Pipe piece carrying control system and device

Abstract

The invention discloses a duct piece carrying control system and device, and the method comprises the steps: constructing a three-dimensional grid model of a duct piece carrying environment, generating a preset carrying path of a duct piece, detecting the distance between the duct piece and an obstacle in real time, marking a deviation analysis time period if a collision early warning signal is generated, and carrying out the analysis and data processing of the actual position of the duct piece, calculating to obtain a time period deviation value and judging whether the duct piece transportation deviates from a preset transportation path, if so, performing error compensation on the duct piece transportation, and if not, marking the obstacle causing the collision early warning signal as a newly added obstacle; performing analysis and data processing on the moving speed of the newly-added obstacle in the deviation analysis time period to judge whether the newly-added obstacle is static or dynamic, if the newly-added obstacle is the static obstacle, updating the preset carrying path, if the newly-added obstacle is the dynamic obstacle, predicting the moving track of the dynamic obstacle and evaluating the collision risk of segment carrying, and if the collision risk is high, updating the preset carrying path. And if yes, controlling the duct piece to perform obstacle avoidance and conceding treatment.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering construction equipment, and in particular to a segment transport control system and device. Background Art

[0002] In modern construction, pipe segment handling is a crucial link, especially in large-scale infrastructure construction such as subway tunnels and water conservancy projects. The accurate and efficient handling of pipe segments is directly related to the progress and safety of the project. Traditional pipe segment handling mainly relies on manual operation or simple automated equipment, but these methods often have many shortcomings when facing complex and changeable handling environments.

[0003] Traditional transportation methods lack accurate three-dimensional path planning capabilities, and it is difficult to generate the optimal transportation path for the segments in complex environments, resulting in low transportation efficiency and may even cause safety hazards due to unreasonable paths. During the transportation process, due to the lack of real-time monitoring and early warning mechanisms for obstacles, the risk of collision between the segments and obstacles is high, which will not only damage the segments, but may also cause harm to operators and equipment. When the segments deviate from the preset path due to external factors, traditional systems are often unable to quickly identify and make effective adjustments, resulting in the failure of the transportation task or the need for manual intervention, increasing time and labor costs. The ability to distinguish between static and dynamic obstacles is insufficient, and it is impossible to take appropriate countermeasures according to the nature of the obstacles, which limits the flexibility and adaptability of the system. When facing dynamic obstacles, traditional systems lack accurate collision risk assessment capabilities and effective obstacle avoidance strategies, making it difficult to continue to perform tasks while ensuring safety.

[0004] In order to solve a series of problems existing in the above-mentioned prior art, the present invention provides a segment handling control system and device, which comprehensively improves the safety, accuracy and efficiency of the segment handling process through the collaborative work of a path planning and collision warning module, a path deviation analysis and compensation module, an obstacle analysis and path update module, and a collision analysis and obstacle avoidance module. Summary of the invention

[0005] The object of the present invention is to provide a segment handling control system and device to solve at least one of the above-mentioned prior art problems.

[0006] In a first aspect, the present invention provides a segment handling control system, comprising the following modules:

[0007] Path planning and collision warning module: constructs a three-dimensional grid model of the segment handling environment, generates a preset segment handling path, detects the distance between the segment and obstacles in real time during the handling process, generates a handling safety signal or a collision warning signal, and marks the deviation analysis period;

[0008] Path deviation analysis and compensation module: if a collision warning signal is received, the actual position of the segment within the deviation analysis period is analyzed to obtain the period deviation value, and the segment transportation is judged according to the period deviation value whether it deviates from the preset transportation path and generates a non-deviation signal or a deviation signal. If a deviation signal is generated, error compensation is performed on the segment transportation;

[0009] Obstacle analysis and path update module: if a non-deviation signal is received, the obstacle that caused the collision warning signal will be marked as a new obstacle, and the new obstacle will be analyzed and judged to be a static obstacle or a dynamic obstacle. If it is a static obstacle, the three-dimensional grid model and the preset handling path will be updated;

[0010] Collision analysis and obstacle avoidance module: If the newly added obstacle is a dynamic obstacle, the movement trajectory of the dynamic obstacle is predicted and the collision risk of the pipe segment transportation is analyzed and evaluated. If the collision risk is high, a high-risk collision signal is generated and the pipe segment is controlled to perform obstacle avoidance and retreat processing.

