Cooling water pipe optimized arrangement method, intelligent laying method and laying robot

Abstract

The invention discloses a cooling water pipe optimized arrangement method, an intelligent laying method and a laying robot, and relates to the technical field of concrete dam temperature control. The method comprises the following steps: firstly, determining a foundation arrangement distance in the height direction of a cooling water pipe of a concrete pouring bin, a foundation arrangement distance in the horizontal direction of the cooling water pipe, a foundation distance of the cooling water pipe relative to a seam surface and a foundation distance of the cooling water pipe relative to upstream and downstream surfaces; and optimizing the basic arrangement spacing of the cooling water pipes in the height direction and the basic arrangement spacing of the cooling water pipes in the horizontal direction to generate a water pipe arrangement diagram. Optimized arrangement of the cooling water pipes is achieved, then accurate control over the temperature field of the concrete dam is achieved, the problems that due to insufficient cooling or excessive cooling, the quality and structural stability of concrete are affected, and due to the fact that the internal and external temperature difference cannot be effectively controlled, the concrete dam cracks are avoided, and the service life of the concrete dam is prolonged. The safety and the service life of the dam are influenced.

Description

Technical Field

[0001] The present application relates to the technical field of temperature control of concrete dams, and particularly to an optimized layout method for cooling water pipes, an intelligent laying method, and a laying robot. Background Art

[0002] During the construction of concrete dams, temperature control is of crucial importance. Water cooling is currently one of the main means of temperature control for concrete dams. In the traditional layout method of cooling water pipes, the cooling water pipes are usually partitioned during the design stage, and the pipe layout within each partition is the same, and the water flow parameters are also consistent. The determination of the partition and parameters mainly depends on two key factors: the basic temperature difference and the allowable maximum temperature.

[0003] On the one hand, in the traditional method, the cooling water pipes are arranged at equal intervals within the same partition. However, this equal-interval layout method has obvious limitations. Since the temperature field inside the concrete dam is actually very complex, the cooling water pipes arranged at equal intervals are difficult to adapt to the temperature change requirements at different positions. This results in a non-smooth gradient of the spatial distribution of the temperature field and fails to achieve precise control of the temperature field of the concrete dam. In some key parts, the quality and structural stability of the concrete may be affected due to insufficient or excessive cooling.

[0004] On the other hand, the traditional method mainly focuses on the basic temperature difference and does not pay enough attention to the internal and external temperature difference. In actual situations, the internal and external temperature difference of the concrete dam is one of the main causes of cracks. If the internal and external temperature difference cannot be effectively controlled, the risk of cracks in the concrete dam will be greatly increased, seriously affecting the safety and service life of the dam. Summary of the Invention

[0005] The purpose of the present application is to provide an optimized layout method for cooling water pipes, an intelligent laying method, and a laying robot to achieve the optimized layout of cooling water pipes, thereby achieving precise control of the temperature field of the concrete dam, avoiding the influence on the quality and structural stability of the concrete due to insufficient or excessive cooling, and avoiding the problem of affecting the safety and service life of the dam due to the risk of cracks in the concrete dam caused by ineffective control of the internal and external temperature difference.

[0006] To achieve the above purpose, the present application provides the following solutions.

[0007] In the first aspect, the present application provides an optimized layout method for cooling water pipes, and the optimized layout method for cooling water pipes includes:

[0008] Determine the basic layout spacing in the height direction of the cooling water pipes in the concrete pouring bin, the basic layout spacing in the horizontal direction of the cooling water pipes, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces;

[0009] Based on the influence of seasons and the temperature difference between inside and outside on concrete pouring, optimize the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction, and obtain the optimized layout spacing of the cooling water pipes in the height direction and the optimized layout spacing of the cooling water pipes in the horizontal direction;

[0010] According to the optimized layout spacing of the cooling water pipes in the height direction, determine the placement surface where the cooling water pipes need to be laid as the target placement surface;

[0011] Generate the pipe layout diagrams of each target placement surface according to the optimized layout spacing of the cooling water pipes in the horizontal direction, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces.

[0012] In a second aspect, the present application provides a method for intelligent laying of cooling water pipes. The method for intelligent laying of cooling water pipes includes:

[0013] Obtain the plane position information and elevation information of the laying robot at the current location;

[0014] Based on the plane position information and the elevation information, determine the target placement surface where the laying robot is currently located;

[0015] According to the pipe layout diagrams of each target placement surface, obtain the pipe layout diagram corresponding to the target placement surface where the laying robot is currently located as the target pipe layout diagram; the pipe layout diagrams of each target placement surface are obtained by using the above-mentioned cooling water pipe optimization layout method;

[0016] Based on the target pipe layout diagram, generate an initial grid map and a walking grid route for the laying robot to navigate;

[0017] Control the walking mechanism of the laying robot to walk according to the initial grid map and the walking grid route, and control the pipe winding and unwinding mechanism and the pipe fixing mechanism of the laying robot to work synchronously.

