Pipe jacking machine, pipe jacking machine monitoring control method, system and equipment and storage medium

Abstract

The invention relates to the technical field of steel pipe manufacturing, and discloses a pipe jacking machine, a pipe jacking machine monitoring control method, system and equipment and a storage medium, and the pipe jacking machine monitoring control method comprises the steps that a main stroke image of a main stroke area of the pipe jacking machine, an auxiliary stroke image of an auxiliary stroke area and rack coordinates are obtained; the area range of the main travel image and the area range of the auxiliary travel image are partially overlapped; splicing the main travel image and the auxiliary travel image to form a spliced image; based on the spliced image, obtaining steel pipe head coordinates of the pipe jacking machine; calculating a displacement deviation value of the steel tube head and the rack of the tube push bench based on the steel tube head coordinates and the rack coordinates; and based on the displacement deviation value, whether the pipe jacking machine is punched or not is judged, and if the pipe jacking machine is punched, at least one of the following operations is executed: early warning is given out, a punching warning is given out, or the pipe jacking machine is controlled to be shut down. According to the method provided by the embodiment of the invention, timely warning and shutdown can be performed when the pipe push bench is punched through.

Description

Technical Field

[0001] The present invention relates to the technical field of steel pipe manufacturing, and particularly to a pipe jacking machine, a monitoring and control method, system, device and storage medium for a pipe jacking machine. Background Art

[0002] When rolling seamless steel pipes, a pipe jacking machine is the main equipment responsible for rolling the pierced mandrel into a rough pipe. The push rod of the pipe jacking machine drives the mandrel after necking down to pass through multiple roll dies in sequence through pushing the mandrel, completing the pipe jacking rolling.

[0003] However, since the mandrel and the push rod of the pipe jacking machine are slender rods, the mandrel and the push rod mainly bear the jacking force when rolling seamless steel pipes, and the moving speed of the mandrel and the push rod is relatively fast. The jacking force generated during the pipe jacking process will be extremely large. If the mandrel is bent or the rolling center lines of the mandrel and the push rod are inconsistent, it is very easy to occur the punching-through phenomenon, resulting in equipment damage or potential safety hazards to personnel. Summary of the Invention

[0004] Embodiments of the present invention provide a pipe jacking machine, a monitoring and control method, system, device and storage medium for a pipe jacking machine to solve the above problems.

[0005] In a first aspect, embodiments of the present invention provide a monitoring and control method for a pipe jacking machine, including: obtaining a main travel image of the main travel area of the pipe jacking machine, an auxiliary travel image of the auxiliary travel area, and a rack coordinate, where the area ranges of the main travel image and the auxiliary travel image partially overlap; splicing the main travel image and the auxiliary travel image to form a spliced image; obtaining the steel pipe head coordinate of the pipe jacking machine based on the spliced image; calculating a displacement deviation value between the steel pipe head of the pipe jacking machine and the rack based on the steel pipe head coordinate and the rack coordinate; judging whether the pipe jacking machine has a punching-through based on the displacement deviation value. If the pipe jacking machine has a punching-through, at least one of the following operations is performed: issuing a warning, issuing a punching-through warning, or controlling the pipe jacking machine to stop.

[0006] The monitoring and control method for a pipe jacking machine provided by embodiments of the present invention can splice the main travel image of the main travel area of the pipe jacking machine and the auxiliary travel image of the auxiliary travel area into a spliced image to obtain the steel pipe head coordinate of the pipe jacking machine, and calculate the relative positions of the steel pipe and the rack during the steel pipe rolling process according to the steel pipe head coordinate and the rack coordinate, judge whether the pipe jacking machine has a punching-through, and can also stop the machine in time when the pipe jacking machine has a punching-through to avoid damaging the equipment or causing potential safety hazards to personnel.