[0011] In a second aspect, the present invention provides a segment transport control device, which is used to implement the functions of the segment transport control system.

[0012] Beneficial effects of the present invention:

[0013] 1. The present invention constructs a three-dimensional grid model of the segment handling environment, accurately plans the segment handling path, and effectively prevents collisions by real-time detection of the distance to obstacles to ensure safe handling. After receiving the collision warning signal, the system can quickly analyze the deviation and perform error compensation to ensure the accuracy of the handling path. This solution significantly improves the handling efficiency and safety, reduces the risk of accidents, and provides an intelligent and efficient solution for segment handling in complex environments.

[0014] 2. The present invention can distinguish between newly added obstacles as static and dynamic, and then dynamically adjust the transportation path. It evaluates the collision risk by predicting the movement trajectory of the obstacle and avoids the obstacle in time when the risk is high, thereby improving the safety and flexibility of the transportation process, reducing transportation interruptions caused by obstacles, ensuring the smooth transportation of the pipe segments, and improving the overall operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a structural schematic diagram of a segment handling control system provided by an embodiment of the present invention;

[0017] Figure 2 This is a flow chart of the steps for obtaining a time period deviation value in a segment transport control system provided in the second embodiment of the present invention;

[0018] Figure 3 It is a structural schematic diagram of a segment transport control device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0020] Embodiment 1

[0021] like Figure 1 As shown, a segment transport control system provided by an embodiment of the present invention specifically includes the following modules:

[0022] Path planning and collision warning module: constructs a three-dimensional grid model of the segment handling environment, generates a preset handling path for the segment and carries the segment along the preset handling path, detects the distance between the segment and obstacles in real time, generates a handling safety signal or a collision warning signal, and marks the deviation analysis period;

[0023] In some practical examples, a 16-line laser radar is used to scan the segment handling environment to obtain point cloud data. A binocular visual camera with a resolution of 1920×1080 and a frame rate of 30fps is used to capture the texture information of the segment storage area and the construction area. The laser point cloud data is fused with the visual image, and the SLAM (Simultaneous Localization and Mapping) algorithm is used to generate a three-dimensional grid model of the handling environment, marking the coordinates and volumes of obstacles, such as temporary supports and construction vehicles.

[0024] The starting position of the segments in the segment storage area and the target position of the segment transportation are obtained, and the optimal collision-free path from the starting position to the target position is generated based on the improved RRT algorithm. The search step length in the path planning parameter setting is 0.5m, the maximum number of iterations is 5000 times, and the safety distance threshold is 0.8m. The obtained optimal collision-free path is marked as the preset transportation path, and the segments are transported along the preset transportation path;

[0025] A number of detection time points are evenly selected within the pipe segment transportation cycle, and the intervals between adjacent detection time points are marked as detection intervals. The pipe segment transportation cycle represents the period from the transportation of any pipe segment from the starting position to the arrival at the target position. The durations of the detection intervals are all the same. Based on any pipe segment transportation cycle, the distance between the pipe segment and the obstacle in the 360° direction is obtained in real time at the detection time point through an ultrasonic sensor, and marked as the obstacle distance.

[0026] Based on any detection time point in the segment handling cycle, the obstacle distance of the segment at the detection time point is compared with the safety distance threshold;

[0027] If all obstacle distances of the pipe segment at the detection time point are greater than the safety distance threshold, it means that there is no risk of collision with obstacles when transporting the pipe segment at this time, and a transport safety signal is generated;

[0028] If the distance of any obstacle in the pipe segment at the detection time point is less than or equal to the safety distance threshold, it means that there is a risk of collision with obstacles during the transportation of the pipe segment at this time, and a collision warning signal is generated;

[0029] Take a flag value flag and assign its initial value to 0. If a collision warning signal is generated and the flag value is 0, assign the flag value to 1. If a handling safety signal is generated and the flag value is 1, assign the flag value to 0. Mark the period in which the flag value is continuously 0 as a deviation analysis period.

