Immersed tube joint air cushion suspension device and control method thereof

Abstract

The invention provides an immersed tube joint air cushion suspension device and a control method thereof, and belongs to the field of immersed tube transportation. The immersed tube section air cushion suspension device is divided into the air cushion suspension unit, the partition control unit, the communication unit and the central control unit, and intelligent air cushion suspension transportation of immersed tube sections is achieved; through the method, the suspension height and speed of each subarea and the transportation angle of the whole immersed tube joint can be intelligently controlled, and in the transportation process of the immersed tube joint, the method has the advantages that friction force and ground vibration are reduced, carrying is efficient, control is accurate, the method adapts to various terrains, damage to the ground is reduced, and the method is environmentally friendly and safe.

Description

Technical Field

[0001] The invention relates to the field of immersed tube transportation, and in particular to an immersed tube air-saving cushion suspension device and a control method thereof. Background Art

[0002] At present, the transportation of pipe sections in large-scale projects adopts the method of building multiple sets of trolleys for joint transportation and laying out rail transportation in the dry dock. The trolley transportation and rail transportation must be kept at the same level during the transportation process to prevent excessive pressure at a single point from damaging the foundation and causing overall collapse and equipment damage. However, the manual arrangement of the trolley system and the rail system is complicated, and the ground foundation firmware needs to be laid in advance. The fixed path leads to limited maneuverability and difficulty in moving in complex environments. The transmission of the gravity of the pipe section to the ground is 1:1, and the high pressure on the dry dock ground is easy to damage the ground, limiting the size and weight of the pipe section. In addition, the corresponding trolleys and tracks for larger pipe sections must also be more powerful, further compressing the transportation space. The trolley control system needs to consider many complex aspects, involving the trolley's motion control, position control, communication system and energy management. The processing of data after acquisition requires a higher level of training for operators and is more troublesome in terms of human-computer interaction. The friction resistance of trolley transportation and rail transportation is large, the difficulty of fine control is high, and ground vibration affects the integrity of the pipe section.

[0003] The air cushion suspension transport system is a transport technology that uses the air cushion principle to achieve suspension and movement; its main features and advantages in the transportation of immersed tube sections are as follows: reducing friction and energy consumption, improving stability and safety, increasing transport efficiency and being more suitable for the immersed tube operating environment; therefore, the method of transporting immersed tube sections by means of an air cushion suspension device will be very effective. Summary of the invention

[0004] The purpose of the present invention is to overcome the above problems existing in the prior art and greatly improve its technical effect on the basis of the original technology; the present invention provides a submerged tube air cushion suspension device, which includes:

[0005] Air cushion suspension unit, partition control unit, communication unit and central control unit;

[0006] The air cushion suspension unit includes: an air cushion suspension device; the air cushion suspension device refers to a device that uses air pressure to generate an air cushion to suspend the target object in the air; the air cushion suspension device is designed at the bottom of the immersed tube segment transport vehicle so that the transport vehicle is suspended on the ground during transportation;

[0007] The partition control unit includes: a sensor module and a control module; by dividing the suspension transport area into multiple partitions, and installing sensors and controllers on each partition, real-time monitoring and partition control of each partition are achieved;

[0008] The communication unit includes: communication equipment; by installing communication equipment in each partition, a distributed communication system of the entire suspension transport area is formed to achieve real-time information exchange between control modules of each partition;

[0009] The central control unit refers to the central control server, which includes: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to the analysis of data information of each partition collected in real time through artificial intelligence technology, and achieves the purpose of optimal path, adjustment of suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to the real-time monitoring interface, and the real-time monitoring interface refers to the operator's ability to monitor the status of the suspension transport vehicle and the position information of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to achieve human-computer collaboration.

[0010] Specifically, the air cushion suspension unit includes: the immersed tube segment has the characteristics of large structure and high weight, so the transportation of the immersed tube segment requires multiple transport vehicles at the same time. At the same time, an air cushion suspension device is designed at the bottom of each transport vehicle, and all air cushion suspension devices work at the same time to complete the transportation of the immersed tube segment.

