Intelligent control system for installation trolley of lining steel pipe in water delivery tunnel based on video analysis

Abstract

The present application relates to the field of water conveyance tunnel lining steel pipe installation monitoring, and relates to a water conveyance tunnel lining steel pipe installation trolley intelligent control system based on video analysis, which detects the firmness of a steel pipe fixed after the steel pipe to be installed is loaded onto the trolley, ensures that the steel pipe to be installed is firmly fixed on the trolley, and prevents sliding or rolling during transportation; controls the speed and direction of the steel pipe transportation trolley during transportation, ensures the stability and safety of the steel pipe transportation trolley, and prevents deviation and skidding; positions and controls the position of the steel pipe transportation trolley in the tunnel, ensures that the steel pipe to be installed can be accurately transported to the installation position; obtains the accuracy of the centering of the steel pipe to be installed and the installed steel pipe, judges whether it meets the requirements and controls the centering of the steel pipe, ensures the accurate welding and connection of the steel pipe to be installed and the installed steel pipe, and thus guarantees the installation quality of the water conveyance tunnel lining steel pipe.

Description

Technical Field

[0001] This invention relates to the field of monitoring the installation of steel pipes lining water conveyance tunnels, and specifically to an intelligent control system for a steel pipe lining installation trolley based on video analysis. Background Technology

[0002] With rapid urbanization, domestic and industrial water use has increased dramatically, posing a severe test to urban water use and backup water sources, and placing higher demands on water resource support and security capabilities. This has led to the orderly advancement of a number of major water conservancy projects of overall and strategic importance for water conservation and supply, in order to improve water resource utilization efficiency and improve the aquatic ecological environment.

[0003] To minimize the impact of construction on the ground, maximize the utilization of both surface and underground land resources, and avoid the impact of tunnels on surface buildings, roads, and underground municipal tunnels, water resource allocation projects often design their routes deep underground. Hydraulic tunnels serve vital functions such as water diversion, water conveyance, and drainage. However, they frequently face various complex problems during construction, among which the installation of the steel lining in water conveyance tunnels is one of the difficulties, making its monitoring and control crucial.

[0004] However, existing control methods for the installation of steel pipe linings in water conveyance tunnels mostly rely on operators' personal experience, without quantitative data analysis. This results in a large workload and high difficulty, as well as low control precision, which in turn affects the efficiency of the installation of steel pipe linings in water conveyance tunnels and fails to adequately guarantee the installation quality. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes an intelligent control system for the installation trolley of the steel lining pipe in water conveyance tunnels based on video analysis, enabling the monitoring of the installation of the steel lining pipe in water conveyance tunnels.

[0006] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides an intelligent control system for the installation trolley of the steel pipe lining of the water conveyance tunnel based on video analysis, including: a steel pipe fixing inspection module before transportation: used to detect the firmness of the steel pipe to be installed after it is loaded onto the trolley during the installation of the steel pipe lining of the water conveyance tunnel, to determine whether it meets the requirements, and to issue an early warning.

[0007] The steel pipe transport trolley travel control module is used to acquire suitable travel information of the trolley loaded with steel pipes from the loading position to the predetermined position in the tunnel. This information is recorded as suitable travel information for the steel pipe transport trolley during the transport process. The travel information includes travel speed and travel trajectory. The module further monitors the travel speed and travel trajectory of the steel pipe transport trolley in real time, and adjusts the travel speed and corrects the travel trajectory.

[0008] The steel pipe transport trolley positioning control module is used to obtain the parking position of the steel pipe transport trolley in the tunnel, compare it with the predetermined position of the trolley in the tunnel, determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and perform positioning control.

[0009] The steel pipe adjustment and alignment control module is used to obtain the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and the already installed steel pipe, to determine whether the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley meets the requirements, and to further control the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel.

[0010] Database: Used to store the reference speed for transporting steel pipes for each weight range and the reference speed for transporting steel pipes for each road surface smoothness range, as well as the butt joint seam during steel pipe welding.

[0011] Based on the above embodiments, the specific working process of the pre-transport steel pipe fixing inspection module includes: after the steel pipe to be installed is loaded onto the trolley, a set value of force in each set direction is applied to a set position on the surface of the steel pipe, a video of the force process of the steel pipe to be installed is collected, and the maximum displacement of the steel pipe under the applied set value of force in each set direction is obtained and recorded as l. a , where a represents the number of the a-th direction of the applied force, a = 1, 2, ..., b.

[0012] By analyzing the formula The stability β of the steel pipe to be installed after being loaded onto the trolley during the installation of the water conveyance tunnel lining steel pipe is obtained, where ε represents the preset correction factor for the stability of the steel pipe fixation, e represents the natural constant, and c a This represents the weight of the preset a-th applied force direction. δ Δl This represents the influence factor corresponding to the preset unit displacement.

