side of the pipe roof steel pipe in each construction section, that is, the cutting and welding construction needs to be carried out 2n times in total.

[0041] ③ Arrange m cutting and welding robots to construct at each cutting and welding position inside a pipe roof steel pipe.

[0042] ④ During the construction of a pipe roof steel pipe, each cutting and welding position is constructed only once.

[0043] Variable definition of the optimization model: Let the length of a single pipe roof steel pipe be L , then the length of each construction section and non-construction section is ; is the number of the i th cutting and welding robot, ; v is the moving speed of the cutting and welding robot; S is the number of the k th construction section, ; S kj is the number of the cutting and welding position on the left ( k = 1) / right ( j = 1) / right ( j = 2) side of the th construction section,

[0044] For convenience of description, use or to represent each construction welding position in turn. When A and B are odd numbers, they represent the cutting and welding positions on the left side of the pipe roof steel pipe, and when they are even numbers, they represent the cutting and welding positions on the right side. Then or ; is the relative position of the i-th robot inside the pipe roof steel pipe, indicating that it is at the left ( k = 1) / right ( j = 1) / right ( j = 2) side cutting and welding position of the th construction section; is the distance between two cutting and welding positions A and B; is the i th cutting and welding robot's time required for one cutting and welding operation at the cutting and welding position; is the i th cutting and welding robot's time required to move from cutting and welding position A to cutting and welding position B, ; is the longest running time of a single cutting and welding robot; is the maximum speed of the cutting and welding robot moving inside the pipe curtain steel pipe.

[0045] Definition of decision variables: ,

[0046] ,

[0047] .

[0048] Based on the above, an optimization model can be constructed:

[0049] Objective function: .

[0050] Among them, represents the shortest total time for cutting and welding robots to construct cutting and welding positions in a single pipe curtain steel pipe.

[0051] Constraint conditions: , indicating that the moving speed of the cutting and welding robot does not exceed the maximum speed;

[0052] , indicating that the total running time of a single cutting and welding robot does not exceed its longest running time;

[0053] and and do not exist simultaneously , indicating that only one cutting and welding robot is constructing in the same construction section at the same time, ensuring that the operation units on both sides of the pipe curtain steel pipe are staggered in construction.

[0054] After constructing the above collaborative control model, the server can further solve the model to determine the construction paths of each cutting and welding robot.

[0055] In one or more embodiments of the present invention, the server may use the Particle Swarm Optimization (PSO) algorithm to solve the model. First, according to the preset search range of the construction path of the cutting and welding robot, the construction path of each cutting and welding robot is randomly generated. The generated construction paths of each cutting and welding robot are used as the position of a particle corresponding to a solution, and the velocity of the particle representing the update of the solution is randomly generated. Multiple particles are randomly generated 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 among the cutting and welding robots. Therefore, through the particle swarm optimization algorithm, the cooperative control among the cutting and welding robots can be better simulated and solved to determine the preferred construction paths of the cutting and welding robots and achieve better cooperative cooperation among the cutting and welding robots.

[0056] Then, according to the total construction time of each cutting and welding robot corresponding to each particle, the fitness of each particle is determined, 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.

[0057] After that, according to the individual optimal solution corresponding to each particle and the global optimal solution corresponding to all particles, the velocity 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 is reached or the preset fitness requirement is met. If all conditions are satisfied, 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, the solution process is restarted.

[0058] Specifically, for the fitness of each particle in the particle swarm, it can be determined according to the fitness function f :

[0059] , that is, the total time for each cutting and welding robot corresponding to the solution of each particle to construct all cutting and welding positions is used as the fitness.

[0060] For each particle, its individual optimal solution can be determined according to the following formula:

[0061] .

[0062] In the formula, is the individual optimal solution of the i th particle in the d th dimension at the k rd iteration (that is, the construction path of the i th cutting and welding robot in the solution corresponding to the d th cutting and welding robot at thek The individual optimal construction path in the i-th iteration is the i j-th d dimension of the k+ i-th iteration position of the i j-th particle (i.e., the construction path of the d j-th cutting and welding robot in the k+ i-th iteration).

[0063] For the entire particle swarm, the global optimal solution can be determined according to the following formula:

[0064] .

[0065] In the formula, is the global optimal solution of the d j-th dimension of the entire particle swarm in the k i-th iteration (i.e., the global optimal construction path of the d j-th cutting and welding robot in the k i-th iteration).

[0066] When updating the velocity and position of each particle in the particle swarm, the following formula can be referred to:

[0067] ,

[0068] .

