Pipe butt joint construction suitable for PCCP pipe and control method thereof

Abstract

The present application relates to a kind of pipe docking construction for PCCP pipeline and its control method, and the pipe docking construction includes frame and bracket, bracket is configured to be lifted from the inside of the pipe to be docked to the pipe to be docked, bracket is connected on frame by longitudinal displacement mechanism, transverse displacement mechanism and jacking mechanism.Control method includes: obtaining the first information of target docking interface of target pipe, first information includes the first position and first angle of target docking interface.Obtain the second information of the docking interface to be docked of the pipe to be docked, second information includes the second position and second angle of the docking interface to be docked.According to first information and second information, control transverse displacement mechanism and jacking mechanism, so that the docking interface to be docked is aligned with target docking interface.According to first information and second information, control longitudinal displacement mechanism to drive bracket to move forward, so that the docking interface to be docked is accessed to target docking interface.The technical scheme at least partially realizes automatic docking pipe, reduces manual operation, and improves the effect of pipe docking efficiency.

Description

Technical Field

[0001] This invention relates to the field of pipeline assembly technology, and in particular to a pipe-connecting trolley and its control method suitable for PCCP pipeline docking construction. Background Technology

[0002] Currently, the installation of large-diameter PCCP pipelines mostly involves hoisting with cranes, which requires a large number of operators and carries a high risk. During the installation process, pipe swaying can easily damage the pipeline itself due to hoisting and adjustments. Adding anti-collision pads to the joint can also affect the accuracy of pipe alignment. To address this, existing technology proposes a solution using a support bracket on a docking trolley to lift the pipeline from within for docking. During the docking process, the support bracket can stably support the pipeline.

[0003] However, this technical solution still requires manual operation, manually controlling the position and angle of the bracket, resulting in low docking efficiency. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a pipe-connecting trolley and its control method suitable for PCCP pipeline docking construction to overcome or at least partially solve the above problems, and to realize partial or full automatic pipeline docking, thereby improving pipeline docking efficiency.

[0005] Specifically, the present invention provides the following technical solution: A control method for a pipe-joining trolley suitable for PCCP pipe docking construction. The pipe-joining trolley includes a frame and a bracket, the bracket being configured to lift the pipe to be joined upwards from inside the pipe, and the bracket being connected to the frame via a longitudinal movement mechanism, a transverse movement mechanism, and a lifting mechanism. The control method includes: Obtain first information about the target interface of the target pipeline, the first information including the first position and first angle of the target interface.

[0006] Obtain the second information of the interface to be docked with the pipeline to be docked, the second information including the second position and the second angle of the interface to be docked.

[0007] Based on the first information and the second information, the lateral movement mechanism and the lifting mechanism are controlled to align the interface to be paired with the target interface.

[0008] Based on the first information and the second information, the longitudinal movement mechanism is controlled to move the bracket forward so that the interface to be paired is connected to the target interface.

[0009] Optionally, the traversing mechanism includes a front traversing mechanism and a rear traversing mechanism. The bracket includes a front bracket disposed on the front traversing mechanism and a rear bracket disposed on the rear traversing mechanism. Controlling the traversing mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface includes: Based on the first angle and the second angle, control the forward lateral movement mechanism and / or the rear lateral movement mechanism to change the second position and the yaw angle of the pipe to be docked.

[0010] Optionally, the lifting mechanism includes a front lifting mechanism and a rear lifting mechanism. The bracket includes a front bracket disposed on the front lifting mechanism and a rear bracket disposed on the rear lifting mechanism. Controlling the lifting mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface includes: Based on the first angle and the second angle, control the front lifting mechanism and / or the rear lifting mechanism to change the second position and the pitch angle of the pipe to be docked.

[0011] Optionally, the lateral movement mechanism includes a front lateral movement mechanism and a rear lateral movement mechanism. The lifting mechanism includes a front lifting mechanism and a rear lifting mechanism. The front lifting mechanism is fixedly mounted on the front lateral movement mechanism, and the rear lifting mechanism is fixedly mounted on the rear lateral movement mechanism. The bracket includes a front bracket mounted on the front lifting mechanism and a rear bracket mounted on the rear lifting mechanism. Controlling the lateral movement mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface includes: Based on the first angle and the second angle, control the forward lateral movement mechanism and / or the rear lateral movement mechanism to change the second position and the yaw angle of the pipe to be docked. Based on the first angle and the second angle, control the front lifting mechanism and / or the rear lifting mechanism to change the second position and the pitch angle of the pipe to be docked.

[0012] Optionally, controlling the longitudinal movement mechanism to move the bracket forward based on the first information and the second information, so that the interface to be paired is connected to the target interface, includes: The longitudinal movement mechanism is controlled to move the bracket forward.