[0030] It should be noted that the purpose of the flag value is to mark the start and end of each deviation analysis period;

[0031] Path deviation analysis and compensation module: if the generated collision warning signal is received, the actual position of the pipe segment in the deviation analysis period is analyzed and data processed, and the period deviation value is calculated. According to the period deviation value, it is judged whether the pipe segment transportation deviates from the preset transportation path and a non-deviation signal or a deviation signal is generated. If a deviation signal is generated, error compensation is performed on the pipe segment transportation;

[0032] In some embodiments, Figure 2 As shown, the specific steps for obtaining the time period deviation value are as follows;

[0033] Specifically, if a generated collision warning signal is received, a deviation analysis period before the generation of the collision warning signal is obtained;

[0034] Based on any detection time point in the deviation analysis period;

[0035] The actual position of the center point of the pipe segment at the detection time point is obtained, marked as PAC, and the coordinates of PAC in the three-dimensional grid model are (Xi, Yi, Zi). The preset position of the center point of the pipe segment at the detection time point is obtained, marked as PTA, and the coordinates of PTA in the three-dimensional grid model are (Xj, Yj, Zj). The preset position represents the ideal position that the pipe segment reaches at the detection time point when moving along the preset transportation path at a preset speed;

[0036] The obtained coordinates of PAC and PTA are processed by the formula: The position deviation value e(t) of the segment at the detection time point is calculated, where t represents the time sequence number of the detection time point in the deviation analysis period;

[0037] Obtain the preset transport path of the pipe segment, obtain the distance between the actual position PAC of the center point of the pipe segment at the detection time point and the preset transport path, mark it as the path deviation distance, and compare the obtained path deviation distance with the distance threshold;

[0038] If the path deviation distance of the pipe segment at the detection time point is less than the distance threshold, it means that the position of the pipe segment at the detection time point deviates slightly from the preset transportation path and can be ignored;

[0039] If the path deviation distance of the pipe segment at the detection time point is greater than or equal to the distance threshold, it means that the position of the pipe segment at the detection time point deviates greatly from the preset transportation path, and the detection time point is marked as a path deviation point;

[0040] Obtain the number of path deviation points in the deviation analysis period, and perform a ratio process on it and the total number of detection time points in the deviation analysis period to obtain a deviation number ratio, which is marked as PS;

[0041] Obtain the position deviation values ​​e(t) of the segments at all path deviation points during the deviation analysis period and sum them up to obtain the position deviation sum, and then perform a ratio processing on the obtained position deviation sum and the unit distance (1 cm) to obtain the position deviation ratio, which is marked as WP;

[0042] The obtained deviation number ratio PS and position deviation ratio WP are processed by the formula: The time period deviation value SP of the deviation analysis period is calculated, wherein a1 and a2 are both preset proportional coefficients, a1=1.013, a2=4.331;

[0043] Compare the obtained time period deviation value with the time period deviation threshold;

[0044] If the time period deviation value of the deviation analysis period is less than the time period deviation threshold, it means that the segment transportation has no path deviation or the deviation is slight in the deviation analysis period, and a no deviation signal is generated;

[0045] If the time period deviation value of the deviation analysis period is greater than or equal to the time period deviation threshold, it means that the segment transportation has experienced path deviation or serious deviation in the deviation analysis period, and a deviation signal is generated;

[0046] If the generated deviation signal is received, the error caused by the segment transportation deviation is compensated by the PID algorithm, and the position deviation value e(t) of the segment at the current detection time point is obtained, through the formula: Calculate the control amount of the segment handling adjustment, where Kp represents the proportional coefficient, Ki represents the integral coefficient, and Kd represents the differential coefficient. The initial parameters are set as Kp = 0.8, Ki = 0.05, and Kd = 0.1;

[0047] The calculated control quantity u(t) is sent to the transport device to adjust the transport position so that the segment is transported back to the preset transport path for collision-free and safe transport;

[0048] The technical solution of the embodiment of the present invention is: constructing a three-dimensional grid model of the pipe segment transportation environment, generating a preset transportation path for the pipe segment and transporting the pipe segment along the preset transportation path, detecting the distance between the pipe segment and the obstacle in real time, generating a transportation safety signal or a collision warning signal and marking the deviation analysis period, if the generated collision warning signal is received, analyzing and processing the actual position of the pipe segment within the deviation analysis period, calculating the period deviation value, judging whether the pipe segment transportation deviates from the preset transportation path according to the period deviation value and generating a non-deviation signal or a deviation signal, if a deviation signal is generated, performing error compensation on the pipe segment transportation.

