Intelligent identification system and intelligent identification method for duct piece position

Abstract

The invention relates to an intelligent identification system and method for the position of a duct piece, and the system comprises a laser scanning radar system which is disposed on a crane and can move along with the movement of the crane, so as to dynamically collect the first position information of the duct piece within a certain range below the crane; the bar code positioning system is used for collecting second position information of the crane on the duct piece transportation track; the position encoder system is used for collecting actual height position information of the crane; and the automatic control system is used for acquiring the first position information, the second position information and the actual height position information, identifying the position of the duct piece based on the acquired information and automatically controlling the crane to grab, hoist, transfer and lower the duct piece. According to the full-automatic duct piece grabbing, hoisting, transferring, lowering and the like, intelligent recognition of any position in the whole segment from the unloading area to the releasing area can be achieved, and full-automatic duct piece grabbing, hoisting, transferring, lowering and other work can be achieved without manual operation by being matched with execution equipment such as a crane.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to an intelligent recognition system and method for segment positions. Background Art

[0002] During tunnel construction, the pipe segments placed in the unloading area need to be transported to the release area, and then the pipe feeder located in the release area feeds the pipe segments one by one to the assembly area for assembly by the assembly machine. Figure 1 As shown, in order to facilitate the transportation of segments in the tunnel, a segment transport track 3 is usually set between the unloading area 1 and the release area 2, and a crane 4 that can move along the segment transport track 3 is installed on the segment transport track 3, and the crane 4 is used to realize the operations of grabbing, lifting, transporting and lowering the segment 5. However, during this period, it is necessary to manually identify the specific position of the segment, manually determine the position node of each operation and control the crane to perform the corresponding operation. However, the labor cost is high, there is a certain error in identification, the segment positioning pin may be damaged, and it depends on the proficiency of the operator, there are many uncertain factors, and the efficiency is low. Summary of the invention

[0003] In order to solve the above problems, the present invention provides an intelligent recognition system and method for the position of pipe segments, which can realize the intelligent recognition of any position of the pipe segment in the entire section from the unloading area to the release area, and by cooperating with cranes and other execution equipment, fully automatic pipe segment grabbing, lifting, transportation and lowering can be achieved without manual operation.

[0004] The present invention is implemented by the following scheme: an intelligent recognition system for segment positions, comprising:

[0005] A laser scanning radar system is arranged on the crane and can move with the movement of the crane to dynamically collect first position information of the segments within a certain range below the crane;

[0006] A barcode positioning system is used to collect the second position information of the crane on the segment transport track;

[0007] Position encoder system, used to collect the actual height position information of the crane;

[0008] An automatic control system is used to obtain the first position information, the second position information and the actual height position information, identify the position of the pipe segment based on the obtained information, and automatically control the crane to grab, lift, transport and lower the pipe segment. The laser scanning radar system, the barcode positioning system and the position encoder system are all connected to the automatic control system.

[0009] The present invention can realize intelligent identification of any position of the pipe segment in the whole section from the unloading area to the release area by setting up laser radar, barcode positioning system and absolute value encoder, and can realize fully automatic pipe segment grabbing, lifting, transportation and lowering without manual operation by cooperating with execution equipment such as cranes. It has high precision, high stability, skilled execution, low labor cost and high work efficiency.

[0010] A further improvement of the present invention is that the number of the laser scanning radar systems is two, the two laser scanning radar systems are respectively arranged at the front end and the rear end of the crane along the moving direction, and the scanning ranges of the two laser scanning radar systems intersect with each other to achieve full coverage scanning under the crane.

[0011] A further improvement of the present invention is that the laser scanning radar system includes a laser radar transmitter, an image receiver and a shell for assembling the laser radar transmitter and the image receiver onto the crane, the assembled image receiver is capable of receiving reflections of all laser lines emitted by the laser radar transmitter to form an image that can reflect the first position information to the automatic control system, and the image receiver is connected to the automatic control system.

[0012] A further improvement of the present invention is that standard sizes of different types of pipe segments are pre-stored in the automatic control system, and the automatic control system is configured to determine the type and stacking status of the currently scanned pipe segment based on the first position information and all the standard sizes.