[0013] The second information is updated at a first preset time interval.

[0014] Based on the first information and the updated second information, the lateral movement mechanism and the lifting mechanism are controlled to change the second position, the yaw angle and the pitch angle of the pipeline to be docked.

[0015] Optionally, after controlling the forward lateral movement mechanism and / or the rear lateral movement mechanism according to the first angle and the second angle to change the yaw angle of the second position and the pipe to be docked, and controlling the forward lifting mechanism and / or the rear lifting mechanism according to the first angle and the second angle to change the pitch angle of the second position and the pipe to be docked, the control method further includes: Obtain the current second angle as the initial target setting value; After controlling the lateral movement mechanism and the lifting mechanism based on the first information and the updated second information to change the second position, the yaw angle and the pitch angle of the pipe to be docked, the control method further includes: Based on the changes in the yaw and pitch angles of the pipeline to be docked, the initial target setting value is corrected, and the corrected second angle is used as the new initial target setting value for use in the next docking operation.

[0016] Optionally, the alignment trolley further includes a tracked traveling mechanism, and the frame is connected to the tracked traveling mechanism. Before controlling the traversing mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface, the control method includes: Obtain the preset travel threshold range of the lateral movement mechanism, the lifting mechanism, and the longitudinal movement mechanism.

[0017] Based on the first information, the second information, and each of the preset travel threshold ranges, determine whether the interface to be paired can be aligned with the target interface within all of the preset travel threshold ranges.

[0018] If not, control the tracked walking mechanism to adjust the position and / or angle of the chassis.

[0019] Optionally, the first information includes the first pipe diameter information of the target interface. The second information includes the second pipe diameter information of the interface to be docked. After obtaining the second information of the interface to be docked, the control method further includes: Determine whether the second pipe diameter information matches the first pipe diameter information.

[0020] If not, issue an alarm message.

[0021] Optionally, obtaining the second information of the interface to be docked in the pipeline includes: Obtain the third diameter information of the pipeline to be connected.

[0022] The second information is obtained based on the status of the longitudinal movement mechanism, the transverse movement mechanism, the lifting mechanism, and the third pipe diameter information.

[0023] Optionally, before obtaining the second information of the interface to be docked in the pipeline to be docked, the control method further includes: Obtain the third diameter information of the pipeline to be connected.

[0024] Based on the third pipe diameter information, the lifting mechanism is controlled to lower the pipe to be connected to a first preset height, so that the operator can install the sealing ring on the interface to be connected.

[0025] On the other hand, the present invention also provides a pipe-connecting trolley suitable for PCCP pipe docking construction, including a frame and a bracket, wherein the bracket is configured to support the pipe to be docked with the inner wall of the pipe as a support point, and the bracket is connected to the frame through a longitudinal movement mechanism, a transverse movement mechanism and a lifting mechanism.

[0026] The tube-aligning trolley also includes a controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of the tube-aligning trolley control method described above.

[0027] The present invention discloses a control method for a pipe-connecting trolley applicable to PCCP pipeline docking construction. The pipe-connecting trolley can automatically acquire docking-related information about the target pipeline and the pipeline to be connected. Based on this information, it plans the movement path of the pipeline to be connected, controls the lateral movement and lifting mechanisms of the trolley to automatically adjust the position and angle of the pipeline to be connected to align with the target pipeline, and controls the longitudinal movement mechanism of the trolley to automatically connect the pipeline to be connected to the target pipeline. This technical solution at least partially achieves automated pipeline docking, reducing manual operation and improving pipeline docking efficiency.

[0028] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0029] The following sections will describe some specific embodiments of the invention in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings: Figure 1 This is a schematic structural diagram of a tube-mounted trolley according to an embodiment of the present invention; Figure 2 This is a schematic front view of a tube trolley according to an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a tube-mounted trolley according to an embodiment of the present invention; Figure 4 This is a schematic side view of a tube trolley according to an embodiment of the present invention; Figure 5 This is a schematic flowchart of a control method according to an embodiment of the present invention; Figure 6 This is a schematic flowchart of a control method according to an embodiment of the present invention; Figure 7 This is a schematic flowchart of a control method according to an embodiment of the present invention; Figure 8 This is a schematic flowchart of a control method according to an embodiment of the present invention; Figure 9 This is a schematic flowchart of a control method according to an embodiment of the present invention; Figure 10 This is a schematic flowchart of a control method according to an embodiment of the present invention; Figure 11 This is a schematic flowchart of a control method according to an embodiment of the present invention; Figure 12 This is a schematic line drawing of a tube-mounted trolley according to an embodiment of the present invention. List of icon symbols: 110. Bracket; 112. Front bracket; 114. Rear bracket; 120. Chassis; 130. Lateral movement mechanism; 132. Front lateral movement mechanism; 134. Rear lateral movement mechanism; 140. Lifting mechanism; 142. Front lifting mechanism; 144. Rear lifting mechanism; 150. Longitudinal movement mechanism; 160. Tracked travel mechanism; 190. Controller; 191. Memory; 192. Processor; 193. Computer program; 200. Target pipe; 210. Target docking interface; 300. Pipe to be docked; 310. Docking interface. Detailed Implementation