[0013] Based on the above embodiments, the specific working process of the pre-transport steel pipe fixing inspection module further includes: comparing the firmness of the steel pipe fixing after it is loaded onto the trolley with a preset firmness threshold. If the firmness of the steel pipe fixing after it is loaded onto the trolley is less than the preset firmness threshold, then the firmness of the steel pipe fixing after it is loaded onto the trolley does not meet the requirements, and an early warning is issued.

[0014] Based on the above embodiments, the specific working process of the steel pipe transport trolley travel control module includes: according to the loading position of the trolley loaded with the steel pipe to be installed and the predetermined position of the trolley in the tunnel, based on the principle of the shortest distance, obtaining the travel trajectory of the trolley loaded with the steel pipe to be installed from the loading position to the predetermined position in the tunnel, and recording it as the appropriate travel trajectory of the steel pipe transport trolley during the transport process.

[0015] Extract the reference speeds for steel pipe transportation corresponding to each steel pipe weight range and each road surface smoothness range stored in the database. Obtain the road surface smoothness suitable for the transportation trajectory of the steel pipe to be installed and the appropriate road surface smoothness for the steel pipe transportation trolley. Filter to obtain the reference speeds for steel pipe transportation corresponding to the weight of the steel pipe to be installed and the appropriate road surface smoothness for the transportation trajectory of the steel pipe transportation trolley, and denote them as v1 and v2 respectively. Analyze the formula... The appropriate travel speed v0 of the steel pipe transport trolley during the transport process is obtained, where These represent the preset weighting factors for the steel pipe weight and the road surface smoothness, respectively.

[0016] Based on the above embodiments, the specific working process of the steel pipe transport trolley travel control module further includes: monitoring the travel speed of the steel pipe transport trolley in real time through the speed sensor equipped on the steel pipe transport trolley.

[0017] The GPS navigator equipped on the steel pipe transport trolley monitors the trolley's location in real time during transport and records its trajectory.

[0018] Based on the above embodiments, the specific working process of the steel pipe transport trolley travel control module further includes: comparing the real-time monitored travel speed of the steel pipe transport trolley during the transport process with the appropriate travel speed of the steel pipe transport trolley during the transport process, obtaining the absolute value of the difference between the measured travel speed and the appropriate travel speed of the steel pipe transport trolley during the transport process, and recording it as the travel speed deviation of the steel pipe transport trolley during the transport process.

[0019] The speed deviation of the steel pipe transport trolley during transportation is compared with a preset speed deviation threshold. If the speed deviation is greater than the preset speed deviation threshold, the speed of the steel pipe transport trolley needs to be adjusted. The adjustment amount and direction of the speed of the steel pipe transport trolley are then obtained and sent to the remote control center of the steel pipe transport trolley to adjust the speed of the steel pipe transport trolley during transportation.

[0020] Based on the above embodiments, the specific working process of the steel pipe transport trolley travel control module further includes: comparing the real-time recorded travel trajectory of the steel pipe transport trolley during the transport process with the appropriate travel trajectory of the steel pipe transport trolley during the transport process, obtaining the overlap degree between the real-time travel trajectory of the steel pipe transport trolley and the appropriate travel trajectory, and recording it as the overlap degree of the travel trajectory of the steel pipe transport trolley during the transport process.

[0021] The overlap of the travel trajectory of the steel pipe transport trolley during transportation is compared with a preset overlap threshold. If the overlap of the travel trajectory of the steel pipe transport trolley during transportation is less than the preset overlap threshold, the travel trajectory of the steel pipe transport trolley during transportation needs to be corrected.

[0022] The real-time driving trajectory of the steel pipe transport trolley during transportation is obtained and returned to the appropriate driving direction and distance. Correction information of the driving trajectory of the steel pipe transport trolley during transportation is obtained and sent to the remote control center of the steel pipe transport trolley to correct the driving trajectory of the steel pipe transport trolley during transportation.

[0023] Based on the above embodiments, the specific working process of the steel pipe transport trolley positioning control module is as follows: F1: Obtain the parking position of the steel pipe transport trolley in the tunnel and compare it with the predetermined position of the trolley in the tunnel to obtain the distance between the parking position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel, and record it as the position deviation of the steel pipe transport trolley in the tunnel.

[0024] The positional deviation of the steel pipe transport trolley in the tunnel is compared with the preset positional deviation threshold. If the positional deviation of the steel pipe transport trolley in the tunnel is greater than the preset positional deviation threshold, the position of the steel pipe transport trolley in the tunnel is inaccurate, and F2 is executed.

[0025] F2: Establish a two-dimensional coordinate system in the tunnel according to the preset principles, obtain the coordinates of the parking position of the steel pipe transport trolley in the tunnel and the coordinates of the trolley's predetermined position in the tunnel, analyze the travel route from the parking position of the steel pipe transport trolley in the tunnel to the predetermined position of the trolley in the tunnel, record it as the position correction route of the steel pipe transport trolley in the tunnel, and feed it back to the remote control center of the steel pipe transport trolley for positioning control of the steel pipe transport trolley.