[0049] Embodiment 2

[0050] like Figure 1 As shown, a segment transport control system provided by an embodiment of the present invention further includes the following modules:

[0051] Obstacle analysis and path update module: if the generated non-deviation signal is received, the obstacle that caused the collision warning signal will be marked as a new obstacle, and the moving speed of the new obstacle in the deviation analysis period will be analyzed and data processed to determine whether the new obstacle is a static obstacle or a dynamic obstacle. If it is a static obstacle, its coordinates will be added to the three-dimensional grid model and the preset handling path will be updated;

[0052] In some embodiments, if the generated non-deviation signal is received, it means that the segment transportation has not deviated from the preset transportation path in the deviation analysis period before the collision warning signal is generated. Since the preset transportation path is the calculated optimal collision-free path, it is judged that the reason for generating the collision warning signal is that a new obstacle appears in the transportation environment that is not included in the three-dimensional grid model for collision consideration;

[0053] Obtain the position coordinates of the center point of the newly added obstacle at each detection time point in the deviation analysis period, obtain the distance between the position coordinates of the center point of the newly added obstacle at adjacent detection time points, and perform ratio processing on the distance with the duration of the detection interval period to obtain the moving speed of the newly added obstacle at each detection interval period in the deviation analysis period;

[0054] Based on any detection interval, the moving speed of the newly added obstacle in the detection interval is compared with the moving speed threshold;

[0055] If the moving speed of the newly added obstacle in the detection interval period is greater than the moving speed threshold, it means that the moving speed of the newly added obstacle in the detection interval period is fast, and the detection interval period is marked as a moving period;

[0056] If the moving speed of the newly added obstacle in the detection interval is less than or equal to the moving speed threshold, it means that the moving speed of the newly added obstacle in the detection interval is slow and can be regarded as being in an approximately stationary state, and the detection interval is marked as a stationary period;

[0057] If two adjacent detection intervals are both moving periods, the two moving periods are merged into one moving period. Similarly, if two adjacent detection intervals are both static periods, the two static periods are merged into one static period. Several moving periods and static periods in the deviation analysis period are obtained. The moving periods and static periods are sorted according to the time sequence and sequentially marked with numbers 1, 2, 3...n, where n represents the total number of moving periods and static periods in the deviation analysis period.

[0058] Analyze the time period with sequence number n in the deviation analysis time period. If the time period with sequence number n is a static time period, it means that the newly added obstacle is already in a static state, and the newly added obstacle is marked as a static obstacle.

[0059] If the time period with sequence number n is a moving time period, it means that the newly added obstacle is still in a moving state, and the newly added obstacle is marked as a dynamic obstacle;

[0060] If the generated non-deviation signal is received and the newly added obstacle is a static obstacle, the coordinates of the static obstacle when the non-deviation signal is generated are obtained and added to the three-dimensional grid model, marked as an inaccessible area, and the current actual position coordinates of the pipe segment are obtained. The optimal collision-free path from the current actual position coordinates of the pipe segment to the target position is recalculated based on the improved RRT algorithm, and the preset transport path is changed to the currently calculated optimal collision-free path, and the pipe segment is transported along the preset transport path;

[0061] Collision analysis and obstacle avoidance module: If the generated non-deviation signal is received and the newly added obstacle is a dynamic obstacle, the movement trajectory of the dynamic obstacle is predicted and the collision risk of the pipe segment transportation is analyzed and evaluated. If the collision risk is high, a high-risk collision signal is generated and the pipe segment is controlled to perform obstacle avoidance and retreat processing;

[0062] In some embodiments, if the generated non-deviation signal is received and the newly added obstacle is a dynamic obstacle, the motion trajectory of the dynamic obstacle is predicted;

[0063] Specifically, based on the marked dynamic obstacle, the moving speed and moving direction angle of the dynamic obstacle in the two detection intervals before the current detection time point are obtained, and the moving speed vx, vy, vz of the dynamic obstacle in the x, y, and z axis directions are calculated by the formula: vx=vcos(θ)cos(ω), vy=vsin(θ), vz=vcos(θ)sin(ω), where v represents the moving speed of the dynamic obstacle in the detection interval, θ represents the angle between the obstacle moving direction and the xz plane, and ω represents the angle between the projection of the obstacle in the xz plane and the x-axis;

[0064] The moving speed change value of the dynamic obstacle in the x, y, and z directions is calculated by the moving speed of the dynamic obstacle in the x, y, and z directions during the two detection intervals, and the moving speed and moving direction angle of the dynamic obstacle are predicted according to the moving speed change value, which are marked as the predicted moving speed and the predicted moving direction angle, and the path where the dynamic obstacle moves along the predicted moving direction angle at the predicted moving speed is marked as the predicted action path of the dynamic obstacle;