[0007] Optionally, a first detection mark is set in the main stroke area, a second detection mark is set at the junction of the main stroke area and the auxiliary stroke area, and a third detection mark is set in the auxiliary stroke area. The pipe jacking machine monitoring and control method further includes: obtaining a first calibration position of the first detection mark and a second calibration position of the second detection mark based on the main stroke image; judging whether the area range of the main stroke image has shifted based on the first calibration position and the second calibration position; and obtaining a second calibration position of the second detection mark and a third calibration position of the third detection mark based on the auxiliary stroke image; judging whether the area range of the auxiliary stroke image has shifted based on the second calibration position and the third calibration position; if the area range of the main stroke image or the auxiliary stroke image has shifted, reset the area range of the main stroke image or the auxiliary stroke image.

[0008] Optionally, the main stroke area includes a plurality of steel pipe shielding areas formed by a plurality of rollers, so that the steel pipes located in the main stroke area are divided into a plurality of sub-segments by the plurality of steel pipe shielding areas. The pipe jacking machine monitoring and control method further includes: obtaining the shielding length of the steel pipe shielding area; when the steel pipe passes through the roller, obtaining the spacing value between each sub-segment and the adjacent sub-segment based on the main stroke image; obtaining the fracture difference between the spacing value between each sub-segment and the adjacent sub-segment and the shielding length based on the spacing value between each sub-segment and the adjacent sub-segment and the shielding length; judging whether the steel pipe has fractured based on the fracture difference. If the steel pipe has fractured, at least one of the following operations is performed: issuing a warning, issuing a fracture warning, or controlling the pipe jacking machine to stop.

[0009] Optionally, the steps of judging whether the steel pipe has fractured based on the fracture difference and, if the steel pipe has fractured, performing at least one of the following operations include: if the fracture difference is greater than or equal to the first fracture threshold and less than the second fracture threshold, the steel pipe is about to fracture and a warning is issued; if the fracture difference is greater than or equal to the second fracture threshold, the steel pipe has fractured, a fracture warning is issued and the pipe jacking machine is controlled to stop.

[0010] Optionally, the pipe jacking machine monitoring and control method further includes: obtaining the steel pipe position information in the pipe jacking machine; judging whether the steel pipe is in a steel biting state or a steel throwing state based on the steel pipe position information. Each time the pipe jacking machine drives the steel pipe into the steel biting state or the steel throwing state, obtaining the drive torque information of the pipe jacking machine; obtaining the average steel biting torque and the average steel throwing torque of the pipe jacking machine each time it rolls the steel pipe based on the drive torque information; when the pipe jacking machine drives the steel pipe into the steel biting state, linearly adjusting the torque of the pipe jacking machine to the average steel biting torque, and when the pipe jacking machine drives the steel pipe into the steel throwing state, linearly adjusting the torque of the pipe jacking machine to the average steel throwing torque, so that the pipe jacking machine drives the steel pipe to smoothly bite into or disengage from the roller.

[0011] Optionally, based on the displacement deviation value, it is determined whether the pipe jacking machine has broken through. If the pipe jacking machine has broken through, the steps of performing at least one of the following operations include: if the displacement deviation value is greater than or equal to the first alarm threshold and less than the second alarm threshold, the pipe jacking machine is in a state of about to break through, and a warning is issued. If the displacement deviation value is greater than or equal to the second alarm threshold, the pipe jacking machine has broken through, a breakthrough warning is issued, and the pipe jacking machine is controlled to stop.

[0012] In a second aspect, an embodiment of the present invention provides a pipe jacking machine monitoring and control system, including: a vision component, which is used to obtain the main stroke image of the main stroke area of the pipe jacking machine, the auxiliary stroke image of the auxiliary stroke area, and the rack coordinates. The area ranges of the main stroke image and the auxiliary stroke image partially overlap; a control component, which is communicatively connected to the vision component and is used to splice the main stroke image and the auxiliary stroke image to form a spliced image; based on the spliced image, obtain the steel pipe head coordinates of the pipe jacking machine; based on the steel pipe head coordinates and the rack coordinates, calculate the displacement deviation value between the steel pipe head of the pipe jacking machine and the rack; based on the displacement deviation value, determine whether the pipe jacking machine has broken through. If the pipe jacking machine has broken through, perform at least one of the following operations: issue a warning, issue a breakthrough warning, or control the pipe jacking machine to stop.