[0026] Based on the above embodiments, the specific working process of the steel pipe adjustment and centering control module includes: the direction of steel pipe extension is recorded as the transverse direction, and the direction perpendicular to the direction of steel pipe extension is recorded as the longitudinal direction.

[0027] A laser rangefinder is deployed on the side of the steel pipe to be installed, which is loaded onto a steel pipe transport trolley inside the tunnel, where it is welded to the already installed steel pipe. The lateral distance between the steel pipe to be installed and the already installed steel pipe is obtained and denoted as 'd'. The butt joint circumferential seam of the steel pipe during welding is extracted from the database and denoted as 'd0'. The formula is then analyzed. The lateral accuracy φ1 of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley inside the tunnel is obtained, where η represents the preset correction factor for lateral accuracy, e represents the natural constant, and γ ΔdThis represents the influence factor corresponding to the unit deviation of the lateral distance between the pre-set steel pipe to be installed and the already installed steel pipe.

[0028] Visual sensors deployed on the side of the steel pipe to be installed, which is loaded onto a steel pipe transport trolley inside the tunnel and welded to the already installed steel pipe, collect video data of the alignment between the two pipes. This yields cross-sectional images of the two pipes at alignment. The area of ​​the overlapping region under the lateral projection of their cross-sections at this alignment is denoted as s0. The total area of ​​the cross-section of the steel pipe to be installed is denoted as S. This is then analyzed using formulas. The longitudinal accuracy φ2 of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley inside the tunnel is obtained.

[0029] Based on the above embodiments, the specific working process of the steel pipe adjustment and alignment control module further includes: comparing the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel with the corresponding set thresholds. If both the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel are greater than or equal to their corresponding set thresholds, then the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley meets the requirements; otherwise, the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley does not meet the requirements. Further, the adjustment information of the steel pipe to be installed in the lateral and longitudinal alignment is obtained and fed back, thereby controlling the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel.

[0030] Compared with the prior art, the intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis described in this invention has the following beneficial effects: 1. This invention detects the firmness of the steel pipe to be installed after it is loaded onto the trolley during the installation process of the water conveyance tunnel lining steel pipe, determines whether it meets the requirements, and issues an early warning, thereby ensuring that the steel pipe to be installed is firmly fixed on the trolley and preventing it from sliding or rolling off during transportation.

[0031] 2. This invention monitors the speed and trajectory of the steel pipe transport trolley in real time, adjusts the speed and corrects the trajectory, thereby controlling the speed and direction of the steel pipe transport trolley during transport, ensuring the stability and safety of the trolley, and preventing phenomena such as deviation and slippage.

[0032] 3. This invention obtains the parking position of the steel pipe transport trolley in the tunnel and compares it with the predetermined position of the trolley in the tunnel to determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and performs positioning control, thereby ensuring that the steel pipe to be installed can be accurately transported to the installation position.

[0033] 4. This invention obtains the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley inside the tunnel, determines whether the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley meets the requirements, and further controls the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley inside the tunnel, thereby ensuring the accurate welding and connection of the steel pipe to be installed and the already installed steel pipe, thus ensuring the installation quality of the steel pipe lining inside the water conveyance tunnel. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a system module connection diagram of the present invention.

[0036] Figure 2 This is a schematic diagram of the steel pipe transport trolley structure of the present invention.

[0037] Figure 3 This is a schematic diagram showing the horizontal alignment of the steel pipe to be installed and the already installed steel pipe according to the present invention.

[0038] Figure 4 This is a schematic diagram showing the longitudinal alignment of the steel pipe to be installed and the already installed steel pipe according to the present invention.

[0039] Attached reference numerals: 1. Tunnel; 2. Installed steel pipe; 3. Steel pipe to be installed. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Please see Figure 1 and Figure 2 As shown, the present invention provides an intelligent control system for a steel pipe installation trolley for water conveyance tunnels based on video analysis, including a steel pipe fixing and inspection module before transportation, a steel pipe transportation trolley travel control module, a steel pipe transportation trolley positioning control module, a steel pipe adjustment and alignment control module, and a database.

[0042] The steel pipe transport trolley travel control module is connected to the steel pipe fixing and inspection module before transport and the steel pipe transport trolley positioning control module, respectively. The steel pipe adjustment and centering control module is connected to the steel pipe transport trolley positioning control module, and the database is connected to the steel pipe transport trolley travel control module and the steel pipe adjustment and centering control module, respectively.

[0043] The pre-transport steel pipe fixing inspection module is used to detect the firmness of the steel pipe to be installed after it is loaded onto the trolley during the installation of the water conveyance tunnel lining steel pipe, determine whether it meets the requirements, and issue an early warning.