[0065] It should be noted that since dynamic obstacles and segments have volumes, they cannot be considered as ideal particles for analysis during collision analysis;

[0066] Obtain the volume that the dynamic obstacle passes through on the predicted action path starting from the current time point, marked as the obstacle movement range; obtain the volume that the pipe segment passes through on the preset transportation path starting from the current time point, marked as the pipe segment movement range; perform overlap analysis on the obstacle movement range and the pipe segment movement range; if there is no overlap, it means that the movement of the dynamic obstacle will not collide with the pipe segment; if there is overlap, it means that there is a risk of collision between the movement of the dynamic obstacle and the pipe segment; mark the overlapped part as the collision risk area, and generate a risk analysis signal;

[0067] Based on the generated risk analysis signal, the time period when the segment transportation passes through the collision risk area is calculated and predicted, and marked as the segment passing time period. Similarly, the time period when the dynamic obstacle passes through the collision risk area is calculated and predicted, and marked as the obstacle passing time period.

[0068] Conduct overlap analysis on the time period when the pipe segments pass through and the time period when the obstacles pass through;

[0069] If the segment passing time period does not coincide with the obstacle passing time period, a time period non-coincidence signal is generated;

[0070] Based on the generated time period non-overlapping signal, the interval duration between the two time periods is obtained and the total duration required for the pipe segment to be transported to the target position along the preset transport path is processed by ratio, and the collision risk duration ratio is obtained, which is marked as PF. The interval duration represents the interval duration between the end point of the earlier time period and the start point of the later time period between the two time periods.

[0071] The interval period between the start point of the segment passing period and the end point of the segment passing period is obtained, which is marked as the collision risk period. The shortest distance between the segment and the dynamic obstacle at the preset position at each detection time point in the collision risk period is obtained, which is marked as the collision risk distance. The collision risk distances at each detection time point in the collision risk period are summed and averaged to obtain the mean collision risk distance. The mean collision risk distance is ratioed with the safety distance threshold to obtain the collision risk distance ratio, which is marked as PL.

[0072] The obtained collision risk duration ratio PF and collision risk distance ratio PL are processed by the formula: The collision risk value PX between the pipe segment and the dynamic obstacle is calculated, where s1 and s2 are both preset proportional coefficients, s1 = 1.423, s2 = 2.374;

[0073] Comparing the obtained collision risk value with the collision risk threshold;

[0074] If the collision risk value is less than the collision risk threshold, it means that the collision risk between the segment and the dynamic obstacle is low, and no obstacle avoidance retreat is performed for the segment transportation;

[0075] If the collision risk value is greater than or equal to the collision risk threshold, it means that the collision risk between the segment and the dynamic obstacle is high, and a high-risk collision signal is generated;

[0076] If a high-risk collision signal is generated or the pipe segment passing time period coincides with the obstacle passing time period, it is determined that the pipe segment transportation needs to avoid obstacles and retreat to ensure the transportation safety of the pipe segment. Specifically, the pipe segment is controlled to move in the reverse direction along the preset transportation path to avoid obstacles and retreat. When the distance between the position of the pipe segment and the collision risk area reaches the safety distance threshold, the pipe segment transportation is suspended until the obstacle movement range of the dynamic obstacle and the pipe segment movement range of the pipe segment no longer overlap, and then the transportation continues in the forward direction along the preset transportation path;

[0077] The technical solution of the embodiment of the present invention is: if a generated non-deviation signal is received, the obstacle that causes the collision warning signal is marked as a new obstacle, and the moving speed of the new obstacle in the deviation analysis period is analyzed and data processed to determine whether the new obstacle is a static obstacle or a dynamic obstacle. If it is a static obstacle, its coordinates are added to the three-dimensional grid model and the preset transportation path is updated. If a generated non-deviation signal is received and the new obstacle is a dynamic obstacle, the motion trajectory of the dynamic obstacle is predicted and the collision risk of the pipe segment transportation is analyzed and evaluated. If the collision risk is high, a high-risk collision signal is generated and the pipe segment is controlled to perform obstacle avoidance and retreat processing.

[0078] Embodiment 3

[0079] Reference Figure 3 The embodiment of the present invention further provides a computer device 3, comprising: a memory 302 and a processor 301 and a computer program 303 stored in the memory 302. When the computer program 303 is executed on the processor 301, the functions described in any module in the segment handling control system are realized.