[0013] A further improvement of the present invention is that: the barcode positioning system includes a two-dimensional code banner laid along the segment transport track, and a plurality of two-dimensional codes with independent position information are printed at intervals on the two-dimensional code banner; the barcode positioning system also includes a reader installed on the crane, and the reader is used to capture the image of the two-dimensional code banner to read the information of the corresponding two-dimensional code as the second position information to feed back to the automatic control system, and the reader is connected to the automatic control system.

[0014] A further improvement of the present invention is that an overlap point for recording relative positions is provided between each two adjacent two-dimensional codes on the two-dimensional code banner.

[0015] A further improvement of the present invention is that the crane includes a drum, a trolley movably mounted on the segment transport track, a motor fixedly mounted on the trolley and used to drive the drum to rotate, a lifting rope retractable around the drum, and a gripper connected to the end of the lifting rope for grabbing the segment; the position encoder system is mounted on the motor or the drum, and is used to convert the actual rotation amount of the motor or the drum into the lifting amount of the gripper to feed back the actual height position information to the automatic control system; the laser scanning radar system is mounted on the trolley.

[0016] A further improvement of the present invention is that: the crane is also equipped with an inclination sensor for real-time measurement of the horizontal posture of the gripper, and the inclination sensor is connected to the automatic control system.

[0017] The present invention also provides a method for intelligently identifying the position of a pipe segment, comprising the steps of:

[0018] Providing an intelligent segment position recognition system as described above;

[0019] Control the crane to move along the segment transport track toward the unloading area. At the same time, use the laser scanning radar system, the barcode positioning system, and the position encoder system to respectively collect the first position information, the second position information, and the actual height position information in real time and send them to the automatic control system;

[0020] The automatic control system identifies the position of the pipe segment according to the acquired first position information, the second position information and the actual height position information, and controls the crane to grab, lift, transport and lower the pipe segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the layout position of the intelligent identification system of the present invention is shown.

[0022] Figure 2 The schematic diagram of the intelligent identification system of the present invention is shown.

[0023] Figure 3 The schematic diagram of position recognition of the laser scanning radar system of the present invention is shown. DETAILED DESCRIPTION

[0024] In order to solve the problems of high cost, low precision and low efficiency of the existing method of manually identifying the position of pipe segments and operating equipment to transport pipe segments, the present invention provides an intelligent recognition system and intelligent recognition method for pipe segment positions, which can realize intelligent recognition of any position of the pipe segment in the entire section from the unloading area to the release area, and through the cooperation of execution equipment such as cranes, fully automatic pipe segment grabbing, transportation, rotation and lowering can be realized without manual operation. The intelligent recognition system and intelligent recognition method for pipe segment positions are further described below with specific embodiments and drawings.

[0025] See also Figure 1 and Figure 2 As shown, an intelligent recognition system for the position of a pipe segment includes a laser scanning radar system 6, a barcode positioning system 7, a position encoder system 8 and an automatic control system. The laser scanning radar system 6 is arranged on the crane 4 and can move with the movement of the crane 4 to dynamically collect the first position information (i.e., the position of the pipe segment 5 relative to the laser scanning radar system 6 and other information) of the pipe segment within a certain range below the crane 4 (actually, any object within the range can be scanned, but based on the application background, there are usually only pipe segments below the moving range of the crane 4, so the collected objects are assumed to be pipe segments). The barcode positioning system 7 is used to collect the second position information of the crane 4 on the pipe segment transport track 3 (i.e., the translation position of the crane 4). The position encoder system 8 is used to collect the actual height position information of the crane 4. The automatic control system is used to obtain the first position information, the second position information and the actual height position information, and based on the obtained information, identify the position of the pipe segment 5 and automatically control the crane 4 to grab, lift, transport and lower the pipe segment 5. The laser scanning radar system 6, the barcode positioning system 7 and the position encoder system 8 are all connected to the automatic control system.