[0030] The following reference Figures 1 to 12This invention describes a pipe-connecting trolley and its control method applicable to PCCP pipeline docking construction. In this description, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature, that is, include one or more of that feature. In the description of this invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. When a feature "includes or contains" one or more of the features it encompasses, unless otherwise specifically described, this indicates that other features are not excluded and may be further included.

[0031] Unless otherwise expressly specified and limited, the terms "set up," "install," "connect," "link," "fix," and "couple" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art should be able to understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] Furthermore, in the description of this embodiment, "above" or "below" the second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. That is, in the description of this embodiment, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "below" of the second feature can mean the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] In the description of this embodiment, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0034] Figure 1 This is a schematic structural diagram of a tube-mounted trolley according to an embodiment of the present invention, such as... Figure 1 As shown, and with reference Figures 2 to 12 This invention provides a control method for a pipe-joining trolley suitable for PCCP pipeline docking construction. The pipe-joining trolley 100 includes a frame 120 and a bracket 110. The bracket 110 is configured to lift the pipe 300 to be joined upwards from inside the pipe 300. The bracket 110 is connected to the frame 120 via a longitudinal movement mechanism 150, a transverse movement mechanism 130, and a lifting mechanism 140. The control method includes: S100, obtain the first information of the target interface 210 of the target pipeline 200, the first information includes the first position and the first angle of the target interface 210.

[0035] S200, obtain the second information of the interface 310 to be docked of the pipeline 300, the second information includes the second position and the second angle of the interface 310 to be docked.

[0036] S300, based on the first and second information, control the lateral movement mechanism 130 and the lifting mechanism 140 to align the interface to be aligned with the target interface 210.

[0037] S400, based on the first and second information, control the longitudinal movement mechanism 150 to drive the bracket 110 to move forward so that the interface to be paired 310 can be connected to the target interface 210.

[0038] Large-diameter PCCP pipes typically have a large inner diameter. The frame 120 or bracket 110 of the pipe trolley 100 can extend forward and into the interior of the pipe 300 to be connected. The bracket 110 supports the pipe 300 to be connected using the support points on the upper inner wall of the pipe 300. The longitudinal movement mechanism 150, the transverse movement mechanism 130, and the lifting mechanism 140 can each be equipped with a drive mechanism and a transmission mechanism. The drive form can be a hydraulic cylinder, a motor, etc., and the transmission form can be a hydraulic rod, a lead screw, etc., without any restrictions.

[0039] The lifting mechanism 140 is used to adjust the height of the bracket 110 (relative to the frame 120 or the ground), that is, to adjust the height of the pipe 300 to be docked relative to the target pipe 200. The lateral movement mechanism 130 is used to adjust the left and right position of the bracket 110 relative to the frame 120, that is, to adjust the lateral distance of the pipe 300 to be docked relative to the target pipe 200. The longitudinal movement mechanism 150 is used to adjust the front and rear position of the bracket 110 relative to the frame 120, that is, to adjust the longitudinal distance of the pipe 300 to be docked relative to the target pipe 200.

[0040] In this embodiment, the pipe-connecting trolley 100 can be equipped with a data acquisition device or a sensing device (such as a camera, rangefinder, total station, etc.) to acquire information such as the position and angle of the target pipe 200 and the pipe 300 to be connected. For example, a smart camera can capture and automatically identify the first position (position of the center point of the target interface 210) and the first angle (angle of the central axis of the target interface 210) of the target pipe 200. It should be understood that the first position, first angle, second position, and second angle can be coordinate values ​​in a coordinate system based on the ground, and the first position and first angle can also be relative values ​​to the second position and second angle.

[0041] After obtaining the first information of the target interface 210 and the second information of the interface to be matched 310, the pipe-matching trolley 100 can calculate the movement trajectory of the pipe to be matched 300 according to a preset program. Then, according to the movement trajectory, it controls the lateral movement mechanism 130 and the lifting mechanism 140 to align the interface to be matched 310 with the target interface 210. Finally, according to the movement trajectory, it controls the longitudinal movement mechanism 150 to drive the bracket 110 to move forward, so that the interface to be matched 310 is connected to the target interface 210.