[0013] The pipe jacking machine monitoring and control system provided by the embodiment of the present invention can splice the main stroke image of the main stroke area of the pipe jacking machine and the auxiliary stroke image of the auxiliary stroke area into a spliced image to obtain the steel pipe head coordinates of the pipe jacking machine, and calculate the relative positions of the steel pipe and the rack during the rolling of the steel pipe according to the steel pipe head coordinates and the rack coordinates, determine whether the pipe jacking machine has broken through, and can also stop the machine in time when the pipe jacking machine has broken through to avoid damaging the equipment or causing potential safety hazards to personnel.

[0014] Optionally, the pipe jacking machine monitoring and control system further includes a first detection mark, a second detection mark, and a third detection mark. The first detection mark is set in the main stroke area, the second detection mark is set at the junction of the main stroke area and the auxiliary stroke area, and the third detection mark is set in the auxiliary stroke area; the control component is further used to obtain the first calibration position of the first detection mark and the second calibration position of the second detection mark according to the main stroke image to determine whether the area range of the main stroke image has shifted; obtain the second calibration position of the second detection mark and the third calibration position of the third detection mark according to the auxiliary stroke image, and determine whether the area range of the auxiliary stroke image has shifted; and when the area range of the main stroke image or the auxiliary stroke image has shifted, reset the area range of the main stroke image or the auxiliary stroke image.

[0015] Optionally, the visual component includes a first visual camera and a second visual camera. The first visual camera and the second visual camera are communicatively connected to the control component and are disposed on one side of the mandrel of the pipe jacking machine. The first visual camera faces the main stroke area and generates a main stroke image, and the second visual camera faces the auxiliary stroke area and generates an auxiliary stroke image.

[0016] Optionally, the pipe jacking machine includes a gear and a driving member. The driving end of the driving member is connected to the gear, and the driving member is connected to the control component. The control component is configured to control the start and stop of the driving member and adjust the output power of the driving member to control the start and stop of the pipe jacking machine and adjust the movement speed of the steel pipe.

[0017] Optionally, the pipe jacking machine monitoring and control system further includes an encoder. The encoder is disposed at the driving member, and the encoder, the driving member and the control component are connected. The encoder is configured to record the rack coordinates and send the rack coordinates to the control component.

[0018] In a third aspect, an embodiment of the present invention provides a pipe jacking machine, including: a pipe jacking machine body including a mandrel, a rack, a gear, a driving member, and a plurality of rolling rolls. The gear is meshed with the rack, the rack is connected to the mandrel, and the driving end of the driving member is connected to the gear. The driving member can drive the gear to rotate to drive the rack and the mandrel to reciprocate, so that the mandrel can roll the tube blank; and the pipe jacking machine monitoring and control system according to any one of the foregoing embodiments of the second aspect of the present invention. The plurality of rolling rolls are disposed on both sides of the mandrel and within the main stroke area, and the visual component is disposed on one side of the mandrel and faces the mandrel.

[0019] The pipe jacking machine provided by the embodiment of the present invention can locate the coordinate of the head of the steel pipe during the pipe jacking process according to the spliced image formed by the main stroke image and the auxiliary stroke image, and calculate the relative position of the steel pipe and the rack during the rolling of the steel pipe according to the coordinate of the head of the steel pipe and the rack coordinate, determine whether a breakthrough occurs, and stop the machine in time when a breakthrough occurs to avoid damaging the equipment or causing potential safety hazards to personnel.

[0020] In a fourth aspect, an embodiment of the present invention provides a pipe jacking machine monitoring and control device, including: a processor and a memory. Instructions are stored in the memory; the processor calls the instructions in the memory to cause the processor to execute the pipe jacking machine monitoring and control method according to any one of the foregoing embodiments of the first aspect of the present invention.

[0021] The processor of the pipe jacking machine monitoring and control device provided by the embodiment of the present invention executes the pipe jacking machine monitoring and control method according to any of the foregoing embodiments of the first aspect of the present invention by calling instructions in the memory, and can splice the main travel image in the main travel area and the auxiliary travel image in the auxiliary travel area of the pipe jacking machine into a spliced image to obtain the steel pipe head coordinates of the pipe jacking machine, and calculate the relative positions of the steel pipe and the rack during the steel pipe rolling process according to the steel pipe head coordinates and the rack coordinates, determine whether the pipe jacking machine breaks through, and can also stop the machine in time when the pipe jacking machine breaks through to avoid damaging the equipment or causing potential safety hazards to personnel.