[0018] In a third aspect, the present application provides a laying robot. The laying robot includes: a walking mechanism, and a pipe winding and unwinding mechanism, a pipe fixing mechanism, a pipe cutting device, a vehicle-mounted controller, a navigation module, and an obstacle detection module provided on the walking mechanism;

[0019] Both the navigation module and the obstacle detection module are connected to the vehicle-mounted controller; the navigation module is used to obtain the plane position information and elevation information of the laying robot at the current location;

[0020] The vehicle-mounted controller is respectively connected to the control ends of the walking mechanism, the pipe winding and unwinding mechanism, the pipe fixing mechanism, and the pipe cutting device;

[0021] The vehicle-mounted controller is used to determine the target bin surface where the laying robot is currently located based on the planar position information and the elevation information; obtain the water pipe layout diagram corresponding to the target bin surface where the laying robot is currently located according to the water pipe layout diagrams of each target bin surface as the target water pipe layout diagram, and the water pipe layout diagrams of each target bin surface are obtained by using the above-mentioned optimized layout method of the cooling water pipes; generate an initial grid map and a walking grid route for the navigation of the laying robot based on the target water pipe layout diagram; control the walking mechanism to walk according to the initial grid map and the walking grid route, and control the water pipe winding and unwinding mechanism and the water pipe fixing mechanism to work synchronously;

[0022] The vehicle-mounted controller is further used to control the water pipe cutting device to separate the laid water pipe and the unlaid water pipe on the water pipe winding and unwinding mechanism when the laying robot reaches the end position;

[0023] The vehicle-mounted controller is further used to output an alarm signal and / or control the walking mechanism to automatically avoid obstacles when an obstacle is detected.

[0024] According to the specific embodiments provided by the present application, the present application has the following technical effects.

[0025] The present application provides an optimized layout method for cooling water pipes, an intelligent laying method and a laying robot. The present application first determines the basic layout spacing in the height direction of the cooling water pipes in the concrete pouring bin, the basic layout spacing in the horizontal direction of the cooling water pipes, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces, and then optimizes the basic layout spacing in the height direction of the cooling water pipes and the basic layout spacing in the horizontal direction of the cooling water pipes based on control requirements such as the internal and external temperature difference, and combines the pouring season and temperature information of the location where it is located, and generates a water pipe layout diagram according to the optimized layout spacing in the height direction of the cooling water pipes, the optimized layout spacing in the horizontal direction of the cooling water pipes, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces. The present application realizes the optimized layout of the cooling water pipes, and further realizes the precise control of the temperature field of the concrete dam, avoiding the problems that the quality and structural stability of the concrete are affected due to insufficient cooling or excessive cooling, and the risk that cracks appear in the concrete dam due to the inability to effectively control the internal and external temperature difference, affecting the safety and service life of the dam.

[0026] The present application also provides an intelligent laying method and a laying robot, which realize automatic water pipe laying in combination with the obtained water pipe layout diagram, overcoming the problems of large errors and slow speed in the existing manual laying. Description of the Drawings

[0027] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0028] Figure 1 It is a schematic flowchart of a method for optimizing the layout of cooling water pipes provided in an embodiment of the present application.

[0029] Figure 2 It is a general flowchart of a dynamic optimization and intelligent laying method for the layout of cooling water pipes provided in an embodiment of the present application.

[0030] Figure 3 It is a flowchart of an intelligent laying method for a laying robot provided in an embodiment of the present application.

[0031] Figure 4 It is a schematic diagram of the principle of a method for optimizing the layout of cooling water pipes provided in an embodiment of the present application.

[0032] Figure 5 It is a flowchart of generating the water pipe layout diagrams for each target deck provided in an embodiment of the present application.

[0033] Figure 6 It is a schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0034] Reference numerals:

[0035] 1. Water pipe reel; 2. Water pipe clamping device; 3. Water pipe cutting device; 4. Water pipe; 5. Traveling mechanism; 6. Driving wheel; 7. Camera; 8. Radar; 9. Water pipe fixing device. Detailed implementation manners

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present application.

[0037] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0038] In an exemplary embodiment, as Figure 1 shown, a method for optimizing the layout of cooling water pipes is provided, including the following steps 101 to 104.

[0039] Step 101: Determine the basic layout spacing of the cooling water pipes in the height direction, the basic layout spacing of the cooling water pipes in the horizontal direction, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces of the concrete placement bin.

[0040] Step 102: Optimize the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction based on the influence of seasons and the internal and external temperature differences on concrete placement, to obtain the optimized layout spacing of the cooling water pipes in the height direction and the optimized layout spacing of the cooling water pipes in the horizontal direction.

[0041] Step 103: Determine the placement surface where the cooling water pipes need to be laid according to the optimized layout spacing of the cooling water pipes in the height direction, as the target placement surface.

[0042] Step 104: Generate the pipe layout diagrams of each target placement surface according to the optimized layout spacing of the cooling water pipes in the horizontal direction, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces.

[0043] Implementing the above steps 101 to 104 can achieve the optimized layout of the cooling water pipes, and further achieve the precise control of the temperature field of the concrete dam, avoiding the problems that the quality and structural stability of the concrete are affected due to insufficient cooling or overcooling, and the risk that cracks occur in the concrete dam due to the inability to effectively control the internal and external temperature differences, which affect the safety and service life of the dam, as Figure 2 shown. The pipe layout diagrams generated by the above steps 101 to 104 can be imported into the laying robot to generate the walking path of the laying robot. When the laying robot encounters obstacles during the laying process, it will give an alarm and / or avoid obstacles according to the avoidance rules.

[0044] As Figure 4 shown, the present application first determines the basic layout spacing of the cooling water pipes in the height direction, the basic layout spacing of the cooling water pipes in the horizontal direction, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces of the concrete placement bin, and then optimizes the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction based on the internal and external temperature differences and the requirements for joint opening control, combined with the pouring season and temperature information.