[0042] Compared to using a crane to lift and connect pipelines, this embodiment ensures the pipeline to be connected (300mm) will not sway or swing during construction, resulting in high stability and reliability. Furthermore, it eliminates the need for pre-reserved operating space above the pipeline, allowing for construction in special locations such as under high-voltage lines or above foundation pits with cross bracing. On the other hand, this technical solution at least partially automates pipeline connection, reducing manual labor and improving connection efficiency. In practice, compared to using a crane, this solution reduces installation time by 50% and the number of operators by 50%. Moreover, it effectively avoids the shortcomings of traditional manual installation in terms of quality and safety control, improving the quality of connection construction and reducing safety accidents.

[0043] In some embodiments of the control method of the present invention, such as Figure 3-4 As shown, the lateral movement mechanism 130 includes a front lateral movement mechanism 132 and a rear lateral movement mechanism 134. The bracket 110 includes a front bracket 112 disposed on the front lateral movement mechanism 132 and a rear bracket 114 disposed on the rear lateral movement mechanism 134. The method of controlling the lateral movement mechanism 130 and the lifting mechanism 140 according to the first and second information to align the interface to be aligned 310 with the target interface 210 includes: S311, based on the first angle and the second angle, control the forward lateral movement mechanism 132 and / or the rear lateral movement mechanism 134 to change the second position and the yaw angle of the pipe 300 to be docked.

[0044] Large-diameter PCCP pipes typically have a certain radial length, and two brackets 110 are set along the longitudinal direction to further improve the stability of the pipe 300 to be connected, and prevent the pipe 300 to be connected from shaking or swaying during the connection process.

[0045] In this embodiment, the front bracket 112 and the rear bracket 114 are respectively mounted on the independently movable front lateral movement mechanism 132 and rear lateral movement mechanism 134. When the front lateral movement mechanism 132 and the rear lateral movement mechanism 134 move laterally by the same distance in the same direction, they can change the lateral position of the pipe 300 to be docked without changing the second angle of the pipe 300. When the front lateral movement mechanism 132 and the rear lateral movement mechanism 134 move laterally by different distances in the same direction, or move laterally in the opposite direction, they can change the lateral angle, i.e., the yaw angle, of the pipe 300 to be docked, so that the lateral angle of the pipe 300 to be docked is aligned with the lateral angle of the pipe 300 to be docked.

[0046] In this embodiment, by changing the second position and yaw angle of the pipe to be docked 300, automatic docking can be performed when the target pipe 200 has a certain lateral tilt angle, further expanding the application scenarios of the docking trolley and improving the docking efficiency in the corresponding scenarios.

[0047] In some embodiments of the control method of the present invention, such as Figure 3-4 As shown, the lifting mechanism 140 includes a front lifting mechanism 142 and a rear lifting mechanism 144. The bracket 110 includes a front bracket 112 disposed on the front lifting mechanism 142 and a rear bracket 114 disposed on the rear lifting mechanism 144. The method of controlling the lifting mechanism 140 and the lifting mechanism 144 according to the first information and the second information to align the interface to be aligned 310 with the target interface 210 includes: S321, based on the first angle and the second angle, control the front lifting mechanism 142 and / or the rear lifting mechanism 144 to change the second position and the pitch angle of the pipe 300 to be docked.

[0048] In this embodiment, the front bracket 112 and the rear bracket 114 are respectively mounted on the independently movable front lifting mechanism 142 and rear lifting mechanism 144. When the front lifting mechanism 142 and the rear lifting mechanism 144 move up and down the same distance in the same direction, they can change the height of the pipe 300 to be docked without changing the second angle of the pipe 300 to be docked. When the front lifting mechanism 142 and the rear lifting mechanism 144 move up and down different distances in the same direction, or move up and down in opposite directions, they can change the vertical angle, i.e., the pitch angle, of the pipe 300 to be docked, so that the vertical angle of the pipe 300 to be docked is aligned with the vertical angle of the pipe 300 to be docked.

[0049] In this embodiment, by changing the second position and pitch angle of the pipe 300 to be docked, automatic docking can be performed when the target pipe 200 has a certain slope angle, further expanding the application scenarios of the docking trolley and improving the docking efficiency in the corresponding scenarios.

[0050] In some embodiments of the control method of the present invention, such as Figure 3-4 and Figure 6 As shown, the lateral movement mechanism 130 includes a front lateral movement mechanism 132 and a rear lateral movement mechanism 134. The lifting mechanism 140 includes a front lifting mechanism 142 and a rear lifting mechanism 144. The front lifting mechanism 142 is fixedly mounted on the front lateral movement mechanism 132, and the rear lifting mechanism 144 is fixedly mounted on the rear lateral movement mechanism 134. The bracket 110 includes a front bracket 112 mounted on the front lifting mechanism 142 and a rear bracket 114 mounted on the rear lifting mechanism 144. The method of controlling the lateral movement mechanism 130 and the lifting mechanism 140 according to the first and second information to align the interface to be aligned 310 with the target interface 210 includes: S331, based on the first angle and the second angle, control the forward lateral movement mechanism 132 and / or the rear lateral movement mechanism 134 to change the yaw angle of the second position and the pipe 300 to be docked. S332, based on the first angle and the second angle, control the front lifting mechanism 142 and / or the rear lifting mechanism 144 to change the second position and the pitch angle of the pipe 300 to be docked.