[0011] Specifically, the partition control unit includes: treating each vehicle as a partition and treating multiple vehicles as a partition; after partitioning, determining the corresponding parameter state threshold of each partition, the corresponding parameters include: suspension height, speed and corresponding partition pipe segment inclination angle; the method for determining the corresponding parameter state threshold of each partition is: determination of suspension height threshold: under ideal conditions, the suspension height is between 5% and 10% of the pipe segment diameter, so the suspension height threshold is selected to be between 5% and 10% of the pipe segment diameter; determination of speed threshold: usually, the transportation speed range is selected to be between 0.5 and 2m / s, and the transportation speed threshold of each partition vehicle is selected to be between 0.5 and 2m / s; determination of the corresponding partition pipe segment inclination angle: establishing a three-dimensional model of the entire system of the submerged tube pipe segment air cushion suspension through SolidWorks three-dimensional modeling software; simulating through the established three-dimensional model, so that the pipe segment is in different states, including a safe state and an unsafe state; thereby determining the state threshold of the pipe segment inclination angle of different partitions; at the same time, the vehicle suspension height and running speed are simulated through three-dimensional simulation to further optimize the suspension height threshold and speed threshold.

[0012] Specifically, the communication unit includes: communication equipment is installed on the vehicles in each partition, each communication equipment is marked with a position, and information can be transmitted between the communication equipment, so that the transportation of the immersed tube air-saving cushion suspension is equipped as a distributed communication system.

[0013] Specifically, the artificial intelligence control module includes: managing the tilt angle of the partition pipe section according to the analysis results; the artificial intelligence module is implemented by a neural network, and the neural network mainly includes: model training, model verification and model prediction; wherein the model training includes: when extracting the training set and the test set of the optimal path, obtaining multiple path information from the starting point to the destination, extracting the distance from the starting point to the destination and the number of obstacles on each path information as input X i , i is the i-th input sample, X i is a vector; transportation time T i is the output, i is the i-th output sample; when extracting the training set and data set for adjusting the suspension height and speed, the data between 0 and 15% of the pipe segment diameter and the transport vehicle speed between 0 and 3 m / s are segmented respectively, and multiple data in each segment are extracted as the input of the neural network, and whether the input is within the safety range is used as the output of the neural network. If the input is within the threshold, the output is set to 1, and if the input is no longer within the threshold, the output is set to 0; the threshold of the suspension height is between 5% and 10% of the pipe segment diameter, that is, (5%d, 10%d), d is the diameter of the immersed tube segment; the threshold of the speed of each partition transportation is (0.5, 2); when extracting the training set and test set of the partition segment inclination angle, through three-dimensional simulation, the inclination angle of each partition segment in different states of the immersed tube segment is used as the input of the neural network (h1, h2, ... h j …h n )h j It represents the inclination angle of the immersed tube segment in the j-th partition, and outputs 1 if the immersed tube segment is within the safety threshold and 0 if it is outside the safety range. By extracting the input and output of the optimal path, transport vehicle height, transport vehicle speed and partitioned tube segment inclination angle in the neural network, the extracted data are divided into a training set and a test set, and neural network models with different parameters are trained. That is, after training, the optimal path neural network model, the suspension height neural network model, the transport vehicle speed neural network model and the tube segment inclination angle neural network model are obtained respectively.

[0014] Specifically, the artificial intelligence control module also includes: according to the target immersed tube segment transportation environment, extracting the distance from the starting point to the destination and the number of obstacles in the path information in the corresponding transportation environment as the input of the optimal path neural network model, determining the optimal path of the target immersed tube segment, and outputting T iThe path corresponding to the minimum value is taken as the optimal path; subsequently, during the transportation process, the suspension height, speed and pipe segment inclination angle information of each partition are extracted in real time as input information of the suspension height neural network model, the transport vehicle speed neural network model and the pipe segment inclination angle neural network model, and the output information is obtained to determine whether each parameter is within the safety threshold. If not, the corresponding instructions are generated, and the controllers of the transport vehicles in each partition adjust the corresponding parameters to ensure that each parameter operates within the safety threshold.