[0044] Furthermore, the specific working process of the pre-transport steel pipe fixing inspection module includes: after the steel pipe to be installed is loaded onto the trolley, a set value of force in each set direction is applied to a set position on the surface of the steel pipe, a video of the force process of the steel pipe to be installed is collected, and the maximum displacement of the steel pipe under the applied set value of force in each set direction is obtained and recorded as l. a , where a represents the number of the a-th direction of the applied force, a = 1, 2, ..., b.

[0045] As a preferred option, a comprehensive inspection of the mechanical structure of the steel pipe transport trolley is conducted before transporting the steel pipes lining the water conveyance tunnel. This includes the wheels, frame, and suspension system, ensuring that all components are securely connected and undamaged. The performance of the trolley's braking system is also checked to ensure safe stopping during transport. The electrical system, including motors, controllers, and cables, is inspected to ensure normal operation and the absence of leaks, short circuits, or other faults. Finally, the hydraulic system is checked to ensure no leaks and stable pressure.

[0046] As a preferred option, before loading the steel pipes onto the trolley, ensure that the length, diameter, and other dimensions of the steel pipes match the load-bearing capacity of the trolley.

[0047] As a preferred option, the fixing devices for securely fixing the steel pipe to the trolley include, but are not limited to, wire ropes, chains, etc.

[0048] As a preferred solution, the forces applied to the steel pipe to be installed are different in direction but the same in magnitude, and the applied forces are guaranteed not to damage the steel pipe to be installed.

[0049] By analyzing the formula The stability *i* of the steel pipe to be installed after it is loaded onto the trolley during the installation of the water conveyance tunnel lining steel pipe is obtained, where ε represents the preset correction factor for the stability of the steel pipe fixation, e represents the natural constant, and c... a This represents the weight of the preset a-th applied force direction. δ Δl This represents the influence factor corresponding to the preset unit displacement.

[0050] As a preferred embodiment, the correction factor for the fixing firmness of the steel pipe can amplify, reduce, or round the fixing firmness of the steel pipe to facilitate calculation and analysis.

[0051] As a preferred embodiment, the weights of each applied force direction are set based on their importance in assessing the stability of the steel pipe. In one specific embodiment, the weights of force directions parallel and perpendicular to the direction of travel of the steel pipe transport trolley are higher than the weights of other force directions.

[0052] Furthermore, the specific working process of the pre-transport steel pipe fixing inspection module also includes: comparing the firmness of the steel pipe fixing after it is loaded onto the trolley with a preset firmness threshold. If the firmness of the steel pipe fixing after it is loaded onto the trolley is less than the preset firmness threshold, then the firmness of the steel pipe fixing after it is loaded onto the trolley does not meet the requirements, and an early warning is issued.

[0053] It should be noted that this invention determines whether the requirements are met by detecting the firmness of the steel pipe to be installed after it is loaded onto the trolley during the installation of the water conveyance tunnel lining steel pipe, and issues an early warning, thereby ensuring that the steel pipe to be installed is firmly fixed on the trolley and preventing it from sliding or rolling off during transportation.

[0054] The steel pipe transport trolley travel control module is used to acquire suitable travel information of the trolley loaded with steel pipes from the loading position to the predetermined position of the trolley in the tunnel, and record it as suitable travel information of the steel pipe transport trolley during the transport process. The travel information includes travel speed and travel trajectory. The module further monitors the travel speed and travel trajectory of the steel pipe transport trolley in real time, and adjusts the travel speed and corrects the travel trajectory of the steel pipe transport trolley during the transport process.

[0055] Furthermore, the specific working process of the steel pipe transport trolley travel control module includes: based on the loading position of the steel pipe trolley to be installed and the predetermined position of the trolley in the tunnel, and based on the principle of the shortest distance, obtaining the travel trajectory of the trolley carrying the steel pipe to be installed from the loading position to the predetermined position in the tunnel, and recording it as the appropriate travel trajectory of the steel pipe transport trolley during the transport process.

[0056] As a preferred option, the mobile steel pipe transport trolley is equipped with drive wheels and steering wheels, and has two-way driving functions of steering, forward and reverse. The trolley body is equipped with 4 supporting hydraulic devices and 2 trolley W-clutch devices. It can be moved up and down and left and right by manual remote control, and can make fine adjustments to the positioning of steel pipes, so that steel pipes can be quickly and accurately positioned in the tunnel.

[0057] Extract the reference speeds for steel pipe transportation corresponding to each steel pipe weight range and each road surface smoothness range stored in the database. Obtain the road surface smoothness suitable for the transportation trajectory of the steel pipe to be installed and the appropriate road surface smoothness for the steel pipe transportation trolley. Filter to obtain the reference speeds for steel pipe transportation corresponding to the weight of the steel pipe to be installed and the appropriate road surface smoothness for the transportation trajectory of the steel pipe transportation trolley, and denote them as v1 and v2 respectively. Analyze the formula... The appropriate travel speed v0 of the steel pipe transport trolley during the transport process is obtained, where These represent the preset weighting factors for the steel pipe weight and the road surface smoothness, respectively.