[0022] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which instructions are stored, and when the instructions are executed by a processor, the pipe jacking machine monitoring and control method according to any of the foregoing embodiments of the first aspect of the present invention is implemented.

[0023] The instructions stored in the computer-readable storage medium provided by the embodiment of the present invention can be called and executed by the processor to execute the pipe jacking machine monitoring and control method according to any of the foregoing embodiments of the first aspect of the present invention, splice the main travel image in the main travel area and the auxiliary travel image in the auxiliary travel area of the pipe jacking machine into a spliced image to obtain the steel pipe head coordinates of the pipe jacking machine, and calculate the relative positions of the steel pipe and the rack during the steel pipe rolling process according to the steel pipe head coordinates and the rack coordinates, determine whether the pipe jacking machine breaks through, and can also stop the machine in time when the pipe jacking machine breaks through to avoid damaging the equipment or causing potential safety hazards to personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on the structures shown in these drawings without creative efforts.

[0025] Figure 1 It is a flowchart of the first embodiment of the pipe jacking machine monitoring and control method of the present invention;

[0026] Figure 2 It is a flowchart of step S110 in the first embodiment of the pipe jacking machine monitoring and control method of the present invention;

[0027] Figure 3 It is a flowchart of the second embodiment of the pipe jacking machine monitoring and control method of the present invention;

[0028] Figure 4 It is a flowchart of the third embodiment of the pipe jacking machine monitoring and control method of the present invention;

[0029] Figure 5 Schematic diagram of torque control for the third embodiment of the jacking machine monitoring and control method of the present invention;

[0030] Figure 6 Schematic diagram of the structure of an embodiment of the jacking machine of the present invention;

[0031] Figure 7 Schematic diagram of the structure when about to break through in the prior art;

[0032] Figure 8 Schematic diagram of the structure of the mandrel and the push rod when breaking through in the prior art;

[0033] Figure 9 Schematic diagram of the structure of the steel pipe shielding area in an embodiment of the jacking machine of the present invention;

[0034] Figure 10 Block diagram of the structure of an embodiment of the jacking machine monitoring and control system of the present invention;

[0035] Figure 11 Block diagram of the structure of an embodiment of the jacking machine monitoring and control device of the present invention.

[0036] Explanation of the reference numerals in the drawings:

[0037] 100 - Jacking machine;

[0038] 110 - Jacking machine body; 111 - Mandrel; 112 - Push rod; 113 - Driving member; 114 - Roller; 115 - Rack; 116 - Gear; 117 - Conveyor roller; 111A - Mandrel center line; 112A - Push rod center line;

[0039] 200 - Jacking machine monitoring and control system;

[0040] 210 - Vision component; 211 - First vision camera; 212 - Second vision camera;

[0041] 220 - Control component;

[0042] 230 - Marking component; 231 - First detection mark; 232 - Second detection mark; 233 - Third detection mark;

[0043] 240 - Encoder;

[0044] 301 - Processor; 302 - Memory; 303 - Communication interface; 304 - Bus;

[0045] 400 - Steel pipe;

[0046] A1 - Main stroke area; A2 - First field of view; B1 - Auxiliary stroke area; B2 - Second field of view; C1 - Overlap area;

[0047] D1 - The first sub - segment; D2 - The second sub - segment; D3 - The third sub - segment; D4 - The fourth sub - segment; D5 - The fifth sub - segment;

[0048] E1 - Steel pipe shielding area; X - Rolling direction; Y - Reverse extrusion force. Detailed implementation manners

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] It should be noted that all directional indications such as up, down, left, right, front, back... in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indications will also change accordingly.

[0051] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0052] For easy understanding, the following describes the monitoring and control method of the pipe - jacking machine in the first embodiment of the present invention. As Figure 1 shown, the monitoring and control method of the pipe - jacking machine in the first embodiment of the present invention includes steps S110 to S150.