[0015] Specifically, the energy management module includes: processing the energy consumption data of each partition collected in real time through the genetic algorithm GA to optimize the energy allocation strategy; the genetic algorithm is based on natural selection and genetics principles, and uses selection, crossover and mutation operations to find the optimal solution. By processing the collected energy consumption data of each partition through the GA algorithm, the energy allocation strategy will be effectively obtained.

[0016] Specifically, it also includes: generating a transportation control method for the entire immersed tube segment through the control methods of the above-mentioned air cushion suspension unit, partition control unit, communication unit and central control unit, so as to realize real-time, intelligent, energy-saving, efficient and safe transportation of the immersed tube segment.

[0017] The beneficial effects of the present invention are:

[0018] The present invention provides a submerged tube air-saving cushion suspension device and a control method thereof, which has the following advantages:

[0019] Reduce friction and ground vibration: The air cushion transporter reduces the friction with the ground by suspending on the air cushion above the ground. At the same time, it reduces the vibration with the ground by suspending on the air cushion.

[0020] Capable of efficient handling: Due to the reduced friction, air cushion transporters are usually able to efficiently transport large loads with relatively small power, thereby improving handling efficiency.

[0021] Precise control: The characteristics of the air cushion suspension system and the partitioned intelligent control of the present invention enable the transport vehicle to exhibit high stability during movement, and can be controlled and positioned more accurately, making it suitable for scenarios requiring high-precision transportation.

[0022] Adapt to various terrains: The air cushion suspended transporter can adapt to different terrains, including flat ground, uneven ground and even water, which increases the flexibility of the transporter.

[0023] Less damage to the ground: Traditional trolleys may leave marks on the ground due to friction, while the air cushion suspension trolley reduces physical contact with the ground during transportation, reducing damage to the ground.

[0024] Environmental protection and safety: Air cushion transporters usually use air as the suspension medium, which is relatively environmentally friendly. In addition, due to the reduction of friction, there is less wear and tear during transportation, which helps to extend the life of the equipment, reduce maintenance requirements, and also ensure the safety and integrity of the pipe sections during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 : A schematic diagram of a immersed tube air cushion suspension device of the present invention.

[0026] Figure 2 : Flow chart of a control method for a immersed tube air cushion suspension device of the present invention.

[0027] Figure 3 : Schematic diagram of intelligent zoning control of the present invention.

[0028] Figure 4 : Schematic diagram of integrated artificial intelligence decision making of the present invention. DETAILED DESCRIPTION

[0029] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings; it should be understood that the specific embodiments given here are only used to illustrate and explain the present invention and cannot be used to limit the present invention.

[0030] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also have other implementations and variations thereof. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0031] like Figure 1 As shown, a schematic diagram of an immersed tube section air cushion suspension device according to an embodiment of the present invention includes: an air cushion suspension unit S10; a partition control unit S20; a communication unit S30; and a central control unit S40.

[0032] Specifically, the air cushion suspension unit S10 is connected to the partition control unit S20, and is used to suspend the immersed tube section transport vehicle through the air cushion suspension function to reduce friction with the ground.

[0033] Specifically, the partition control unit S20 is connected to the air cushion suspension unit S10 and the communication unit S30, and partitions the immersed tube segments and performs partition control.

[0034] Specifically, the communication unit S30 is connected to the partition control unit S20 and the central control unit S40, collects information from the partition control unit S20, and transmits the information to the central control unit S40.

[0035] Specifically, the central control unit S40 is connected to the communication unit S30, analyzes the information received from the communication unit S30, and regulates different partitions of the immersed tube segment according to the analysis result.