[0069] In the formula, is the i j-th d dimension velocity of the k i-th particle in the i i-th iteration (i.e., the update amount of the construction path of the d j-th cutting and welding robot in the solution corresponding to the i-th particle), and r are learning factors with a value range between [0, 4], r and is the i j-th d dimension position of the k i-th particle in the i i-th iteration (i.e., the construction path of the d j-th cutting and welding robot in the solution corresponding to the k i-th particle in the

[0070] In the above-mentioned optimization model based on a single pipe-roof steel pipe, during specific application, the pipe-roof steel pipes are usually in close contact with each other. The cutting and welding on one side of the pipe-roof steel pipe actually involve two pipe-roof steel pipes. Cutting means cutting the two pipe-roof steel pipes at the target position. After cutting, the two pipe-roof steel pipes are connected at the target position. Welding is also the welding of the two steel pipes at this target position. In this way, an optimization sub-problem can be constructed with two pipe-roof steel pipes as a group. When planning the cutting and welding of the subsequent added pipe-roof steel pipes based on this group of pipe-roof steel pipes, the construction sequence requirements also need to be met. Thus, a process of continuously increasing constraint conditions is formed based on the addition of pipe-roof steel pipes. An overall optimization problem will be formed based on the cutting and welding of each pipe-roof steel pipe. When solving, it can be gradually solved. For example, the first group of pipe-roof steel pipes may obtain multiple construction paths. When adding pipe-roof steel pipes and recalculating, constraints will be added based on the optimization results of the first group, and thus the number of construction paths will become fewer until the construction paths of all cutting and welding robots for all pipe-roof steel pipes are optimized.

[0071] After determining the optimal construction paths of each cutting and welding robot, the server can correspondingly form 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-roof steel pipes through the vision system, creates cutting and welding programs through the intelligent cutting and welding control system, and performs cutting / welding operations through the cutting / welding robotic arm. First, cut the pipe wall on one side of the steel pipe, excavate the soil between the two pipe walls, then cut the pipe wall on the other side, weld the waterproof steel plate and the fixing steel plate. After using the jack to tightly press the waterproof steel plate and the fixing steel plate, install the cut support, remove the jack, and perform secondary cutting, welding and cut support operations.

[0072] 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-roof steel pipes: first, obtain the formation monitoring data and pipe-roof detection data at the construction site after the coordinated control of each cutting and welding robot in the pipe-roof steel pipes. Then, based on the total construction efficiency of each cutting and welding robot and the distance between the adjacent two 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, solve the coordinated control model again.

[0073] Among them, the formation monitoring data includes the displacement of the soil around the pipe-roof after cutting and the displacement of the surrounding pipelines, and the pipe-roof detection data includes the deformation of the pipe-roof after cutting. The total construction efficiency of each cutting and welding robot is , indicating the displacement of the soil around the pipe-roof after cutting , the displacement of the surrounding pipelines and the deformation of the pipe-roof In the case of, the total construction time required to complete the pipe roof cutting and welding. The preset threshold value of the evaluation value can be , indicating the preset soil displacement around the pipe roof after preset minimum cutting , the displacement of surrounding pipelines and the deformation of the pipe roof In the case of, the shortest total construction time required to complete the pipe roof cutting and welding.

[0074] Based on Figure 1 The collaborative control method of the pipe roof cutting and welding robot shown, first determine the construction position of the cutting and welding of the preset pipe roof steel pipe according to the geological parameters of the construction site, so as to determine the number of required cutting and welding robots according to the construction position. Then, taking the construction path of the cutting and welding robot as the optimization variable, with the moving speed of each welding robot less than or equal to the maximum moving speed, the total running time of a single welding robot less than or equal to the longest running time, and meeting the construction sequence requirements as constraints, and taking the shortest total construction time of the cutting and welding inside the pipe roof steel pipe as the optimization goal, a collaborative control model is constructed. Then solve the collaborative control model to obtain the optimal construction path of each cutting and welding robot, and use this to carry out collaborative control on each cutting and welding robot inside the pipe roof steel pipe, realizing the self-collaborative construction of multiple cutting and welding robots, and improving the construction collaboration and construction efficiency of each cutting and welding robot.

[0075] When applying the collaborative control method of the pipe roof cutting and welding robot provided by the present invention, it is not necessary to execute according to Figure 1 the sequence of the steps shown. The specific execution sequence of each step can be determined according to needs, and the present invention does not limit this.

[0076] The present invention also provides an embodiment of applying the collaborative control method of the pipe roof cutting and welding robot.

[0077] Problem assumption: Set up 8 sections inside the steel pipe, including 4 construction sections and 4 non-construction sections arranged at intervals. Among them, 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 roof cutting and welding robots to construct each cutting and welding position inside a steel pipe. During the construction of a steel pipe, each cutting and welding point is constructed only once.