[0051] In this embodiment, the front lateral movement mechanism 132 can drive the front lifting mechanism 142 to move laterally, and the front lifting mechanism 142 can drive the front bracket 112 to rise and fall; the rear lateral movement mechanism 134 can drive the rear lifting mechanism 144 to move laterally, and the rear lifting mechanism 144 can drive the rear bracket 114 to rise and fall. That is, the bracket 110 can change the lateral and longitudinal position of the pipe 300 to be docked, and can also change the yaw and pitch angles of the pipe 300 to be docked, to adapt to the lateral tilt angle and slope angle of the target pipe 200. This further expands the application scenarios of the docking trolley and improves docking efficiency.

[0052] It should be understood that the lifting and lowering actions of the jacking mechanism 140 and the lateral movement actions of the transverse mechanism 130 may or may not have a sequential order, and may or may not act simultaneously. This can be set as needed, and there are no restrictions here.

[0053] In some embodiments of the control method of the present invention, such as Figure 7 As shown, the method of controlling the longitudinal movement mechanism 150 to move the bracket 110 forward according to the first and second information, so that the interface to be paired 310 can be connected to the target interface 210, includes: S411, the longitudinal movement mechanism 150 drives the bracket 110 to move forward.

[0054] S412, update the second information at a first preset time interval.

[0055] S413, based on the first information and the updated second information, control the lateral movement mechanism 130 and the lifting mechanism 140 to change the second position, the yaw angle and pitch angle of the pipeline 300 to be docked.

[0056] Data acquired by the acquisition or sensing devices may contain errors, as may the calculation process of the preset program. The horizontal movement mechanism 130, the lifting mechanism 140, and the vertical movement mechanism 150 will also generate certain errors during their movement. These errors, when accumulated, may cause misalignment when the interface to be paired 310 approaches the target interface 210, leading to automatic docking failure. This embodiment is used to solve the above problems.

[0057] The first preset time interval can be 1 second, 5 seconds, 10 seconds, etc. The first preset time interval can also be the minimum rated sampling interval of the acquisition device or sensing device, for example, 0.01 seconds, to acquire the second information of the pipe 300 to be docked in real time. In this embodiment, the longitudinal movement mechanism 150 can drive the bracket 110 forward at a preset speed. During this period, the acquisition device or sensing device periodically acquires and updates the second information of the pipe 300 to be docked to determine whether the movement path of the pipe 300 matches the calculated movement trajectory. If they do not match, it is necessary to control the transverse movement mechanism 130 and the lifting mechanism 140 to adjust the pipe 300 to the correct movement trajectory.

[0058] In this embodiment, by periodically updating the second information, the position and movement state of the pipeline 300 to be docked can be adjusted, which can improve the accuracy of the docking construction and enable the interface 310 to be docked to be smoothly and accurately connect to the target interface 210.

[0059] In some embodiments of the control method of the present invention, after controlling the forward lateral movement mechanism 132 and / or the rear lateral movement mechanism 134 according to the first angle and the second angle to change the yaw angle of the second position and the pipe 300 to be docked, and controlling the forward lifting mechanism 142 and / or the rear lifting mechanism 144 according to the first angle and the second angle to change the pitch angle of the second position and the pipe 300 to be docked, the control method further includes: S333, obtain the current second angle as the initial target setting value; After controlling the lateral movement mechanism 130 and the lifting mechanism 140 according to the first information and the updated second information to change the second position, the yaw angle and pitch angle of the pipe 300 to be docked, the control method further includes: S414, based on the changes in the yaw and pitch angles of the pipeline 300 to be docked, correct the initial target setting value, and use the corrected second angle as the new initial target setting value for use in the next docking operation.

[0060] Due to physical limitations, the data acquired by the acquisition or sensing devices contains inherent errors. The lateral movement mechanism 130, the lifting mechanism 140, and the longitudinal movement mechanism 150 also generate inherent errors during their movement. These inherent errors increase the number or magnitude of corrections needed for the yaw and pitch angles of the pipe to be docked, affecting docking efficiency. Furthermore, these inherent errors are related to the mechanical structure of the equipment and are difficult to eliminate. Therefore, this embodiment incorporates a "self-learning" mechanism to eliminate these inherent errors to a certain extent.