[0036] like Figure 2 As shown: a flow chart of a control method for an air cushion suspension device of a submerged tube section according to the present invention; the flow chart includes: step S101, an air cushion suspension unit, a partition control unit, a communication unit and a central control unit; step S102, the air cushion suspension unit includes: an air cushion suspension device; the air cushion suspension device refers to a device that uses air pressure to generate an air cushion to suspend the target object in the air; an air cushion suspension device is designed at the bottom of the submerged tube section transport vehicle so that the transport vehicle is suspended on the ground during transportation; step S103, the partition control unit includes: a sensor module and a control module; by dividing the suspended transport area into multiple partitions and installing sensors and controllers on each partition, real-time monitoring and partition control of each partition are realized; step S104, the communication unit includes: a communication device; by installing a communication device in each partition, a whole suspended transport area is formed. A distributed communication system is provided to realize real-time information exchange among control modules of each partition; Step S105, the central control unit refers to a central control server, comprising: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to an analysis of data information of each partition collected in real time through artificial intelligence technology, and realizes the purpose of optimal path, adjustment of suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to a real-time monitoring interface, and the real-time monitoring interface refers to the ability of operators to monitor the status of the suspension transport vehicle and the position information of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to realize human-computer collaboration.

[0037] Step S101, air cushion suspension unit S10, partition control unit S20, communication unit S30 and central control unit S40.

[0038] In the above embodiment, specifically, the pad suspension unit S10, the partition control unit S20, the communication unit S30 and the central control unit S40 together constitute the intelligent partition control device for the immersed tube segment of the present invention.

[0039] Step S102, the air cushion suspension unit S10 includes: an air cushion suspension device; the air cushion suspension device refers to a device that uses air pressure to generate an air cushion to suspend the target object in the air; an air cushion suspension device is designed at the bottom of the immersed tube segment transport vehicle so that the transport vehicle is suspended above the ground during transportation.

[0040] In the above embodiment, specifically, the immersed tube segment has the characteristics of large structure and high weight, so the transportation of the immersed tube segment requires multiple transport vehicles to complete it at the same time. At the same time, an air cushion suspension device is designed at the bottom of each transport vehicle, and all the air cushion suspension devices work at the same time to complete the transportation of the immersed tube segment.

[0041] Step S103, the partition control unit S20 includes: a sensor module and a control module; by dividing the suspension transport area into multiple partitions, and installing sensors and controllers on each partition, real-time monitoring and partition control of each partition are achieved.

[0042] In the above embodiment, specifically, each vehicle is regarded as a partition and multiple vehicles are regarded as a partition; after partitioning, the corresponding parameter state threshold of each partition is determined, and the corresponding parameters include: suspension height, speed and corresponding partition pipe segment inclination angle; the method for determining the corresponding parameter state threshold of each partition is as follows: Determination of suspension height threshold: Under ideal conditions, the suspension height is between 5% and 10% of the pipe segment diameter, so the suspension height threshold is selected to be 5% to 10% of the pipe segment diameter; Determination of speed threshold: Usually, the transportation speed range is selected to be between 0.5 and 2m / s, and the transportation speed threshold of each partition vehicle is selected to be between 0.5 and 2m / s; Determination of corresponding partition pipe segment inclination angle: A three-dimensional model of the entire system of submerged tube pipe segment air cushion suspension is established through SolidWorks three-dimensional modeling software; simulation is performed through the established three-dimensional model to make the pipe segment in different states, including safe state and unsafe state; thereby determining the state threshold of different partition pipe segment inclination angles; at the same time, the vehicle suspension height and running speed are simulated through three-dimensional simulation to further optimize the suspension height threshold and speed threshold.

[0043] Step S104, the communication unit S30 includes: communication equipment; by installing communication equipment in each partition, a distributed communication system of the entire suspension transportation area is formed to achieve real-time information exchange between control modules of each partition.

[0044] In the above embodiment, specifically, communication equipment is installed on the vehicles in each partition, the position of each communication equipment is marked, and information can be transmitted between the communication equipment, so that the transportation of the immersed tube air-saving cushion suspension is equipped as a distributed communication system.

[0045] Step S105, the central control unit S40 refers to the central control server, including: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to analyzing the data information of each partition collected in real time through artificial intelligence technology, and achieving the purpose of optimal path, adjusting suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to the real-time monitoring interface, and the real-time monitoring interface refers to the operator being able to monitor the status of the suspension transport vehicle and the position information of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to achieve human-computer collaboration.