[0045] In another exemplary embodiment of the present application, in the above step 101, first, taking the concrete placement bin as the basic unit, through the whole-dam full-process temperature control simulation calculation and / or the analytical method model calculation, determine the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction. The specific method is as follows:

[0046] Full-dam whole-process temperature control simulation calculation: Based on the actual dam structure shape, material zoning, thermodynamics characteristics of dam-building materials, pouring process, pouring temperature, air temperature, solar radiation heat, heat preservation conditions, reservoir operation mode (reservoir water temperature), and stress constraint conditions, etc., through full-dam whole-process refined temperature control simulation calculation, with the optimal concrete stress as the goal, determine the basic layout spacing of the cooling water pipes in the height and horizontal directions for each concrete pouring bin.

[0047] Analytical method model calculation: According to the concrete maximum temperature control standard (on the one hand, the concrete maximum temperature should meet the control requirements of the foundation temperature difference, and on the other hand, it should meet the control requirements of the joint opening), through analytical method model calculation, determine the basic layout spacing of the cooling water pipes in the height and horizontal directions for each concrete pouring bin. The specific calculation inequality equation system is as follows:

[0048]

[0049] Among them, T max is the concrete maximum temperature, T w is the water inlet temperature of the water-cooling, T 0 is the concrete pouring temperature, p is the first intermediate parameter, τ 0 is the moment when the concrete reaches the maximum temperature, θ 0 is the final value of the adiabatic temperature rise of the concrete, m is the constant related to the adiabatic temperature rise, a is the concrete temperature conductivity coefficient, λ is the concrete heat conductivity coefficient, L is the length of the cooling water pipe, c w is the specific heat of water, ρ w is the density of water, q w is the water-cooling flow rate, S is the basic layout spacing of the cooling water pipes, H 0 =L 0 =S, H 0 is the basic layout spacing of the cooling water pipes in the height direction, L 0 is the basic layout spacing of the cooling water pipes in the horizontal direction, c is the outer diameter of the water pipe, λ 1 is the heat conductivity coefficient of the cooling water pipe, r 0 is the inner diameter of the water pipe, T 稳定 is the concrete stable temperature (annual average air temperature), ΔT 基础 is the concrete foundation temperature difference (according to the constraint zoning where the concrete pouring bin is located), T 缝开度 is the minimum value of the concrete maximum temperature that meets the joint opening requirement.

[0050] In the above inequality equation system, the basic layout spacing S of the cooling water pipes is the unknown quantity, and the rest of the calculation parameters are known quantities. By solving the inequality equation system, the basic layout spacing S of the cooling water pipes can be obtained.

[0051] According to the relevant specifications for concrete dam design, determine the basic distance of the cooling water pipes relative to the joint surface and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces.

[0052] Considering the obvious limitations of the above traditional equal-spacing arrangement method, based on the control requirements such as the internal and external temperature difference, and combined with the pouring season and temperature information of the location, optimize the spacing of the water pipe foundations in the dam height direction and the horizontal direction. For example, in the parts poured during the high-temperature season in summer, the spacing of the water pipe foundations in the dam height direction is densified; during the spring and autumn seasons, the spacing is appropriately widened; in winter, the water pipe arrangement is relaxed or cancelled according to the actual situation. There are differences in the optimization methods of the spacing of the water pipe foundations in the height direction and the horizontal direction. Specifically:

[0053] For the optimization of the spacing of the foundations in the height direction, mainly consider the pouring season, temperature factors, etc. of the location. For example, in the parts poured during the high-temperature season in summer, the spacing of the water pipes in the height direction needs to be densified, and in winter, it can be relaxed or even cancelled. Therefore, for the optimization of the spacing of the foundations in the height direction, a seasonal influence function needs to be established according to the pouring season.

[0054] For the optimization of the spacing in the horizontal direction, mainly consider the control requirements of the internal and external temperature difference and the temperature gradient. In order to optimize the internal and external temperature difference and the temperature gradient in the horizontal direction of the concrete dam, generally, the closer to the upstream and downstream surfaces, the smaller the spacing, and the larger the spacing in the center part of the dam. For the optimization of the spacing of the foundations in the horizontal direction, a gradual change function of the water pipe spacing in the horizontal direction needs to be established.

[0055] In another exemplary embodiment of the present application, in step 102 above, based on the influence of the season and the internal and external temperature difference on concrete pouring, the optimal temperature gradient in the internal and external directions is determined by means of full-process temperature control simulation according to the temperature control and crack prevention theory method. Further, according to the optimal temperature gradient, the basic arrangement spacing of the cooling water pipes in the height direction and the basic arrangement spacing of the cooling water pipes in the horizontal direction are optimized by means of full-process temperature control simulation or analytical solution, and the optimized arrangement spacing of the cooling water pipes in the height direction and the optimized arrangement spacing of the cooling water pipes in the horizontal direction are obtained.

[0056] First, consider the pouring season to optimize the basic arrangement spacing of the cooling water pipes in the height direction.

[0057] Considering the pouring season of the concrete pouring bin, when pouring in summer, the temperature is relatively high. In order to prevent the reverse flow of the temperature, the cooling water pipes in the height direction should be arranged densely; when pouring in spring and autumn, the temperature is suitable, and the cooling water pipes in the height direction can be arranged according to the basic spacing; when pouring in winter, the temperature is relatively low, and the arrangement spacing of the cooling water pipes in the height direction can be relaxed to avoid excessive cooling.