[0061] During the initial docking operation, the docking trolley, based on the first and second information obtained initially, controls the lateral movement mechanism 130 and the lifting mechanism 140 to adjust the pipe 300 to the required second position and second angle. The second angle corresponding to the first angle is then set as the initial target setting value. The longitudinal movement mechanism 150 is then controlled to move the bracket 110 forward. During this forward movement, the yaw and pitch angles of the pipe 300 are continuously corrected to overcome the aforementioned errors (including inherent errors). Upon completion of the initial docking, the docking trolley automatically calculates the total correction values ​​for the yaw and pitch angles of the pipe 300 and adds these correction values ​​to the initial target setting value (e.g., the correction value is multiplied by a preset weighting factor and then added to the initial target setting value) as a new initial target setting value, which can be directly used during subsequent docking operations (when the first angle is the same or similar). Because inherent errors are considered when setting the initial target setting value, the number or magnitude of corrections to the yaw and pitch angles of the pipe 300 during docking can be reduced, thereby improving docking efficiency.

[0062] Furthermore, during each docking operation (when the first angle is the same or similar), the initial target setting value will be corrected to continuously improve the estimation accuracy of the inherent error, reduce the number of corrections or the amount of corrections for the yaw and pitch angles of the pipeline to be docked in subsequent docking operations, thereby improving docking efficiency.

[0063] In some embodiments of the control method of the present invention, such as Figure 1 and Figure 8 As shown, the pipe-aligning trolley 100 also includes a tracked traveling mechanism 160, and the frame 120 is connected to the tracked traveling mechanism 160. Before controlling the lateral movement mechanism 130 and the lifting mechanism 140 according to the first and second information to align the interface to be aligned with the target interface 210, the control method includes: S511, obtain the preset stroke threshold range of the transverse movement mechanism 130, the lifting mechanism 140 and the longitudinal movement mechanism 150.

[0064] S512, based on the first information, the second information and each preset travel threshold range, determine whether the interface to be paired 310 can be aligned with the target interface 210 within all preset travel threshold ranges.

[0065] S513, if not, control the track travel mechanism 160 to adjust the position and / or angle of the frame 120.

[0066] The tracked walking mechanism 160 is used to change the position and / or angle of the frame 120 for the self-movement of the pipe trolley 100 and short-distance pipe transport. Due to mechanical limitations, the lateral movement mechanism 130, the lifting mechanism 140, and the longitudinal movement mechanism 150 necessarily have certain preset travel threshold ranges. For example, the lateral travel threshold range of the lateral movement mechanism 130 can be ±100mm, the lifting travel threshold range of the lifting mechanism 140 can be ±200mm, and the longitudinal travel threshold range of the longitudinal movement mechanism 150 can be ±250mm. In this embodiment, the lateral movement mechanism 130 and the lifting mechanism 140 are only used for minor adjustments to the second position and the second angle to minimize production costs while meeting construction requirements.

[0067] In this embodiment, the preset travel threshold ranges of the lateral movement mechanism 130, the lifting mechanism 140, and the longitudinal movement mechanism 150 can be preset in the memory of the tube-aligning trolley 100 and read when needed. After acquiring the first information, the second information, and each preset travel threshold range, the preset program prioritizes searching for feasible movement trajectories within each preset travel threshold range. If no solution is found within each preset travel threshold range, it indicates that the position and / or angle of the chassis 120 deviates too much and needs to be adjusted by the tracked walking mechanism 160. After adjusting the position and / or angle of the chassis 120 accordingly, the second information can be collected or updated again, and feasible movement trajectories can be searched again within each preset travel threshold range.

[0068] In some embodiments of the control method of the present invention, such as Figure 1 and Figure 9 As shown, the first information includes the first pipe diameter information of the target interface 210. The second information includes the second pipe diameter information of the interface 310 to be docked. After obtaining the second information of the interface 310 to be docked of the pipe 300, the control method further includes: S611, determine whether the second pipe diameter information matches the first pipe diameter information.

[0069] S612, if not, issue an alarm message.

[0070] Large-diameter PCCP pipes come in various specifications and sizes. The first pipe diameter is the diameter at the target interface 210 (usually the inner diameter), and the second pipe diameter is the diameter at the interface 310 to be matched (usually the outer diameter). Generally, the first pipe diameter is equal to or slightly larger than the second pipe diameter to facilitate the insertion of the interface 310 to be matched into the target interface 210 during docking. In this embodiment, the pipe-matching trolley 100 can be equipped with a data acquisition device or a sensing device (such as a camera, rangefinder, total station, etc.) to acquire the first and second pipe diameter information, and then determine whether the interface 310 to be matched matches the target interface 210. If they do not match, it indicates that the specifications and dimensions of the pipe currently being held by the pipe-matching trolley 100 are incorrect. The alarm information can be audible (such as an alarm sound, voice prompt, etc.) or visual (such as a warning light, etc.).