[0080] The computer device 3 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The computer device 3 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that Figure 3 It is only an example of computer device 3 and does not constitute a limitation on computer device 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0081] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0082] In some embodiments, the memory 302 may be an internal storage unit of the computer device 3, such as a hard disk or memory of the computer device 3. In other embodiments, the memory 302 may also be an external storage device of the computer device 3, such as a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 3. Further, the memory 302 may also include both an internal storage unit of the computer device 3 and an external storage device. The memory 302 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 302 may also be used to temporarily store data that has been output or is to be output.

[0083] Embodiment 4

[0084] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the function of any module in the segment handling control system is realized.

[0085] In this embodiment, if the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0086] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0087] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0088] In the embodiments disclosed in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0089] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0091] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A segment handling control system, characterized in that: Includes the following modules: Path planning and collision warning module: constructs a three-dimensional grid model of the segment handling environment, generates a preset segment handling path, detects the distance between the segment and obstacles in real time during the handling process, generates a handling safety signal or a collision warning signal, and marks the deviation analysis period; Path deviation analysis and compensation module: if a collision warning signal is received, the actual position of the segment within the deviation analysis period is analyzed to obtain the period deviation value, and the segment transportation is judged according to the period deviation value whether it deviates from the preset transportation path and generates a non-deviation signal or a deviation signal. If a deviation signal is generated, error compensation is performed on the segment transportation; Obstacle analysis and path update module: if a non-deviation signal is received, the obstacle that caused the collision warning signal will be marked as a new obstacle, and the new obstacle will be analyzed and judged to be a static obstacle or a dynamic obstacle. If it is a static obstacle, the three-dimensional grid model and the preset handling path will be updated; Collision analysis and obstacle avoidance module: If the newly added obstacle is a dynamic obstacle, the movement trajectory of the dynamic obstacle is predicted and the collision risk of the pipe segment transportation is analyzed and evaluated. If the collision risk is high, a high-risk collision signal is generated and the pipe segment is controlled to perform obstacle avoidance and retreat processing.

2. A segment handling control system according to claim 1, characterized in that: The specific method of obtaining the deviation analysis period is: The starting position of the pipe segment in the pipe segment storage area and the target position of the pipe segment transportation are obtained, the optimal collision-free path is generated and marked as the preset transportation path, the pipe segment is transported along the preset transportation path, several detection time points are evenly selected during the pipe segment transportation cycle, the interval period between adjacent detection time points is marked as the detection interval period, and the obstacle distance of the pipe segment is obtained in real time at the detection time point; If the distances of all obstacles to the pipe segment at the detection time point are greater than the safety distance threshold, a handling safety signal is generated; if the distance of any obstacle to the pipe segment at the detection time point is less than or equal to the safety distance threshold, a collision warning signal is generated; Take a flag value flag and assign its initial value to 0. If a collision warning signal is generated and the flag value is 0, assign the flag value to 1. If a handling safety signal is generated and the flag value is 1, assign the flag value to 0. The period when the flag value is continuously 0 is marked as a deviation analysis period.

3. A segment handling control system according to claim 1, characterized in that: The specific method of generating the non-deviation signal or the deviation signal is: The number of path deviation points in the deviation analysis period is obtained and data is processed to obtain the deviation number ratio, which is marked as PS. The position deviation value e(t) of the segment at all path deviation points in the deviation analysis period is obtained and data is processed to obtain the position deviation ratio, which is marked as WP. The obtained deviation number ratio PS and position deviation ratio WP are processed, and the time period deviation value SP of the deviation analysis period is calculated by the formula; The obtained time period deviation value is compared with the time period deviation threshold. If the time period deviation value of the deviation analysis period is less than the time period deviation threshold, a non-deviation signal is generated. If the time period deviation value of the deviation analysis period is greater than or equal to the time period deviation threshold, a deviation signal is generated.

4. A segment handling control system according to claim 3, characterized in that: The specific method for obtaining the path deviation point is: If the generated collision warning signal is received, the deviation analysis period before the generation of the collision warning signal is obtained, and based on any detection time point in the deviation analysis period, the actual position and the preset position of the center point of the segment at the detection time point are obtained and data processing is performed, and the position deviation value e(t) of the segment at the detection time point is calculated by the formula; Obtain the preset transportation path of the pipe segment, obtain the distance between the actual position of the center point of the pipe segment at the detection time point and the preset transportation path, mark it as the path deviation distance, and compare the obtained path deviation distance with the distance threshold. If the path deviation distance of the pipe segment at the detection time point is greater than or equal to the distance threshold, mark the detection time point as the path deviation point.