[0058] The optimized arrangement spacing H of the cooling water pipes in the height direction 1 Calculation formula:

[0059] H1 = K s × H 0 ;

[0060] Wherein, H 1 is the optimized layout spacing in the height direction of the cooling water pipe, and K s is the seasonal coefficient (the value in summer is less than or equal to 1, the value in spring and autumn is equal to 1, and the value in winter is greater than or equal to 1), and H 0 is the basic layout spacing in the height direction of the cooling water pipe.

[0061] Then, considering the internal and external temperature difference and the requirement of the optimal temperature gradient, optimize the basic layout spacing of the cooling water pipe in the horizontal direction.

[0062] Considering the influence of the internal and external temperature difference in the river direction on the temperature stress on the concrete surface, in order to reduce the temperature stress on the concrete surface and prevent the concrete surface from cracking, it is necessary to optimize the layout spacing of the cooling water pipe in the horizontal direction. Generally, the spacing of the water pipes in the horizontal direction needs to gradually change along the center line in the river direction according to the distance from the cooling water pipe to the upstream (downstream) surface, and the closer the distance to the upstream (downstream) surface, the smaller the spacing of the cooling water pipes.

[0063] The optimized layout spacing L of the cooling water pipe in the horizontal direction 1 The calculation formula is:

[0064] L 1 = K c × L 0 ;

[0065]

[0066] Wherein, L 1 is the optimized layout spacing of the cooling water pipe in the horizontal direction, K c is the gradient coefficient of the spacing of the cooling water pipes in the horizontal direction (in the range of 0 - 1 / 3 times the river direction length from the center line in the river direction, the value range is [0.8, 1]; in the range of 1 / 3 - 2 / 3 times the river direction length, the value range is [0.5, 0.8]; in the range of 2 / 3 - 1 times the river direction length, the value range is [0.25, 0.75]; and K c satisfies K c × L 0 ≥ 0.5m), L 0 is the basic layout spacing of the cooling water pipe in the horizontal direction, wherein, a and b are parameters determined by the analytical method or the temperature control simulation method with the optimization of the temperature gradient in the inside and outside direction of the concrete pouring bin as the goal, and x is the distance from the cooling water pipe to the center line in the river direction.

[0067] In the embodiment of the present application, according to the plane design drawing of the deck surface and the requirements for the length of a single pipe, the layout scheme of the main pipe and branch pipes and the joint positions are calculated to determine the overall water pipe layout scheme. Then, in combination with the layout spacing of the water pipes in the horizontal and height directions and the distances from the upstream and downstream surfaces and the joint surface, the deck surface water pipe layout drawings for each deck surface where water pipes need to be laid are generated.

[0068] In another exemplary embodiment of the present application, in step 105 above, the deck surface water pipe layout drawings for each deck surface where water pipes need to be laid are generated, as Figure 5 shown, and the steps are as follows:

[0069] Step 1-1: According to the position information of each concrete pouring bin (including the starting and ending elevations and the plane position range) and the layout spacing of the cooling water pipes in the height direction of the concrete pouring bin calculated in step 102, determine the elevation and plane position information of each target deck surface where water pipes need to be laid, and number each target deck surface.

[0070] Step 1-2: Generate the water pipe layout drawings for each target deck surface, and the specific steps are as follows:

[0071] Step 1-2-1: Import the plane design drawing of the target deck surface.

[0072] Step 1-2-2: According to the size of the target deck surface and the length of a single pipe, determine the layout form of the pipeline (only the layout form of the branch pipes is single-in and single-out for the branch pipes, and the combined layout form of the main and branch pipes is that the main pipe supports several branch pipes).

[0073] Step 1-2-3: When there are only branch pipes, determine the layout areas and the inlet and outlet positions of each branch pipe; when the main and branch pipes are combined, determine the layout areas and the joint positions of the main pipe and each branch pipe.

[0074] Step 1-2-4: According to the plane design drawing of the deck surface where water pipes need to be laid, the optimized layout spacing of the cooling water pipes in the horizontal direction calculated in step 102, and the basic distances from the upstream and downstream surfaces and the joint surface in step 101, and in combination with the material, pipe diameter, wall thickness, etc. of the cooling water pipes, calculate and determine the turning radius, and generate the water pipe layout drawings for each target deck surface.

[0075] The traditional laying of cooling water pipes is carried out manually. There are many problems with manual laying of water pipes. First of all, the manual laying error is relatively large. For uniformly arranged water pipes, although the error can be tolerated to a certain extent, for the layout of non-uniformly spaced water pipes, the difficulty of manual laying is extremely high. Manual laying is not only inefficient, but also difficult to ensure the laying accuracy and quality. In the construction of large concrete dams, manually laying cooling water pipes requires a large amount of manpower, material resources and time, increasing the project cost and construction period.

[0076] In summary, the traditional layout and laying methods of cooling water pipes can no longer meet the requirements of modern concrete dam construction. To solve these problems, the embodiments of the present application provide an intelligent laying method for cooling water pipes and a laying robot.

[0077] In an exemplary embodiment, the present application provides an intelligent laying method for cooling water pipes, as Figure 3 shown, the intelligent laying method for cooling water pipes includes:

[0078] Obtain the plane position information and elevation information of the laying robot at the current location.