[0071] In this embodiment, by determining whether the second pipe diameter information matches the first pipe diameter information, it is possible to prevent pipes of incorrect specifications and sizes from being connected to the target pipe 200, thereby improving the quality and efficiency of the connection construction.

[0072] In some embodiments of the control method of the present invention, such as Figure 10 As shown, obtaining the second information of the interface 310 to be docked of the pipe 300 includes: S711, obtain the third diameter information of the pipe to be connected 300.

[0073] S712, based on the status of the longitudinal movement mechanism 150, the transverse movement mechanism 130, the lifting mechanism 140, and the third pipe diameter information, the second information is obtained.

[0074] The third pipe diameter information is the inner diameter of the non-interface of the pipe 300 to be connected, and the bracket 110 is supported on this inner wall. The third pipe diameter information can be preset or entered by the operator.

[0075] In this embodiment, the second position and second angle of the interface 310 to be aligned can be calculated through a preset program using the position and angle status information of the longitudinal movement mechanism 150, the transverse movement mechanism 130, and the lifting mechanism 140, as well as the third pipe diameter information. Compared to obtaining this information using devices such as cameras, this technical solution can obtain accurate second information more quickly.

[0076] In some embodiments of the control method of the present invention, such as Figure 2 and Figure 11 As shown, before obtaining the second information of the interface 310 of the pipe to be docked 300, the control method further includes: S811, obtain the third diameter information of the pipe to be connected 300.

[0077] S812, based on the third pipe diameter information, control the lifting mechanism 140 to lower the pipe 300 to be connected to the first preset height L, so that the operator can install the sealing ring on the interface 310 to be connected.

[0078] Sealing rings are crucial for the leak-proof and tight seal of pipelines, and the installation quality of the sealing rings directly affects the subsequent operation quality of the pipeline.

[0079] The first preset height L can be the distance from the lowest point of the pipe 300 to be connected to the ground, for example, 100mm, so as not to touch the ground. In this embodiment, the pipe 300 to be connected is lowered before connection, so that the operator can easily install the sealing ring on the interface 310 to be connected, improve the installation accuracy of the sealing ring, and thus improve the quality of pipe connection.

[0080] In some embodiments of the tube-connecting trolley of the present invention, such as Figure 12 As shown, the pipe trolley 100 includes a frame 120 and a bracket 110. The bracket 110 is configured to support the pipe 300 to be connected with the inner wall of the pipe 300 as a support point. The bracket 110 is connected to the frame 120 through a longitudinal movement mechanism 150, a transverse movement mechanism 130 and a lifting mechanism 140.

[0081] The tube-aligning trolley 100 also includes a controller 190, which includes a memory 191, a processor 192, and a computer program 193 stored in the memory 191 and running on the processor 192. When the processor 192 executes the computer program 193, it implements the steps of the control method of the tube-aligning trolley 100 described above.

[0082] The memory 191 and processor 192 can be directly installed inside the pipe-connecting trolley and connected to each module of the pipe-connecting trolley via cables. Alternatively, the memory 191 and processor 192 can be installed on a cloud server and connected to each module of the pipe-connecting trolley wirelessly, thereby realizing the control method of any of the above embodiments or combinations thereof.

[0083] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a system including processor 192 or other system that can fetch and execute instructions from an instruction execution system, apparatus or device).

[0084] For the purposes of this embodiment, memory 191 can be any means capable of containing, storing, communicating, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples of memory 191 (a non-exhaustive list) include: an electrical connection (electronic device) having one or more wires, a portable computer disk drive (magnetic device), random access memory 191 (RAM), read-only memory (ROM), erasable and editable read-only memory 191 (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, memory 191 can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0085] The computer program 193 used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, integrated circuit configuration data, or source code or object code written in any combination of one or more programming languages ​​and procedural programming languages. The computer program 193 may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can connect to the user's computer via any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can connect to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, to perform aspects of the invention, electronic circuits, including, for example, programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can execute computer-readable program instructions to personalize the electronic circuits by utilizing state information of computer-readable program instructions.

[0086] Therefore, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Thus, the scope of the present invention should be understood and construed as covering all such other variations or modifications.