[0058] As a preferred option, the weight of the steel pipe to be installed can be obtained by using a weight sensor equipped on the steel pipe transport trolley.

[0059] As a preferred option, visual sensors, such as high-definition cameras, equipped on the steel pipe transport trolley can be used to collect road surface images of the suitable driving trajectory of the steel pipe transport trolley during the transport process, and the road surface smoothness of the suitable driving trajectory of the steel pipe transport trolley can be further analyzed.

[0060] In another specific embodiment, the road surface smoothness of the suitable travel trajectory of the steel pipe transport trolley is measured by an instrument.

[0061] As a preferred embodiment, the weighting factors corresponding to the steel pipe weight and road surface smoothness are set based on the degree of influence of the steel pipe weight and road surface smoothness on the travel speed of the steel pipe transport trolley. In one specific embodiment, the weighting factors corresponding to the steel pipe weight and road surface smoothness are 0.45 and 0.55, respectively.

[0062] Furthermore, the specific working process of the steel pipe transport trolley travel control module also includes: monitoring the travel speed of the steel pipe transport trolley in real time through the speed sensor equipped on the steel pipe transport trolley.

[0063] The GPS guide device equipped on the steel pipe transport trolley monitors the location of the trolley in real time during the transport process, and further records the trolley's travel trajectory in real time.

[0064] As a preferred option, the position of the steel pipe transport trolley is taken as the position of the steel pipe transport trolley.

[0065] Furthermore, the specific working process of the steel pipe transport trolley travel control module also includes: comparing the real-time monitored travel speed of the steel pipe transport trolley during the transport process with the appropriate travel speed of the steel pipe transport trolley during the transport process, obtaining the absolute value of the difference between the measured travel speed and the appropriate travel speed of the steel pipe transport trolley during the transport process, and recording it as the travel speed deviation of the steel pipe transport trolley during the transport process.

[0066] The speed deviation of the steel pipe transport trolley during transportation is compared with a preset speed deviation threshold. If the speed deviation is greater than the preset speed deviation threshold, the speed of the steel pipe transport trolley needs to be adjusted. The adjustment amount and direction of the speed of the steel pipe transport trolley are then obtained and sent to the remote control center of the steel pipe transport trolley to adjust the speed of the steel pipe transport trolley during transportation.

[0067] As a preferred approach, the adjustment amount and direction of the travel speed of the steel pipe transport trolley during the transport process are analyzed. Specifically, the deviation of the travel speed of the steel pipe transport trolley during the transport process is taken as the adjustment amount of the travel speed of the steel pipe transport trolley during the transport process.

[0068] Compare the measured travel speed of the steel pipe transport trolley with the suitable travel speed. If the measured travel speed is greater than the suitable travel speed, the travel speed of the steel pipe transport trolley should be adjusted to decrease. If the measured travel speed is less than the suitable travel speed, the travel speed of the steel pipe transport trolley should be adjusted to increase.

[0069] Furthermore, the specific working process of the steel pipe transport trolley travel control module also includes: comparing the real-time recorded travel trajectory of the steel pipe transport trolley during the transport process with the appropriate travel trajectory of the steel pipe transport trolley during the transport process, obtaining the overlap degree between the real-time travel trajectory of the steel pipe transport trolley and the appropriate travel trajectory, and recording it as the overlap degree of the travel trajectory of the steel pipe transport trolley during the transport process.

[0070] The overlap of the travel trajectory of the steel pipe transport trolley during transportation is compared with a preset overlap threshold. If the overlap of the travel trajectory of the steel pipe transport trolley during transportation is less than the preset overlap threshold, the travel trajectory of the steel pipe transport trolley during transportation needs to be corrected.

[0071] The real-time driving trajectory of the steel pipe transport trolley during transportation is obtained and returned to the appropriate driving direction and distance. Correction information of the driving trajectory of the steel pipe transport trolley during transportation is obtained and sent to the remote control center of the steel pipe transport trolley to correct the driving trajectory of the steel pipe transport trolley during transportation.

[0072] It should be noted that this invention monitors the speed and trajectory of the steel pipe transport trolley in real time, and adjusts the speed and corrects the trajectory, thereby controlling the speed and direction of the steel pipe transport trolley during transportation, ensuring the stability and safety of the steel pipe transport trolley, and preventing phenomena such as deviation and slippage.

[0073] The steel pipe transport trolley positioning control module is used to obtain the parking position of the steel pipe transport trolley in the tunnel, compare it with the predetermined position of the trolley in the tunnel, determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and perform positioning control.

[0074] Furthermore, the specific working process of the steel pipe transport trolley positioning control module is as follows: F1: Obtain the parking position of the steel pipe transport trolley in the tunnel and compare it with the predetermined position of the trolley in the tunnel to obtain the distance between the parking position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel, and record it as the position deviation of the steel pipe transport trolley in the tunnel.