5. A segment handling control system according to claim 1, characterized in that: The specific method of determining whether a newly added obstacle is a static obstacle or a dynamic obstacle is: The time period with serial number n in the deviation analysis time period is analyzed. If the time period with serial number n is a stationary time period, the newly added obstacle is marked as a static obstacle. If the time period with serial number n is a moving time period, the newly added obstacle is marked as a dynamic obstacle.

6. A segment handling control system according to claim 5, characterized in that: The specific method of obtaining the stationary period and the moving period is as follows: If the generated non-deviation signal is received, it is determined that the reason for generating the collision warning signal is that a new obstacle that has not been included in the three-dimensional grid model for collision consideration appears in the handling environment, the position coordinates of the center point of the new obstacle at each detection time point in the deviation analysis period are obtained and data processing is performed to obtain the moving speed of the new obstacle at each detection interval period in the deviation analysis period; Based on any detection interval, the moving speed of the newly added obstacle in the detection interval is compared with the moving speed threshold. If the moving speed of the newly added obstacle in the detection interval is greater than the moving speed threshold, the detection interval is marked as a moving period. If the moving speed of the newly added obstacle in the detection interval is less than or equal to the moving speed threshold, the detection interval is marked as a stationary period. If two adjacent detection intervals are both moving periods, the two moving periods are merged into one moving period. Similarly, if two adjacent detection intervals are both static periods, the two static periods are merged into one static period, thereby obtaining several moving periods and static periods in the deviation analysis period.

7. A segment handling control system according to claim 1, characterized in that: The specific method of obtaining the high-risk collision signal is: Based on the generated time period non-overlapping signal, the interval between the two time periods is obtained and data processing is performed to obtain the collision risk duration ratio, which is marked as PF; The interval period between the start point of the segment passing period and the end point of the segment passing period is obtained, which is marked as the collision risk period. The shortest distance between the segment and the dynamic obstacle at the preset position at each detection time point in the collision risk period is obtained and data is processed to obtain the collision risk distance ratio, which is marked as PL. The obtained collision risk duration ratio PF and collision risk distance ratio PL are processed, and the collision risk value PX between the pipe segment and the dynamic obstacle is calculated by the formula; The obtained collision risk value is compared with the collision risk threshold, and if the collision risk value is greater than or equal to the collision risk threshold, a high-risk collision signal is generated.

8. A segment handling control system according to claim 7, characterized in that: The specific method of obtaining the non-overlapping signals during the time period is as follows: Obtain the volume that the dynamic obstacle passes through on the predicted action path from the current time point, marked as the obstacle movement range; obtain the volume that the segment passes through on the preset transportation path from the current time point, marked as the segment movement range; perform overlap analysis on the obstacle movement range and the segment movement range; if there is overlap, mark the overlapped part as the collision risk area and generate a risk analysis signal; Based on the generated risk analysis signal, the time period when the segment is transported through the collision risk area is calculated and predicted, and marked as the segment passing time period. Similarly, the time period when the dynamic obstacle passes through the collision risk area is calculated and predicted, and marked as the obstacle passing time period. If the segment passing time period does not overlap with the obstacle passing time period, a time period non-overlap signal is generated.

9. A segment handling control system according to claim 1, characterized in that: The specific method of obtaining the predicted action path is: If the generated non-deviation signal is received and the newly added obstacle is a dynamic obstacle, the motion trajectory of the dynamic obstacle is predicted. Based on the marked dynamic obstacle, the moving speed and moving direction angle of the dynamic obstacle in the two detection intervals before the current detection time point are obtained, the moving speed change value of the dynamic obstacle in the x, y, and z axis directions is calculated, and the moving speed and moving direction angle of the dynamic obstacle are predicted according to the moving speed change value, marked as the predicted moving speed and predicted moving direction angle, and the path where the dynamic obstacle moves at the predicted moving speed along the predicted moving direction angle is marked as the predicted action path of the dynamic obstacle.

10. A segment transport control device, characterized in that: The device is used to implement the system function described in any one of claims 1 to 9.

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