Claims

1. A control method for a pipe-connecting trolley suitable for PCCP pipeline docking construction, characterized in that, The pipe-aligning trolley includes a frame and a bracket. The bracket is configured to lift the pipe to be aligned upwards from inside the pipe. The bracket is connected to the frame via a longitudinal movement mechanism, a transverse movement mechanism, and a lifting mechanism. The pipe-aligning trolley also includes a tracked walking mechanism. The frame is connected to the tracked walking mechanism, which is used to change the position and / or angle of the frame for the trolley's own movement and short-distance pipe transport. The control method includes: Obtain first information about the target interface of the target pipeline, the first information including the first position and first angle of the target interface; Obtain second information about the interface to be docked with the pipeline to be docked, the second information including the second position and the second angle of the interface to be docked; Based on the first information and the second information, control the lateral movement mechanism and the lifting mechanism to align the interface to be aligned with the target interface; Based on the first information and the second information, the longitudinal movement mechanism is controlled to move the bracket forward so that the interface to be paired is connected to the target interface. Based on the first information and the second information, controlling the longitudinal movement mechanism to move the bracket forward so that the interface to be paired can be connected to the target interface specifically includes: controlling the longitudinal movement mechanism to move the bracket forward; The second information is updated at a first preset time interval; Based on the first information and the updated second information, control the lateral movement mechanism and the lifting mechanism to change the second position, the yaw angle and the pitch angle of the pipe to be docked; After controlling the lateral movement mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface, the method further includes: obtaining the current second angle as an initial target setting value; After controlling the lateral movement mechanism and the lifting mechanism based on the first information and the updated second information to change the second position, the yaw angle and the pitch angle of the pipe to be docked, the control method further includes: Based on the changes in the yaw and pitch angles of the pipeline to be docked, the initial target setting is corrected, and the corrected second angle is used as the new initial target setting for use in the next docking operation.

2. The control method according to claim 1, characterized in that, The lateral movement mechanism includes a front lateral movement mechanism and a rear lateral movement mechanism; the bracket includes a front bracket disposed on the front lateral movement mechanism and a rear bracket disposed on the rear lateral movement mechanism; The method of controlling the lateral movement mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface includes: Based on the first angle and the second angle, control the forward lateral movement mechanism and / or the rear lateral movement mechanism to change the second position and the yaw angle of the pipe to be docked.

3. The control method according to claim 1, characterized in that, The lifting mechanism includes a front lifting mechanism and a rear lifting mechanism; the bracket includes a front bracket disposed on the front lifting mechanism and a rear bracket disposed on the rear lifting mechanism; The method of controlling the lateral movement mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface includes: Based on the first angle and the second angle, control the front lifting mechanism and / or the rear lifting mechanism to change the second position and the pitch angle of the pipe to be docked.

4. The control method according to claim 1, characterized in that, The lateral movement mechanism includes a front lateral movement mechanism and a rear lateral movement mechanism; the lifting mechanism includes a front lifting mechanism and a rear lifting mechanism; the front lifting mechanism is fixedly mounted on the front lateral movement mechanism, and the rear lifting mechanism is fixedly mounted on the rear lateral movement mechanism; the bracket includes a front bracket mounted on the front lifting mechanism and a rear bracket mounted on the rear lifting mechanism. The method of controlling the lateral movement mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface includes: Based on the first angle and the second angle, control the forward lateral movement mechanism and / or the rear lateral movement mechanism to change the second position and the yaw angle of the pipe to be docked; as well as Based on the first angle and the second angle, control the front lifting mechanism and / or the rear lifting mechanism to change the second position and the pitch angle of the pipe to be docked.

5. The control method according to claim 4, characterized in that, Before controlling the lateral movement mechanism and the lifting mechanism according to the first information and the second information to align the interface to be aligned with the target interface, the control method includes: Obtain the preset stroke threshold range of the lateral movement mechanism, the lifting mechanism, and the longitudinal movement mechanism; Based on the first information, the second information, and each of the preset travel threshold ranges, determine whether the interface to be paired can be aligned with the target interface within all of the preset travel threshold ranges; If not, control the tracked walking mechanism to adjust the position and / or angle of the chassis.

6. The control method according to claim 1, characterized in that, The first information includes the first pipe diameter information of the target interface; the second information includes the second pipe diameter information of the interface to be paired. After obtaining the second information of the interface to be docked of the pipeline, the control method further includes: Determine whether the second pipe diameter information matches the first pipe diameter information; If not, issue an alarm message.

7. The control method according to claim 1, characterized in that, Before obtaining the second information of the interface to be docked in the pipeline to be docked, the control method further includes: Obtain the third pipe diameter information of the pipe to be docked; the third pipe diameter information is the inner diameter of the non-docking interface of the pipe to be docked. Based on the third pipe diameter information, the lifting mechanism is controlled to lower the pipe to be connected to a first preset height, so that the operator can install the sealing ring on the interface to be connected.

8. A pipe-connecting trolley suitable for PCCP pipeline docking construction, characterized in that, The device includes a frame and a bracket, the bracket being configured to support the pipe to be connected using the inner wall of the pipe as a support point, and the bracket being connected to the frame via a longitudinal movement mechanism, a transverse movement mechanism and a lifting mechanism. The tube-aligning trolley further includes a controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of the control method for the tube-aligning trolley as described in any one of claims 1 to 7.

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