[0075] The positional deviation of the steel pipe transport trolley in the tunnel is compared with the preset positional deviation threshold. If the positional deviation of the steel pipe transport trolley in the tunnel is greater than the preset positional deviation threshold, the position of the steel pipe transport trolley in the tunnel is inaccurate, and F2 is executed.

[0076] F2: Establish a two-dimensional coordinate system in the tunnel according to the preset principles, obtain the coordinates of the parking position of the steel pipe transport trolley in the tunnel and the coordinates of the trolley's predetermined position in the tunnel, analyze the travel route from the parking position of the steel pipe transport trolley in the tunnel to the predetermined position of the trolley in the tunnel, record it as the position correction route of the steel pipe transport trolley in the tunnel, and feed it back to the remote control center of the steel pipe transport trolley for positioning control of the steel pipe transport trolley.

[0077] It should be noted that the present invention obtains the parking position of the steel pipe transport trolley in the tunnel and compares it with the predetermined position of the trolley in the tunnel to determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and performs positioning control, thereby ensuring that the steel pipe to be installed can be accurately transported to the installation position.

[0078] The steel pipe adjustment and alignment control module is used to obtain the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley in the tunnel, to determine whether the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley meets the requirements, and to further control the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel.

[0079] Further, see Figure 3 and Figure 4As shown, the specific working process of the steel pipe adjustment and alignment control module includes: the direction of the steel pipe extension is recorded as the transverse direction, and the direction perpendicular to the direction of the steel pipe extension is recorded as the longitudinal direction.

[0080] A laser rangefinder is deployed on the side of the steel pipe to be installed, which is loaded onto a steel pipe transport trolley inside the tunnel, where it is welded to the already installed steel pipe. The lateral distance between the steel pipe to be installed and the already installed steel pipe is obtained and denoted as 'd'. The butt joint circumferential seam of the steel pipe during welding is extracted from the database and denoted as 'd0'. The formula is then analyzed. The lateral accuracy φ1 of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley inside the tunnel is obtained, where η represents the preset correction factor for lateral accuracy, e represents the natural constant, and γ Δd This represents the influence factor corresponding to the unit deviation of the lateral distance between the pre-set steel pipe to be installed and the already installed steel pipe.

[0081] As a preferred embodiment, the correction factor for lateral accuracy amplifies, reduces, or rounds the lateral accuracy to facilitate calculation and analysis.

[0082] Visual sensors deployed on the side of the steel pipe to be installed, which is loaded onto a steel pipe transport trolley inside the tunnel and welded to the already installed steel pipe, collect video data of the alignment between the two pipes. This yields cross-sectional images of the two pipes at alignment. The area of ​​the overlapping region under the lateral projection of their cross-sections at this alignment is denoted as s0. The total area of ​​the cross-section of the steel pipe to be installed is also obtained and denoted as s. This is then analyzed using formulas. The longitudinal accuracy φ2 of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley inside the tunnel is obtained.

[0083] Furthermore, the specific working process of the steel pipe adjustment and alignment control module also includes: comparing the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel with the corresponding set thresholds. If both the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed and the installed steel pipe loaded on the steel pipe transport trolley in the tunnel are greater than or equal to their corresponding set thresholds, then the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley meets the requirements; otherwise, the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley does not meet the requirements. Further, the adjustment information of the steel pipe to be installed in the lateral and longitudinal alignment is obtained and fed back, thereby controlling the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel.

[0084] As a preferred option, the adjustment information for the lateral alignment of the steel pipe to be installed is the information for adjusting the lateral distance between the steel pipe to be installed and the already installed steel pipe.

[0085] As a preferred option, the adjustment information for longitudinal alignment of the steel pipe to be installed is to adjust the position of the steel pipe to be installed so that the cross-sections of the steel pipe to be installed and the installed steel pipe completely overlap in the transverse projection area. When aligning longitudinally, the center point of the cross-sections of the steel pipe to be installed and the installed steel pipe can be used as a reference for adjustment.

[0086] It should be noted that this invention determines whether the alignment of the steel pipes to be installed on the steel pipe transport trolley meets the requirements by obtaining the lateral and longitudinal accuracy of the alignment between the steel pipes to be installed and the already installed steel pipes loaded on the steel pipe transport trolley inside the tunnel. This further controls the alignment of the steel pipes to be installed on the steel pipe transport trolley inside the tunnel, thereby ensuring the accurate welding and connection between the steel pipes to be installed and the already installed steel pipes, thus guaranteeing the installation quality of the steel pipe lining of the water conveyance tunnel.

[0087] The database is used to store the reference speed for transporting steel pipes corresponding to each weight range and the reference speed for transporting steel pipes corresponding to each road surface smoothness range, as well as the butt joint seam during steel pipe welding.