[0046] In the above embodiment, specifically, the artificial intelligence control module includes: managing the inclination angle of the partition pipe section according to the analysis result; the artificial intelligence module is implemented by a neural network, and the neural network mainly includes: model training, model verification and model prediction; wherein the model training includes: when extracting the training set and the test set of the optimal path, obtaining multiple path information from the starting point to the destination, extracting the distance from the starting point to the destination and the number of obstacles on each path information as input X i , i is the i-th input sample, X i is a vector; transportation time T i is the output, i is the i-th output sample; when extracting the training set and data set for adjusting the suspension height and speed, the data between 0 and 15% of the pipe segment diameter and the transport vehicle speed between 0 and 3 m / s are segmented respectively, and multiple data in each segment are extracted as the input of the neural network, and whether the input is within the safety range is used as the output of the neural network. If the input is within the threshold, the output is set to 1, and if the input is no longer within the threshold, the output is set to 0; the threshold of the suspension height is between 5% and 10% of the pipe segment diameter, that is, (5%d, 10%d), d is the diameter of the immersed tube segment; the threshold of the speed of each partition transportation is (0.5, 2); when extracting the training set and test set of the partition segment inclination angle, through three-dimensional simulation, the inclination angle of each partition segment in different states of the immersed tube segment is used as the input of the neural network (h1, h2, ... h j …h n )h jIt represents the inclination angle of the immersed tube segment in the j-th partition, and outputs 1 if the immersed tube segment is within the safety threshold and 0 if it is outside the safety range. By extracting the input and output of the optimal path, transport vehicle height, transport vehicle speed and partitioned tube segment inclination angle in the neural network, the extracted data are divided into a training set and a test set, and neural network models with different parameters are trained. That is, after training, the optimal path neural network model, the suspension height neural network model, the transport vehicle speed neural network model and the tube segment inclination angle neural network model are obtained respectively.

[0047] In the above embodiment, specifically, the artificial intelligence control module further includes: according to the target immersed tube segment transportation environment, extracting the distance from the starting point to the destination and the number of obstacles in the path information in the corresponding transportation environment as the input of the optimal path neural network model, determining the optimal path of the target immersed tube segment, and outputting T i The path corresponding to the minimum value is taken as the optimal path; subsequently, during the transportation process, the suspension height, speed and pipe segment inclination angle information of each partition are extracted in real time as input information of the suspension height neural network model, the transport vehicle speed neural network model and the pipe segment inclination angle neural network model, and the output information is obtained to determine whether each parameter is within the safety threshold. If not, the corresponding instructions are generated, and the controllers of the transport vehicles in each partition adjust the corresponding parameters to ensure that each parameter operates within the safety threshold.

[0048] In the above embodiment, preferably, the selected neural network can be a BP neural network, a LSTM neural network, an Autoencoder neural network, etc.

[0049] In the above embodiment, specifically, the energy management module includes: processing the energy consumption data of each partition collected in real time through the genetic algorithm GA to optimize the energy allocation strategy; the genetic algorithm is based on natural selection and genetics principles, and uses selection, crossover and mutation operations to find the optimal solution. By processing the collected energy consumption data of each partition through the GA algorithm, the energy allocation strategy will be effectively obtained.

[0050] In the above embodiment, specifically, the control methods of the above-mentioned air cushion suspension unit, partition control unit, communication unit and central control unit are used to jointly generate a transportation control method for the entire immersed tube segment, thereby realizing real-time, intelligent, energy-saving, efficient and safe transportation of the immersed tube segment.

[0051] like Figure 3As shown: is a schematic diagram of the intelligent zoning control of the present invention; in this schematic diagram, the transportation area of ​​the immersed tube section is divided into gas transport vehicles in area A, gas transport vehicles in area B and gas transport vehicles in area C; sensors are installed on each transport vehicle, and the gas transport vehicles in area A are divided into area A, the gas transport vehicles in area B are divided into area B and the gas transport vehicles in area C are divided into area C; data information of area A, area B and area C are collected respectively, and the collected data information is transmitted to the intelligent zoning for control, and the intelligent zoning control is equivalent to a central control unit, which performs zoning control on the immersed tube section.