[0053] In step S110, obtain the main - stroke image of the main - stroke area A1 of the pipe - jacking machine 100, the auxiliary - stroke image of the auxiliary - stroke area B1, and the rack coordinates. Among them, the area ranges of the main - stroke image and the auxiliary - stroke image partially overlap.

[0054] As Figure 2As shown, in some alternative embodiments, a first detection mark 231 is provided in the main stroke area A1, a second detection mark 232 is provided at the junction of the main stroke area A1 and the auxiliary stroke area B1, and a third detection mark 233 is provided in the auxiliary stroke area B1. Step S110 includes steps S111 to S115.

[0055] In step S111, based on the main stroke image, obtain the first calibration position of the first detection mark 231 and the second calibration position of the second detection mark 232.

[0056] In step S112, based on the first calibration position and the second calibration position, determine whether the area range of the main stroke image has shifted.

[0057] In step S113, based on the auxiliary stroke image, obtain the second calibration position of the second detection mark 232 and the third calibration position of the third detection mark 233.

[0058] In step S114, based on the second calibration position and the third calibration position, determine whether the area range of the auxiliary stroke image has shifted.

[0059] In step S115, if the area range of the main stroke image or the auxiliary stroke image has shifted, reset the area range of the main stroke image or the auxiliary stroke image.

[0060] As Figure 6 shown, in this embodiment, the main stroke area is the A1 area of the mandrel 111 of the pipe jacking machine 100, that is, the area close to the push rod 112, and the auxiliary stroke area is the B1 area of the mandrel 111 of the pipe jacking machine 100, that is, the area far from the push rod 112.

[0061] As Figure 7 and Figure 8 shown, during the pipe jacking process of the pipe jacking machine 100, when the pipe jacking machine 100 is working normally, the push rod 112 pushes the mandrel 111 to move in the rolling direction X. The mandrel center line 111A of the mandrel 111 and the push rod center line 112A of the push rod 112 need to be on the same horizontal plane. In this way, the reaction force received by the mandrel 111 during the pipe jacking process and the driving force applied by the push rod 112 to the mandrel 111 can cancel each other out, and the mandrel 111 and the push rod 112 will not generate offset forces, realizing the normal operation of the pipe jacking machine 100.

[0062] If the mandrel center line 111A and the push rod center line 112A are offset (refer to Figure 8) At this time, when the push rod 112 moves the mandrel 111 in the rolling direction X, offset forces in other directions will be generated, so that the reverse extrusion force Y received by the mandrel 111 during the pipe jacking process cannot be offset, resulting in the bending and displacement of the mandrel 111 and the push rod 112, causing a punching-through phenomenon, damaging the equipment, and posing a safety hazard.

[0063] Before monitoring the pipe jacking machine 100 in the embodiment of the present application, it is first determined whether the regional ranges of the main stroke image and the auxiliary stroke image are offset by detecting whether the corresponding detection marks are included in the regional ranges of the main stroke image and the auxiliary stroke image, so as to ensure the accuracy of the images obtained when monitoring the pipe jacking machine 100.

[0064] The main stroke image and the auxiliary stroke image are acquired synchronously and in real time. The overlapping area C1 of the main stroke image and the auxiliary stroke image is the setting position of the second detection mark 232, that is, when the main stroke image and the auxiliary stroke image are not offset, the main stroke image should include the first detection mark 231 and the second detection mark 232, and the auxiliary stroke image should include the second detection mark 232 and the third detection mark 233. If one of the marks is missing in the main stroke image or the auxiliary stroke image, it proves that the main stroke image or the auxiliary stroke image is offset. At this time, the main stroke image or the auxiliary stroke image needs to be reset to ensure the accuracy of the main stroke image or the auxiliary stroke image.

[0065] In step S120, the main stroke image and the auxiliary stroke image are spliced to form a spliced image.

[0066] In this embodiment, according to the overlapping area C1 of the main stroke image and the auxiliary stroke image, specifically according to the positions of the second detection marks 232 in the main stroke image and the auxiliary stroke image, the main stroke image and the auxiliary stroke image are spliced to form a spliced image.

[0067] In step S130, based on the spliced image, the coordinates of the head of the steel pipe of the pipe jacking machine 100 are obtained.