[0088] The above content is merely an example and illustration of the concept of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, and all such modifications and additions should fall within the protection scope of the present invention.

Claims

1. A video analytics-based intelligent control system for a water conveyance tunnel lining steel pipe installation trolley, characterized in that, include: Pre-transport steel pipe fixing inspection module: used to detect the firmness of the steel pipe to be installed after it is loaded onto the trolley during the installation of the water conveyance tunnel lining steel pipe, to determine whether it meets the requirements, and to issue an early warning; The steel pipe transport trolley travel control module is used to acquire suitable travel information of the trolley loaded with steel pipes from the loading position to the predetermined position in the tunnel, and record it as suitable travel information of the steel pipe transport trolley during the transport process. The travel information includes travel speed and travel trajectory. The module further monitors the travel speed and travel trajectory of the steel pipe transport trolley in real time, and adjusts the travel speed and corrects the travel trajectory during the transport process. The steel pipe transport trolley positioning control module is used to obtain the parking position of the steel pipe transport trolley in the tunnel, compare it with the predetermined position of the trolley in the tunnel, determine whether the position of the steel pipe transport trolley in the tunnel is accurate, and perform positioning control. Steel pipe adjustment and alignment control module: used to obtain the lateral and longitudinal accuracy of the alignment between the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel and the already installed steel pipe, to determine whether the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley meets the requirements, and to further control the alignment of the steel pipe to be installed loaded on the steel pipe transport trolley in the tunnel. Database: Used to store the reference speed for transporting steel pipes for each weight range and the reference speed for transporting steel pipes for each road surface smoothness range, as well as the butt joint seam during steel pipe welding.

2. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 1, characterized in that: The specific working process of the pre-transport steel pipe fixing inspection module includes: After the steel pipe to be installed is loaded onto the trolley, a predetermined force of a predetermined value in each direction is applied to a predetermined position on the surface of the steel pipe. Video of the force application process on the steel pipe is captured, and the maximum displacement of the steel pipe under the applied predetermined force in each direction is obtained and recorded as l. a , where 'a' represents the number of the direction in which the 'a'-th force is applied, and 'a' = 1, 2, ..., b; By analyzing the formula The stability β of the steel pipe to be installed after being loaded onto the trolley during the installation of the water conveyance tunnel lining steel pipe is obtained, where ε represents the preset correction factor for the stability of the steel pipe fixation, e represents the natural constant, and c a This represents the weight of the preset a-th applied force direction. δ Δl This represents the influence factor corresponding to the preset unit displacement.

3. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 2, characterized in that: The specific working process of the pre-transport steel pipe fixing inspection module also includes: The strength of the steel pipe fixed after it is loaded onto the trolley is compared with the preset strength threshold. If the strength of the steel pipe fixed after it is loaded onto the trolley is less than the preset strength threshold, the strength of the steel pipe fixed after it is loaded onto the trolley does not meet the requirements, and an early warning is issued.

4. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 1, characterized in that: The specific working process of the steel pipe transport trolley travel control module includes: Based on the loading position of the trolley carrying the steel pipes to be installed and the predetermined position of the trolley in the tunnel, and based on the principle of the shortest distance, the travel trajectory of the trolley carrying the steel pipes to be installed from the loading position to the predetermined position in the tunnel is obtained, and it is recorded as the appropriate travel trajectory of the steel pipe transport trolley during the transport process. Extract the reference speeds for steel pipe transportation corresponding to each steel pipe weight range and each road surface smoothness range stored in the database. Obtain the road surface smoothness suitable for the transportation trajectory of the steel pipe to be installed and the appropriate road surface smoothness for the steel pipe transportation trolley. Filter to obtain the reference speeds for steel pipe transportation corresponding to the weight of the steel pipe to be installed and the appropriate road surface smoothness for the transportation trajectory of the steel pipe transportation trolley, and denote them as v1 and v2 respectively. Analyze the formula... The appropriate travel speed v0 of the steel pipe transport trolley during the transport process is obtained, where These represent the preset weighting factors for the steel pipe weight and the road surface smoothness, respectively.

5. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 4, characterized in that: The specific working process of the steel pipe transport trolley travel control module also includes: The speed of the steel pipe transport trolley is monitored in real time by a speed sensor equipped on the trolley. The GPS navigator equipped on the steel pipe transport trolley monitors the trolley's location in real time during transport and records its trajectory.

6. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 5, characterized in that: The specific working process of the steel pipe transport trolley travel control module also includes: The real-time monitored speed of the steel pipe transport trolley during transportation is compared with the appropriate speed for the steel pipe transport trolley during transportation. The absolute value of the difference between the measured speed and the appropriate speed is recorded as the speed deviation of the steel pipe transport trolley during transportation. The speed deviation of the steel pipe transport trolley during transportation is compared with a preset speed deviation threshold. If the speed deviation is greater than the preset speed deviation threshold, the speed of the steel pipe transport trolley needs to be adjusted. The adjustment amount and direction of the speed of the steel pipe transport trolley are then obtained and sent to the remote control center of the steel pipe transport trolley to adjust the speed of the steel pipe transport trolley during transportation.

7. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 5, characterized in that: The specific working process of the steel pipe transport trolley travel control module also includes: The real-time recorded travel trajectory of the steel pipe transport trolley is compared with the appropriate travel trajectory of the steel pipe transport trolley to obtain the overlap between the real-time travel trajectory and the appropriate travel trajectory, which is recorded as the overlap of the travel trajectory of the steel pipe transport trolley. The overlap of the travel trajectory of the steel pipe transport trolley during transportation is compared with the preset overlap threshold. If the overlap of the travel trajectory of the steel pipe transport trolley during transportation is less than the preset overlap threshold, the travel trajectory of the steel pipe transport trolley during transportation needs to be corrected. The real-time driving trajectory of the steel pipe transport trolley during transportation is obtained and returned to the appropriate driving direction and distance. Correction information of the driving trajectory of the steel pipe transport trolley during transportation is obtained and sent to the remote control center of the steel pipe transport trolley to correct the driving trajectory of the steel pipe transport trolley during transportation.

8. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 1, characterized in that: The specific working process of the steel pipe transport trolley positioning control module is as follows: F1: Obtain the stopping position of the steel pipe transport trolley in the tunnel and compare it with the predetermined position of the trolley in the tunnel to obtain the distance between the stopping position of the steel pipe transport trolley in the tunnel and the predetermined position of the trolley in the tunnel, which is recorded as the position deviation of the steel pipe transport trolley in the tunnel. The position deviation of the steel pipe transport trolley in the tunnel is compared with the preset position deviation threshold. If the position deviation of the steel pipe transport trolley in the tunnel is greater than the preset position deviation threshold, the position of the steel pipe transport trolley in the tunnel is inaccurate, and F2 is executed. F2: Establish a two-dimensional coordinate system in the tunnel according to the preset principles, obtain the coordinates of the parking position of the steel pipe transport trolley in the tunnel and the coordinates of the trolley's predetermined position in the tunnel, analyze the travel route from the parking position of the steel pipe transport trolley in the tunnel to the predetermined position of the trolley in the tunnel, record it as the position correction route of the steel pipe transport trolley in the tunnel, and feed it back to the remote control center of the steel pipe transport trolley for positioning control of the steel pipe transport trolley.

9. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis as described in claim 1, characterized in that: The specific working process of the steel pipe adjustment and alignment control module includes: The direction in which the steel pipe extends is denoted as the transverse direction, and the direction perpendicular to the direction in which the steel pipe extends is denoted as the longitudinal direction. A laser rangefinder is deployed on the side of the steel pipe to be installed, which is loaded onto a steel pipe transport trolley inside the tunnel, where it is welded to the already installed steel pipe. The lateral distance between the steel pipe to be installed and the already installed steel pipe is obtained and denoted as 'd'. The butt joint circumferential seam of the steel pipe during welding is extracted from the database and denoted as 'd0'. The formula is then analyzed. The lateral accuracy φ1 of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley inside the tunnel is obtained, where η represents the preset correction factor for lateral accuracy, e represents the natural constant, and γ Δd This indicates the influencing factor corresponding to the unit deviation of the lateral distance between the pre-set steel pipe to be installed and the already installed steel pipe; Visual sensors deployed on the side of the steel pipe to be installed, which is loaded onto a steel pipe transport trolley inside the tunnel and welded to the already installed steel pipe, collect video data of the alignment between the two pipes. This yields cross-sectional images of the two pipes at alignment. The area of ​​the overlapping region under the lateral projection of their cross-sections at this alignment is denoted as s0. The total area of ​​the cross-section of the steel pipe to be installed is denoted as S. This is then analyzed using formulas. The longitudinal accuracy φ2 of the alignment between the steel pipe to be installed and the already installed steel pipe loaded on the steel pipe transport trolley inside the tunnel is obtained.

10. The intelligent control system for the installation trolley of the water conveyance tunnel lining steel pipe based on video analysis according to claim 9, characterized in that: The specific working process of the steel pipe adjustment and alignment control module also includes: The lateral and longitudinal accuracy of the alignment between the steel pipes to be installed and the already installed steel pipes loaded on the steel pipe transport trolley inside the tunnel are compared with the corresponding set thresholds. If both the lateral and longitudinal accuracy of the alignment between the steel pipes to be installed and the already installed steel pipes loaded on the steel pipe transport trolley inside the tunnel are greater than or equal to their corresponding set thresholds, then the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley meets the requirements; otherwise, the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley does not meet the requirements. Further adjustment information on the lateral and longitudinal alignment of the steel pipes to be installed is obtained and fed back, thereby controlling the alignment of the steel pipes to be installed loaded on the steel pipe transport trolley inside the tunnel.

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