[0052] In the above embodiment, preferably, when transporting a heavy immersed tube segment, the immersed tube segment is usually divided into more than three zones, that is, the zones are divided into: A1, A2, ... A n , n represents dividing the immersed tube segment into n partitions.

[0053] like Figure 4 As shown: is a schematic diagram of the integrated artificial intelligence decision-making of the present invention; in this schematic diagram, the integrated artificial intelligence decision-making system is divided into: zoning, sensor network layout and data acquisition, regional communication, remote monitoring and scheduling, real-time path planning, safety reservation and early warning alarm system; wherein, zoning, sensor network layout and data acquisition are realized by the zoning control unit S20; regional communication is carried out by the communication device installed by the communication unit S30; remote monitoring and scheduling, real-time path planning, safety setting and early warning alarm system in this figure are realized by the artificial intelligence control module, energy management module and human-computer interaction module of the central control unit S40; the above six major functions are integrated into the central control unit S40 to realize the integrated artificial intelligence decision-making system of the present invention.

[0054] It should be understood that the above-mentioned embodiments are one or more embodiments of the present invention, and there are many other embodiments and variations thereof based on the present invention; the variations and modifications made by ordinary technicians in this industry through the present invention without making pioneering innovations all fall within the scope of protection of the present invention.

Claims

1. A submerged tube air cushion suspension device, characterized in that: The device comprises: Air cushion suspension unit, partition control unit, communication unit and central control unit; The air cushion suspension unit includes: an air cushion suspension device; the air cushion suspension device refers to a device that uses air pressure to generate an air cushion to suspend the target object in the air; the air cushion suspension device is designed at the bottom of the immersed tube segment transport vehicle so that the transport vehicle is suspended on the ground during transportation; The partition control unit includes: a sensor module and a control module; by dividing the suspension transport area into multiple partitions, and installing sensors and controllers on each partition, real-time monitoring and partition control of each partition are achieved; The communication unit includes: communication equipment; by installing communication equipment in each partition, a distributed communication system of the entire suspension transport area is formed to achieve real-time information exchange between control modules of each partition; The central control unit refers to the central control server, which includes: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to the analysis of data information of each partition collected in real time through artificial intelligence technology, and achieves the purpose of optimal path, adjustment of suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to the real-time monitoring interface, and the real-time monitoring interface refers to the operator's ability to monitor the status of the suspension transport vehicle and the position information of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to achieve human-computer collaboration.

2. The immersed tube air-saving cushion suspension device according to claim 1 is characterized in that: The air cushion suspension unit includes: the immersed tube segment has the characteristics of large structure and high weight, so the transportation of the immersed tube segment requires multiple transport vehicles to complete at the same time. At the same time, an air cushion suspension device is designed at the bottom of each transport vehicle, and all air cushion suspension devices work at the same time to complete the transportation of the immersed tube segment.

3. The immersed tube air-saving cushion suspension device according to claim 1 is characterized in that: The partition control unit includes: treating each vehicle as a partition and treating multiple vehicles as a partition; after partitioning, determining the corresponding parameter state threshold of each partition, the corresponding parameters include: suspension height, speed and corresponding partition pipe segment inclination angle; the method for determining the corresponding parameter state threshold of each partition is: determination of suspension height threshold: under ideal conditions, the suspension height is between 5% and 10% of the pipe segment diameter, so the suspension height threshold is selected to be between 5% and 10% of the pipe segment diameter; determination of speed threshold: usually, the transportation speed range is selected to be between 0.5 and 2m / s, and the transportation speed threshold of each partition vehicle is selected to be between 0.5 and 2m / s; determination of the corresponding partition pipe segment inclination angle: establishing a three-dimensional model of the entire system of the submerged tube pipe segment air cushion suspension through SolidWorks three-dimensional modeling software; simulating through the established three-dimensional model, so that the pipe segment is in different states, including a safe state and an unsafe state; thereby determining the state threshold of the pipe segment inclination angle of different partitions; at the same time, the vehicle suspension height and running speed are simulated through three-dimensional simulation to further optimize the suspension height threshold and speed threshold.