[0079] Based on the plane position information and the elevation information, determine the target deck surface where the laying robot is currently located.

[0080] According to the water pipe layout diagrams of each target deck surface, obtain the water pipe layout diagram corresponding to the target deck surface where the laying robot is currently located as the target water pipe layout diagram; the water pipe layout diagrams of each target deck surface are obtained by using the above-mentioned one or more embodiments of the cooling water pipe optimization layout method.

[0081] Based on the target water pipe layout diagram, generate an initial grid map and a walking grid route for the laying robot to navigate.

[0082] Control the walking mechanism of the laying robot to walk according to the initial grid map and the walking grid route, and control the water pipe winding and fixing mechanisms of the laying robot to work synchronously.

[0083] In another exemplary embodiment, the laying robot uses the communication module to import the water pipe layout diagrams of each target deck surface into the deck surface water pipe layout diagram storage library of the laying robot. The laying robot uses the GNSS positioning technology to determine its current plane position and elevation information. Among them, the plane position information is used to determine the dam section where the robot is located, and the elevation information is used to determine the bin number and the deck surface where the laying robot is located, so as to determine the number of the corresponding target deck surface. The robot finds the water pipe layout diagram corresponding to the number in the deck surface water pipe layout diagram storage library according to the number of the target deck surface, and uses the navigation system to load the water pipe layout diagram to generate an initial grid map and a walking grid route for navigation.

[0084] In another exemplary embodiment, the laying robot walks along the walking grid route from the starting position, uses the GNSS positioning technology to update the grid where the laying robot is located in real time, and calculates the included angle and distance between the center coordinates of the two grids through the position information of the grid where the laying robot is currently located and the grid to be reached next, so as to control the walking direction and distance of the laying robot.

[0085] In another exemplary embodiment, the laying robot walks along a walking grid route, uses radar scanning technology and image recognition technology to perceive the surrounding environment. When the laying robot encounters an obstacle, it will activate an alarm device. There are two ways to handle the situation after the alarm: 1. Manually handle the obstacle; 2. Automatically avoid the obstacle. The laying robot updates the grid map according to the surrounding environment perceived by radar scanning technology and image recognition technology, and re-plans the walking grid route according to the updated grid map according to the avoidance rules, bypasses the obstacle and then returns to the initialized set walking route to achieve obstacle avoidance.

[0086] In another exemplary embodiment, when the laying robot walks to the edge of the bin surface, it will use radar scanning technology and image recognition technology to perceive the size and contour of the actual bin surface. When there is a difference between the size of the actually perceived bin surface area and the bin surface area of the plane design drawing of the bin surface, it will adjust the water pipe layout drawing, update the grid map, and adjust the walking grid route, so as to meet the accuracy requirements of water pipe laying.

[0087] In another exemplary embodiment, during the walking process of the laying robot, the water pipe winding and unwinding mechanism and the water pipe fixing mechanism of the laying robot also work synchronously. The water pipe winding and unwinding mechanism will synchronously adjust the pipe laying speed according to the walking speed; every time the laying robot walks a fixed distance, the water pipe fixing mechanism will fix the water pipe through the water pipe fixing device.

[0088] In another exemplary embodiment, when the laying robot walks to the end position, the water pipe cutting device of the laying robot will separate the laid water pipe from the unlaid water pipe on the water pipe winding and unwinding mechanism, and the work of laying the water pipe by the laying robot ends.

[0089] The above is the method flow of a laying robot for laying a single water pipe. It is also possible to plan multiple laying robots to cooperate in laying single water pipes in different areas.

[0090] After the laying robot finishes laying the water pipe, manually connect the main pipe and branch pipe joints, and manual assistance is required for laying in complex structural parts.

[0091] In order to implement the above laying method, a laying robot is correspondingly provided. For the laying robot, first, the water pipe layout drawings and dam information of each bin surface are input into the system. The dam information includes basic input quantities such as dam shape and layout, bin position contour, temperature control technical requirements and measures, etc. At the same time, the shape information, current elevation and plane relative position information of each bin are collected in real time through sensors. The walking mechanism drives the robot to move precisely along the walking path through GNSS positioning technology, the water pipe winding and unwinding mechanism lays the cooling water pipe, and the water pipe fixing mechanism ensures the stability of the water pipe. Multiple laying robots can simultaneously carry out parallel laying of the main pipe and branch pipes, manually connect the main pipe and branch pipe joints, and manual assistance is provided during laying in complex structural parts.