[0078] Variable definition of the optimization model: Let the length of a single pipe roof steel pipe be L, then the length of each construction section and non-construction section is , then the length L of the pipe roof steel pipe is 8m, and the length of each section is 1m; is the number of the i th cutting and welding robot, ; vis the moving speed of the cutting and welding robot, which is 1 m / s; S k is the number of the k th construction section, ; S kj is the k th cutting and welding position number on the left ( j = 1) / right side ( j = 2) of the section, . For the convenience of description, use or to represent each cutting and welding position in sequence. When A and B are odd numbers, they represent the cutting and welding positions on the left side of the pipe roof steel pipe; when they are even numbers, they represent the positions on the right side. Then or ; is the relative position of the i-th cutting and welding robot inside the pipe roof steel pipe, indicating its position on the left ( k = 1) / right ( j = 2) side of the j th construction section; is the distance between the two cutting and welding construction positions A and B; is 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 the cutting and welding position A to the cutting and welding position B, ; is the longest running time of a single cutting and welding robot; is the maximum speed of the cutting and welding robot moving inside the pipe roof steel pipe.

[0079] Definition of decision variables: ,

[0080] ,

[0081] .

[0082] Based on the above, an optimization model can be constructed:

[0083] Objective function: .

[0084] Constraint conditions:

[0085] , indicating that the moving speed of the robot does not exceed the maximum speed;

[0086] , indicating that the total running time of a single robot does not exceed its longest running time;

[0087] And And Do not exist simultaneously , indicating that there is only one robot constructing in the same section at the same moment, ensuring that the operating units on both sides of the steel pipe construct staggeredly.

[0088] Next, the particle swarm optimization algorithm can be used to analyze and solve the above - constructed model. The implementation process of the particle swarm optimization algorithm is as follows:

[0089] (1) Default - initialize the positions and velocities of all particles in the particle swarm.

[0090] (2) Establish a fitness function, calculate the fitness value, and update the individual optimal solution and the global optimal solution in real - time by comparing the calculated fitness values.

[0091] (3) Refresh the velocities and positions of the particle swarm, ensure that the velocities of the particles are within the specified range, and initialize the particles outside the search area.

[0092] (4) Judge whether the particles have good enough positions and whether the upper limit of the number of iterations is reached. If all conditions are met, terminate the operation; if not, return to the second step and run again.

[0093] Optimize the path through the above process. When the fitness and the objective function value reach the set values, the calculation terminates, and the finally optimized path is obtained.

[0094] The above is the cooperative control method of the pipe - curtain method cutting and 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 the pipe - curtain method cutting and welding robot, as Figure 4 shown.

[0095] Figure 4 Schematic diagram of a cooperative control device for a pipe - curtain method cutting and welding robot provided by the present invention, including:

[0096] A determination module 201, configured to determine the construction position of the preset pipe - curtain steel pipe for cutting and welding according to the geological parameters of the construction site; determine the number of required cutting and welding robots according to the construction position;

[0097] A modeling module 202, configured to construct a cooperative control model with the construction paths of each cutting and welding robot as optimization variables, with the constraints that the moving speeds of each welding robot are 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 longest running time, and the construction sequence requirements are met, and with the shortest total construction time for cutting and welding inside the pipe - curtain steel pipe as the optimization objective;

[0098] The solution control module 203 is configured to solve the collaborative control model to obtain the optimal construction paths of each cutting and welding robot; and perform collaborative control on each cutting and welding robot within the pipe roof steel pipe according to the optimal construction paths of each cutting and welding robot.

[0099] For the specific limitations of the collaborative control device of the pipe roof method cutting and welding robot, reference can be made to the limitations of the collaborative control method of the pipe roof method cutting and welding robot in the above text, which will not be elaborated here. Each module in the above-mentioned collaborative control device of the pipe roof method cutting and welding robot can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor in the computer device in the form of hardware or be independent of it, or can be stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned each module.

[0100] The present invention also provides a computer-readable storage medium, which stores a computer program, and the computer program can be used to execute the above-mentioned Figure 1 collaborative control method of the pipe roof method cutting and welding robot.

[0101] 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 other 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 implement the above-mentioned Figure 1 collaborative control method of the pipe roof method cutting and welding robot.

[0102] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above-mentioned each method. Among them, any reference to the memory, storage, database, or other media used in the various embodiments provided by the present invention may include at least one of non-volatile and volatile memories. The non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. The volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0103] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered to be within the scope recorded in the present invention.

Claims

1. A collaborative control method for a pipe curtain cutting and welding robot, characterized in that: include: Determine the preset construction location for cutting and welding of 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 path of each cutting and welding robot is used as the optimization variable, 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, and the total construction time of cutting and welding in the pipe curtain steel pipe is minimized as the optimization goal, to construct a collaborative control model; 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 the skip welding method, and the cutting and welding sections on both sides of any pipe curtain steel pipe are staggered; 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, collaboratively control the cutting and welding robots in the steel pipe of the pipe curtain; 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; Among them, an optimization sub-problem is constructed and solved with two pipe-roof steel pipes as a group. Based on the increase of pipe-roof steel pipes and the continuous increase of constraints, the overall optimization problem is gradually formed and solved.

2. 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.

3. The collaborative control method of the pipe curtain cutting and welding robot according to claim 1 or 2, 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.

4. The collaborative 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.

5. 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 4 is implemented.

6. 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 4 is implemented.

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