4. The immersed tube air-saving cushion suspension device according to claim 1 is characterized in that: The communication unit includes: communication equipment is installed on the vehicle in each partition, each communication equipment is marked with a position, and information can be transmitted between the communication equipment, so that the transportation of the immersed tube air cushion suspension is equipped as a distributed communication system.

5. The immersed tube air-saving cushion suspension device according to claim 1 is characterized in that: The artificial intelligence control module includes: managing the tilt angle of the partition pipe section according to the analysis results; the artificial intelligence module is implemented by a neural network, and the neural network mainly includes: model training, model verification and model prediction; wherein the model training includes: when extracting the training set and test set of the optimal path, obtaining multiple path information from the starting point to the destination, extracting the distance from the starting point to the destination and the number of obstacles on each path information as input X i , i is the i-th input sample, X i is a vector; transportation time T i is the output, i is the i-th output sample; when extracting the training set and data set for adjusting the suspension height and speed, the data between 0 and 15% of the pipe segment diameter and the transport vehicle speed between 0 and 3 m / s are segmented respectively, and multiple data in each segment are extracted as the input of the neural network, and whether the input is within the safety range is used as the output of the neural network. If the input is within the threshold, the output is set to 1, and if the input is no longer within the threshold, the output is set to 0; the threshold of the suspension height is between 5% and 10% of the pipe segment diameter, that is, (5%d, 10%d), d is the diameter of the immersed tube segment; the threshold of the speed of each partition transportation is (0.5, 2); when extracting the training set and test set of the partition segment inclination angle, through three-dimensional simulation, the inclination angle of each partition segment in different states of the immersed tube segment is used as the input of the neural network (h1, h2, ... h j …h n )h j It represents the inclination angle of the immersed tube segment in the j-th partition, and outputs 1 if the immersed tube segment is within the safety threshold and 0 if it is outside the safety range. By extracting the input and output of the optimal path, transport vehicle height, transport vehicle speed and partitioned tube segment inclination angle in the neural network, the extracted data are divided into a training set and a test set, and neural network models with different parameters are trained. That is, after training, the optimal path neural network model, the suspension height neural network model, the transport vehicle speed neural network model and the tube segment inclination angle neural network model are obtained respectively.

6. The immersed tube air-saving cushion suspension device according to claim 5 is characterized in that: The artificial intelligence control module further includes: according to the target immersed tube segment transportation environment, extracting the distance from the starting point to the destination and the number of obstacles in the path information in the corresponding transportation environment as the input of the optimal path neural network model, determining the optimal path of the target immersed tube segment, and outputting T i The path corresponding to the minimum value is taken as the optimal path; subsequently, during the transportation process, the suspension height, speed and pipe segment inclination angle information of each partition are extracted in real time as input information of the suspension height neural network model, the transport vehicle speed neural network model and the pipe segment inclination angle neural network model, and the output information is obtained to determine whether each parameter is within the safety threshold. If not, the corresponding instructions are generated, and the controllers of the transport vehicles in each partition adjust the corresponding parameters to ensure that each parameter operates within the safety threshold.

7. The immersed tube air cushion suspension device according to claim 1 is characterized in that: The energy management module includes: processing the energy consumption data of each partition collected in real time through the genetic algorithm GA to optimize the energy allocation strategy; the genetic algorithm is based on natural selection and genetics principles, and uses selection, crossover and mutation operations to find the optimal solution. By processing the collected energy consumption data of each partition through the GA algorithm, the energy allocation strategy will be effectively obtained.

8. The immersed tube air cushion suspension device according to claim 1 is characterized in that: Also includes: The air cushion suspension unit, the partition control unit, the communication unit and the central control unit jointly generate a transportation control method for the entire air cushion suspended immersed tube section, thereby realizing real-time, intelligent, energy-saving, efficient and safe transportation of the immersed tube section.

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