[0092] In an exemplary embodiment, the present application provides a laying robot, as Figure 6 shown. The laying robot includes: a traveling mechanism 5, and a water pipe winding and unwinding mechanism, a water pipe fixing mechanism 9, a water pipe cutting device 3, a vehicle-mounted controller, a navigation module, and an obstacle detection module disposed on the traveling mechanism 5; the navigation module and the obstacle detection module are both connected to the vehicle-mounted controller; the navigation module is configured to obtain the planar position information and elevation information of the laying robot; the vehicle-mounted controller is respectively connected to the control ends of the traveling mechanism 5, the water pipe winding and unwinding mechanism, the water pipe fixing mechanism 9, and the water pipe cutting device 3; the vehicle-mounted controller is configured to determine the target bin surface where the laying robot is currently located based on the planar position information and the elevation information; obtain the water pipe layout diagram corresponding to the target bin surface where the laying robot is currently located as the target water pipe layout diagram according to the water pipe layout diagrams of each target bin surface, and the water pipe layout diagrams of each target bin surface are obtained by using the above-described one or more embodiments of the cooling water pipe optimal layout method; generate an initial grid map and a walking grid route for the navigation of the laying robot based on the target water pipe layout diagram; control the traveling mechanism 5 to travel according to the initial grid map and the walking grid route, and control the water pipe winding and unwinding mechanism and the water pipe fixing mechanism 9 to work synchronously; the vehicle-mounted controller is further configured to control the water pipe cutting device 3 to separate the laid water pipe and the unlaid water pipe on the water pipe winding and unwinding mechanism when the laying robot reaches the end position; the vehicle-mounted controller is further configured to output an alarm signal and / or control the traveling mechanism 5 to automatically avoid obstacles when an obstacle is detected.

[0093] In another exemplary embodiment, the above-mentioned laying robot further includes a communication module, an alarm module, a battery module, and a charging module. The communication module and the alarm module are both connected to the vehicle-mounted controller. The communication module is configured to import the water pipe layout diagrams of each target bin surface, and the alarm device is configured to give an alarm when the laying robot encounters an obstacle during walking.

[0094] In another exemplary embodiment, the above-mentioned traveling mechanism 5 includes a chassis, a driving wheel 6, and a driving motor. The driving wheel 6 is mounted on the chassis, and the driving motor is shaft-connected to the driving wheel 6. Among them, the chassis serves as a support to support the overall structure. The driving wheel 6 is driven by a crawler, and the driving motor provides power for the walking of the laying robot.

[0095] In another exemplary embodiment, the above-mentioned water pipe winding and unwinding mechanism includes: a water pipe reel 1, a driving device, a wire arranging device, a water pipe clamping device 2, a control system, and a guiding arm; the water pipe reel 1, the driving device, the water pipe clamping device 2, and the control system are all arranged on the upper surface of the traveling mechanism 5; the control system is respectively connected to the vehicle-mounted controller and the control end of the driving device; the driving device is connected to the water pipe reel 1; the wire arranging device is arranged on the water pipe reel 1; the guiding arm is arranged on the lower surface of the traveling mechanism 5; during operation, the water pipe 4 is wound around the water pipe reel 1, and the end of the water pipe 4 to be laid passes through the wire arranging device, the water pipe clamping device 2, and the guiding arm to the target bin surface. Among them, the water pipe reel 1 is the main part of the water pipe winding and unwinding device for storing the water pipe 4. The driving device is responsible for providing the power for the rotation of the water pipe reel 1. The wire arranging device is used to ensure that the water pipe 4 is arranged evenly and tightly on the water pipe reel 1. The water pipe clamping device 2 is responsible for fixing the water pipe 4 and controlling its tension, usually adopting a mechanical or hydraulic structure, and can be adaptively adjusted according to the diameter and weight of the water pipe 4. During the winding and unwinding process of the water pipe 4, the water pipe clamping device 2 can keep the tension of the water pipe 4 stable, preventing the water pipe 4 from being slack or overly tightened. The control system is used to adjust the speed of winding and unwinding the pipe in real time to ensure that the winding and unwinding speed of the water pipe 4 is synchronized with the traveling speed of the laying robot during the operation, avoiding the phenomena of pipe throwing, loose winding, and pipe breakage during the work process. The guiding arm is used to limit the laying direction of the water pipe 4 to ensure that the water pipe 4 is laid along the main line of the robot's travel.

[0096] In another exemplary embodiment, the above-mentioned water pipe fixing mechanism 9 includes a chute, a movable baffle, a spring and an electric push rod; a U-shaped staple is arranged in the chute; both the movable baffle and the spring are arranged in the chute, one end of the spring is connected to one end of the chute, the other end of the chute is connected to the movable baffle, and a U-shaped staple is arranged between the movable baffle and the other end of the chute; a movable support plate is arranged at the other end of the chute, the electric push rod is arranged on the upper part of the movable support plate, and the control end of the electric push rod is connected to the vehicle-mounted controller. The electric push rod is used to push the U-shaped staple located on the movable support plate downward by a preset distance, so that the U-shaped staple is embedded into the bin surface to fix the water pipe 4 laid on the bin surface. Among them, the U-shaped staple is a component for fixing the water pipe 4. The chute is used to accommodate the U-shaped staple. The movable baffle is used to support the U-shaped staple above it. The widths of the movable baffle and the U-shaped staple are equal to ensure that only one U-shaped staple is installed each time. The springs are respectively located inside the chute and at the edge of the movable baffle. The spring inside the chute keeps the U-shaped staple in the chute in a compressed state all the time, ensuring that there is always a U-shaped staple waiting to be installed on the movable support plate arranged at the other end of the chute; the spring at the edge of the movable baffle enables the movable baffle to have an automatic opening and closing function. Every time the laying robot walks a certain distance, the push rod pushes the U-shaped staple located on the movable support plate downward by a certain distance to embed it into the bin surface to fix the water pipe 4.