[0026] Preferably, with Figure 3As shown, the laser scanning radar system 6 includes a laser radar transmitter 61, an image receiver 62, and a shell for assembling the laser radar transmitter 61 and the image receiver 62 to the crane 4. The assembled image receiver 62 can receive the reflection of all laser lines emitted by the laser radar transmitter 61 to form an image that can reflect the first position information to the automatic control system, and the image receiver 62 is connected to the automatic control system. Specifically, the laser radar transmitter 61 is a laser radar sensor with a scanning interval of 270°, a resolution of 0.25°, and a working area of ​​0.5 meters to 20 meters. The image receiver 62 is an image sensor. The assembled laser scanning radar system 6 satisfies that the focus o of the laser radar transmitter 61 and the image receiver 62 and the target point to be measured Object (mainly corresponding to the pipe segment within a certain range below the crane 4 (i.e., the range that meets the aforementioned working area requirements)) are respectively located at the three vertices of the triangle. Through the above definition, it is possible to scan any position within a certain range below the crane 4, and then identify the specific position of the target pipe segment. The automatic control system can automatically calculate the distance d from the laser radar transmitter 61 to the current target point Object based on the installation positions of the laser radar transmitter 61 and the image receiver 62 and the image capture point x2 fed back by the image receiver 62. The specific principle is as follows:

[0027] When the laser beam is reflected by the object (i.e., the target point to be measured Object) and then captured by the image receiver 62, the capture point x2 is obtained. A virtual line parallel to the laser beam is drawn through the focus o, and the virtual line intersects the image receiver 62 at point x1. Since the triangle 61-o-Object and the triangle x1-x2-o are similar triangles, the following equation can be obtained:

[0028] q / f=s / x (1)

[0029] sinβ=q / d (2)

[0030] Among them: s is the distance from the laser radar transmitter 61 to the focus o, which is known; f is the focal length of the image receiver 62, which is known; β is the angle between the laser beam emission direction and the s direction, which is known; x is the distance between the intersection point x1 and the capture point x2. When β is known, the intersection point x1 can be obtained, and then the distance x can be obtained; q is the distance between the target point to be measured Object and the projection of the target point to be measured Object on the straight line where the s distance is located.

[0031] Substituting the above known parameters into (1) and (2), the value of the distance d from the laser radar transmitter 61 to the target point Object can be calculated.

[0032] The above principle is to abstract the target object as a point, but the actual object (which may be a single tube segment, a laminated tube segment or other) has a certain volume, so when the laser radar transmitter 61 continuously emits the laser beam, the automatic control system can obtain at least a partial contour of the target object and its relative position to the target object. In other words, the aforementioned first position information includes the relative position of the tube segment relative to the laser scanning radar system 6 and at least a partial contour information of the tube segment.

[0033] Preferably, the number of the laser scanning radar systems 6 is two, and the two laser scanning radar systems 6 are respectively arranged at the front end and the rear end of the crane 4 along the moving direction. Figure 1 As shown, the scanning ranges of the two laser scanning radar systems 6 intersect with each other to achieve full coverage scanning under the crane 4. Therefore, as the crane 4 moves, the two laser scanning radar systems 6 can identify all objects within the range from the unloading area 1 to the release area 2, including all pipe segments, and other objects that may appear. If there is any intrusion by personnel, it can also be scanned.

[0034] Preferably: the automatic control system pre-stores standard sizes of different types of segments, and the automatic control system is configured to determine the segment type in the current unloading area and whether the segment is in a stacked state based on the first position information and all the standard sizes, and even to distinguish whether the target object is a non-segment object invading the area to be measured. This embodiment uses a laser radar scanning method to obtain the outer contour and specific position of the scanned segment, which can avoid the influence of inaccurate measurement caused by different segment sizes. At the same time, when the light intensity in the tunnel construction environment is insufficient, the measurement accuracy will not be affected.

[0035] Preferably: See Figure 1As shown, the barcode positioning system is a high-precision PXV barcode positioning system, including a two-dimensional code banner 71 laid along the segment transport track 3, on which a plurality of two-dimensional codes with independent position information are evenly printed, and between each two adjacent two-dimensional codes on the two-dimensional code banner 71, there is a coincidence point for recording the relative position. The barcode positioning system 7 also includes a reader 72 installed on the crane 4, the reader 72 is used to capture the image of the two-dimensional code banner 71 to read the information of the corresponding two-dimensional code as the second position information and feed it back to the automatic control system, and the reader 72 is connected to the automatic control system. The reader 72 captures images through visual imaging technology to ensure stable operation in high temperature and high humidity environments. It has a high-speed reading speed of 60 frames and a dual lighting function. It does not affect its work even when there is insufficient light in the tunnel construction environment. Moreover, it can automatically focus, and can accurately (with an accuracy of millimeters) accurately locate the position of the crane 4 in a stable and precise manner even when the vibration is relatively severe. In addition, it also has a power-off protection function, which can achieve an absolute accuracy of ±250mm. The absolute position data is made into a Data Matrix code. Each Data Matrix code contains a unique X / Y data code with a length of 10,000 meters, a repeatability of ±0.2mm, and a positioning accuracy of 0.1mm. At the same time, it can collect speed signals with a resolution of up to 0.001 meters per second. When the reader 72 passes through the two-dimensional code, its absolute position can be determined. At the same time, the speed of the reader 72 passing through the adjacent two-dimensional code can be calculated based on the coincidence point information, and then the horizontal movement speed of the crane 4 can be known, so that the crane 4 can stop moving in time when it reaches the target area.

[0036] Preferably: the crane 4 includes a drum, a trolley movably mounted on the segment transport track 3, a motor fixedly mounted on the trolley and used to drive the drum to rotate, a lifting rope that can be reeled around the drum, and a gripper connected to the end of the lifting rope to grasp the segment 5, the gripper can be a mechanical clamp or a vacuum suction cup. The laser scanning radar system 6 is installed on the trolley. The specific structure of the crane 4 is not shown in the figure, and it can adopt a wire rope electric hoist, etc. Because the structure of the crane 4 itself belongs to the prior art, it will not be described here. However, it should be noted that the position encoder system 8 can use a CVM585 position encoder, which is installed on the motor or the drum to convert the actual rotation amount of the motor or the drum into the lifting amount of the gripper to feed back to the automatic control system as the actual height position information. It can provide real-time height data for safe positioning of vertical lifting height, and achieve safety integrity level SIL3 and safety performance level PLe with the automatic control system. Its sturdy housing can be used in harsh and dirty environments of tunnel construction, achieving absolute accuracy: ±50mm, repeatability <0.4mm, to achieve high-precision control of the motor. Real-time feedback of actual height position information is achieved.

[0037] Preferably: the automatic control system also has a self-detection function, such as by installing an inclination sensor on the crane 4, connecting it to the automatic control system, using the inclination sensor to measure the horizontal posture of the gripper in real time, and storing different inclination limits in the automatic control system. When it is found that the horizontal posture of the gripper exceeds the corresponding inclination limit, an alarm can be issued and / or the operation of the crane 4 can be stopped. Further, as mentioned above, the laser scanning radar system 6 can scan whether there are other objects invading the area to be tested, and the automatic control system can also issue an alarm and / or stop the operation of the crane 4 when other objects are found to have intruded. Self-detection can achieve safety interlocking of the high line to ensure the safety of people and equipment.

[0038] An intelligent identification method for segment position, combined with Figure 1 and Figure 2 As shown, the steps include:

[0039] Step 1: providing the intelligent segment position recognition system as described above;

[0040] Step 2, control the crane 4 to move along the segment transport track 3 toward the unloading area 1. At the same time, use the laser scanning radar system 6, the bar code positioning system 7 and the position encoder system 8 to respectively collect the first position information (when the crane 4 moves above the unloading area 1, the unloading position of the segment 5 can be collected), the second position information (i.e., the translation position) and the actual height position information in real time and send them to the automatic control system.

[0041] Step 3: The automatic control system controls the crane 4 to grab and lift according to the acquired first position information.

[0042] Step 4: The automatic control system determines whether the crane 4 has risen to the first height (i.e., the preset movable height) based on the actual height position information obtained, and controls the crane 4 to stop lifting and start moving along the segment transport track 3 toward the release area 2 when it reaches the first height.