[0097] In another exemplary embodiment, the above-mentioned water pipe cutting device 3 is used to cut the water pipe 4 after the water pipe laying is completed to separate the laid water pipe and the unlaid water pipe on the reel 1. The above-mentioned vehicle-mounted controller: used to manage and control various functional modules of the robot. The above-mentioned navigation module: includes a radar 8 and a camera 7. The radar is used to scan the environment around the robot, provide high-precision distance measurement, and construct an accurate environmental map. The camera 7 is used to take images around the robot and assist in the refined construction of the map through image recognition technology. The above-mentioned communication module communicates with the server through a wireless local area network and Bluetooth. The above-mentioned obstacle detection module detects the distance between the obstacle and the robot through ultrasonic sensors and infrared sensors. The above-mentioned alarm module is used to issue an alarm when the laying robot cannot operate normally. The above-mentioned battery module is used to provide energy for the operation of the laying robot. The above-mentioned charging module is used to replenish energy for the laying robot.

[0098] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0099] In this text, specific examples are used to illustrate the principles and implementation modes of this application. The descriptions of the above embodiments are only for helping to understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation modes and application scopes. To sum up, the content of this specification should not be construed as a limitation to this application.

Claims

1. A cooling water pipe optimization layout method, characterized in that: The cooling water pipe optimization arrangement method comprises: Determine the basic layout spacing of the cooling water pipes in the height direction of the concrete pouring bin, the basic layout spacing of the cooling water pipes in the horizontal direction, the basic distance of the cooling water pipes relative to the joint surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces; Based on the influence of seasons and internal and external temperature differences on concrete pouring, the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction are optimized to obtain the optimized layout spacing of the cooling water pipes in the height direction and the optimized layout spacing of the cooling water pipes in the horizontal direction; Optimize the layout spacing according to the height direction of the cooling water pipes and determine the warehouse surface where the cooling water pipes need to be laid as the target warehouse surface; The water pipe layout diagram for each target warehouse surface is generated according to the optimized layout spacing of the cooling water pipes in the horizontal direction, the basic distance of the cooling water pipes relative to the seam surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces.

2. The cooling water pipe optimization layout method according to claim 1, characterized in that: The determination of the basic arrangement spacing of the cooling water pipes in the height direction of the concrete pouring bin, the basic arrangement spacing of the cooling water pipes in the horizontal direction, the basic distance of the cooling water pipes relative to the seam surface, and the basic distance of the cooling water pipes relative to the upstream and downstream surfaces specifically includes: The whole-dam whole-process temperature control simulation calculation method and / or analytical model calculation method are used to determine the foundation arrangement spacing of the cooling water pipes in the height direction and the foundation arrangement spacing of the cooling water pipes in the horizontal direction of the concrete pouring bin; According to the requirements of the large-volume concrete temperature control and crack prevention design specifications, determine the basic distance of the cooling water pipe relative to the joint surface and the basic distance of the cooling water pipe relative to the upstream and downstream surfaces.

3. The cooling water pipe optimization layout method according to claim 2, characterized in that: The analytical model calculation method is used to determine the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction of the concrete pouring bin, including: Solve the following inequality equations to determine the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction of the concrete pouring bin; Among them, T max is the maximum temperature of concrete, T w is the water inlet temperature of the water cooling, T0 is the concrete pouring temperature, p is the first intermediate parameter, τ0 is the moment when the concrete reaches the highest temperature, θ0 is the final value of the adiabatic temperature rise of the concrete, m is a constant related to the adiabatic temperature rise, a is the thermal conductivity of the concrete, λ is the thermal conductivity of the concrete, L is the length of the cooling water pipe, c w is the specific heat of water, ρ w is the density of water, q w is the water cooling flow rate, S is the basic layout spacing of the cooling water pipe, H0=L0=S, H0 is the basic layout spacing of the cooling water pipe in the height direction, L0 is the basic layout spacing of the cooling water pipe in the horizontal direction, c is the outer diameter of the water pipe, λ1 is the thermal conductivity of the cooling water pipe, r0 is the inner diameter of the water pipe, T 稳定 is the concrete stable temperature, ΔT 基础 is the temperature difference of the concrete foundation, T 缝开度 The minimum value of the maximum concrete temperature that meets the joint opening requirements.

4. The cooling water pipe optimization layout method according to claim 1, characterized in that: Based on the influence of seasons and internal and external temperature differences on concrete pouring, the basic layout spacing of the cooling water pipes in the height direction and the basic layout spacing of the cooling water pipes in the horizontal direction are optimized to obtain the optimized layout spacing of the cooling water pipes in the height direction and the optimized layout spacing of the cooling water pipes in the horizontal direction, including: Based on the influence of seasons on concrete pouring, the basic layout spacing of the cooling water pipes in the height direction is optimized using the following formula to obtain the optimized layout spacing of the cooling water pipes in the height direction; H1=K s ×H0; Among them, H1 is the optimized layout spacing of cooling water pipes in height direction, K s is the seasonal coefficient, H0 is the basic layout spacing in the height direction of the cooling water pipe; Based on the influence of the internal and external temperature difference on concrete pouring, the basic arrangement spacing of the cooling water pipes in the horizontal direction is optimized using the following formula to obtain the optimal arrangement spacing of the cooling water pipes in the horizontal direction; L1=K c ×L0; Among them, L1 is the optimal layout spacing of cooling water pipes in horizontal direction, K c is the gradient coefficient of the cooling water pipe spacing in the horizontal direction, and L0 is the basic layout spacing of the cooling water pipes in the horizontal direction.