[0043] Step 5, the automatic control system determines whether the crane 4 reaches above the release area 2 according to the acquired second position information, and controls the crane 4 to stop moving and start lowering when reaching the release area 2;

[0044] Step 6: The automatic control system determines whether the crane 4 has been lowered to the second height (i.e., the preset height of the slice feeder) according to the actual height position information obtained, and controls the crane 4 to stop lowering and release the captured pipe segments 5 when it is lowered to the second height. Then, the pipe segments are fed to the assembly machine one by one through the slice feeder.

[0045] The present invention can realize intelligent identification of any position of the pipe segment 5 in the whole section from the unloading area 1 to the release area 2 by setting up the laser radar 6, the barcode positioning system 7 and the absolute value encoder 8, and can realize the full-automatic pipe segment grabbing, lifting, transporting and lowering without manual operation by cooperating with the execution equipment such as the crane 4. It has high precision, high stability, skilled execution, low labor cost and high work efficiency.

[0046] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. An intelligent segment position recognition system, characterized in that: include: A laser scanning radar system is arranged on the crane and can move with the movement of the crane to dynamically collect first position information of the segments within a certain range below the crane; A barcode positioning system is used to collect the second position information of the crane on the segment transport track; Position encoder system, used to collect the actual height position information of the crane; An automatic control system is used to obtain the first position information, the second position information and the actual height position information, identify the position of the pipe segment based on the obtained information, and automatically control the crane to grab, lift, transport and lower the pipe segment. The laser scanning radar system, the barcode positioning system and the position encoder system are all connected to the automatic control system.

2. The intelligent segment position recognition system according to claim 1, characterized in that: There are two laser scanning radar systems, which are respectively arranged at the front end and the rear end of the crane along the moving direction, and the scanning ranges of the two laser scanning radar systems intersect with each other to achieve full coverage scanning under the crane.

3. The intelligent segment position recognition system according to claim 2, characterized in that: The laser scanning radar system includes a laser radar transmitter, an image receiver and a shell for assembling the laser radar transmitter and the image receiver onto the crane. The assembled image receiver is capable of receiving reflections of all laser lines emitted by the laser radar transmitter to form an image that can reflect the first position information for the automatic control system. The image receiver is connected to the automatic control system.

4. The intelligent segment position recognition system according to claim 3, characterized in that: The automatic control system pre-stores standard sizes of different types of pipe segments, and the automatic control system is configured to determine the type and stacking status of the currently scanned pipe segment based on the first position information and all the standard sizes.

5. The intelligent segment position recognition system according to claim 1, characterized in that: The barcode positioning system includes a two-dimensional code banner laid along the segment transport track, on which a plurality of two-dimensional codes with independent position information are printed at intervals; the barcode positioning system also includes a reader installed on the crane, the reader is used to capture the image of the two-dimensional code banner to read the information corresponding to the two-dimensional code as the second position information and feed it back to the automatic control system, and the reader is connected to the automatic control system.

6. The intelligent segment position recognition system according to claim 5, characterized in that: An overlap point for recording relative positions is provided between each two adjacent two-dimensional codes on the two-dimensional code banner.

7. The intelligent segment position recognition system according to claim 1, characterized in that: The crane includes a drum, a trolley movably mounted on the segment transport track, a motor fixedly mounted on the trolley and used to drive the drum to rotate, a lifting rope retractably wound around the drum, and a gripper connected to the end of the lifting rope for grabbing the segment. The position encoder system is installed on the motor or the drum and is used to convert the actual rotation amount of the motor or the drum into the lifting amount of the gripper to feed back the actual height position information to the automatic control system. The laser scanning radar system is installed on the trolley.

8. The intelligent segment position recognition system according to claim 7, characterized in that: The crane is also provided with an inclination sensor for real-time measurement of the horizontal posture of the gripper, and the inclination sensor is connected to the automatic control system.

9. An intelligent method for identifying segment positions, characterized in that: Includes steps: Providing an intelligent segment position recognition system as claimed in any one of claims 1 to 8; Control the crane to move along the segment transport track toward the unloading area. At the same time, use the laser scanning radar system, the barcode positioning system, and the position encoder system to respectively collect the first position information, the second position information, and the actual height position information in real time and send them to the automatic control system; The automatic control system identifies the position of the pipe segment according to the acquired first position information, the second position information and the actual height position information, and controls the crane to grab, lift, transport and lower the pipe segment.

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