5. The cooling water pipe optimization layout method according to claim 4, characterized in that: The calculation formula for the gradient coefficient of the horizontal cooling water pipe spacing is: Among them, a and b are parameters determined by analytical method or temperature control simulation method with the goal of optimizing the horizontal temperature gradient of the concrete pouring bin, and x is the distance from the cooling water pipe to the center line of the downstream river.

6. A cooling water pipe intelligent laying method, characterized in that: The cooling water pipe intelligent laying method comprises: Obtain the current plane position information and elevation information of the laying robot; Determine the target warehouse surface where the laying robot is currently located based on the plane position information and the elevation information; According to the water pipe layout diagram of each target warehouse surface, the water pipe layout diagram corresponding to the target warehouse surface where the laying robot is currently located is obtained as the target water pipe layout diagram; the water pipe layout diagram of each target warehouse surface is obtained by using the cooling water pipe optimization layout method according to any one of claims 1 to 5; Based on the target water pipe layout diagram, an initial grid map and a walking grid route for navigation of the laying robot are generated; The walking mechanism of the laying robot is controlled to walk according to the initial grid map and the walking grid route, and the water pipe winding and unwinding mechanism and the water pipe fixing mechanism of the laying robot are controlled to work synchronously.

7. The cooling water pipe intelligent laying method according to claim 6, characterized in that: Controlling the walking mechanism of the laying robot to walk according to the initial grid map and the walking grid route specifically includes: Determine the grid that the laying robot is to reach next according to the initial grid map, the walking grid route and the grid where the laying robot is currently located; The angle and distance between the center coordinates of the current grid and the grid to be reached in the next step are calculated, and the walking mechanism of the laying robot is controlled to move to the grid to be reached in the next step according to the angle and the distance.

8. The cooling water pipe intelligent laying method according to claim 6, characterized in that: In the process of controlling the walking mechanism of the laying robot to walk according to the initial grid map and the walking grid route, and controlling the water pipe winding and unwinding mechanism and the water pipe fixing mechanism of the laying robot to work synchronously, the cooling water pipe intelligent laying method further includes: When an obstacle is detected, an alarm is issued and / or the obstacle is automatically avoided; When the laying robot reaches the end position, the water pipe cutting device of the laying robot is controlled to separate the laid water pipe from the unlaid water pipe on the water pipe winding and unwinding mechanism.

9. A laying robot, characterized in that: The laying robot comprises: a walking mechanism, and a water pipe winding and unwinding mechanism, a water pipe fixing mechanism, a water pipe cutting device, a vehicle-mounted controller, a navigation module and an obstacle detection module arranged on the walking mechanism; The navigation module and the obstacle detection module are both connected to the vehicle-mounted controller; the navigation module is used to obtain the plane position information and elevation information of the paving robot; The vehicle-mounted controller is respectively connected to the control end of the walking mechanism, the water pipe winding and unwinding mechanism, the water pipe fixing mechanism and the water pipe cutting device; The on-board controller is used to determine the target warehouse surface where the laying robot is currently located based on the plane position information and the elevation information; according to the water pipe layout diagrams of each target warehouse surface, the water pipe layout diagram corresponding to the target warehouse surface where the laying robot is currently located is obtained as the target water pipe layout diagram, and the water pipe layout diagram of each target warehouse surface is obtained by using the cooling water pipe optimization layout method described in any one of claims 1 to 5; based on the target water pipe layout diagram, an initial grid map and a walking grid route for navigation of the laying robot are generated; according to the initial grid map and the walking grid route, the walking mechanism is controlled to walk, and the water pipe winding and unwinding mechanism and the water pipe fixing mechanism are controlled to work synchronously; The vehicle-mounted controller is also used to control the water pipe cutting device to separate the laid water pipe from the unlaid water pipe on the water pipe winding mechanism when the laying robot reaches the end position; The vehicle-mounted controller is also used to output an alarm signal and / or control the traveling mechanism to automatically avoid the obstacle when an obstacle is detected.

10. The laying robot according to claim 9, characterized in that: The water pipe reeling and unwinding mechanism comprises: a water pipe reel, a driving device, a wire arranging device, a water pipe clamping device, a control system and a guiding arm; The water pipe reel, the driving device, the water pipe clamping device and the control system are all arranged on the upper surface of the walking mechanism; The control system is connected to the vehicle-mounted controller and the control end of the driving device respectively; The driving device is connected to the water hose reel; the cable arranging device is arranged on the water hose reel; The guide arm is arranged on the lower surface of the walking mechanism; During operation, the water pipe is wound on the water pipe reel, and the end of the water pipe to be laid passes through the wire arranging device, the water pipe clamping device and the guide arm to the target warehouse surface; The water pipe fixing mechanism comprises: a slide groove, a movable baffle, a spring and an electric push rod; A U-shaped staple is provided in the slide groove; The movable baffle and the spring are both arranged in the slide slot, one end of the spring is connected to one end of the slide slot, the other end of the slide slot is connected to the movable baffle, and a U-shaped staple is arranged between the movable baffle and the other end of the slide slot; A movable support plate is provided at the other end of the slide groove, and the electric push rod is arranged on the upper part of the movable support plate. The control end of the electric push rod is connected to the vehicle-mounted controller, and the electric push rod is used to push the U-shaped staple on the movable support plate downward by a preset distance so that the U-shaped staple is embedded in the warehouse surface to fix the water pipe laid on the warehouse surface.

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