[0068] In this embodiment, the leftmost side in the spliced image (i.e., the farthest end of the steel pipe 400 away from the push rod 112) is the coordinate of the head of the steel pipe. After determining the coordinates of the head of the steel pipe and the coordinates of the rack, the magnitude of the relative displacement deviation value between the two is calculated, and thus it can be determined whether the mandrel 111 located inside the steel pipe 400 is bent, and further determine whether the pipe jacking machine 100 has a punching-through. The calculation method of the displacement deviation value between the coordinate of the head of the steel pipe and the coordinate of the rack is as follows.

[0069] In step S140, based on the coordinates of the head of the steel pipe and the coordinates of the rack, the displacement deviation value between the head of the steel pipe of the pipe jacking machine 100 and the rack 115 is calculated.

[0070] In this embodiment, the displacement deviation value between the coordinates of the steel pipe head and the rack coordinates is obtained through the following formula:

[0071] L e = L g - L0 - L h ;

[0072] Among them, L g is the rack coordinate, L0 is a constant (which can be set according to the actual coordinates of the steel pipe head and the rack coordinates), L h is the coordinate of the steel pipe head, and L e is the displacement deviation value.

[0073] Since the mandrel 111 and the rack 115 move synchronously, the mandrel coordinates can be obtained through the rack coordinates in this embodiment, and then the displacement deviation value between the steel pipe 400 and the mandrel 111 can be obtained.

[0074] In step S150, based on the displacement deviation value, it is determined whether the pipe jacking machine 100 has broken through. If the pipe jacking machine 100 has broken through, at least one of the following operations is performed: issuing a warning, issuing a breakthrough warning, or controlling the pipe jacking machine 100 to stop.

[0075] In this embodiment, when the mandrel 111 and the push rod 112 are operating normally, the distance between the coordinates of the steel pipe head and the rack coordinates remains unchanged. If the mandrel 111 and the push rod 112 are bent or broken through, the distance between the coordinates of the steel pipe head and the rack coordinates will change. At this time, it can be determined whether the pipe jacking machine 100 has broken through according to the change of the displacement deviation value.

[0076] If the displacement deviation value is greater than or equal to the first alarm threshold and less than the second alarm threshold, the pipe jacking machine 100 is in a state of about to break through, and a warning is issued. If the displacement deviation value is greater than or equal to the second alarm threshold, the pipe jacking machine 100 has broken through, a breakthrough warning is issued, and the pipe jacking machine 100 is controlled to stop.

[0077] In this embodiment, the first alarm threshold is 1 mm, and the second alarm threshold is 1.5 mm. That is, when 1 mm ≤ L e < 1.5 mm, the pipe jacking machine 100 is in a state of about to break through, and a warning is issued at this time to remind the operator to pay attention to checking the working state of the pipe jacking machine 100. When L e ≥ 1.5 mm, the pipe jacking machine 100 has broken through, a breakthrough warning is issued, and the pipe jacking machine 100 is controlled to stop. The first alarm threshold and the second alarm threshold in this embodiment can be freely set. The embodiments of the present application are only examples and are not specifically limited.

[0078] Such as Figure 3 and Figure 9As shown, in the second embodiment of the present invention, the pipe jacking machine monitoring and control method further includes steps S210 to S240. The main stroke area A1 includes a plurality of steel pipe shielding areas E1 formed by a plurality of rollers 114, such that the steel pipe 400 located within the main stroke area A1 is divided into a plurality of sub-segments by the plurality of steel pipe shielding areas E1.

[0079] In step S210, obtain the shielding length of the steel pipe shielding area E1.

[0080] In step S220, when the steel pipe 400 passes through the roller 114, based on the main stroke image, obtain the spacing value between each sub-segment and the adjacent sub-segment.

[0081] In step S230, based on the spacing value between each sub-segment and the adjacent sub-segment, and the shielding length, obtain the fracture difference value between the spacing value between each sub-segment and the adjacent sub-segment and the shielding length.

[0082] In step S240, based on the fracture difference value, determine whether the steel pipe 400 has fractured. If the steel pipe 400 has fractured, then perform at least one of the following operations:

[0083] Issue a warning, issue a fracture warning, or control the pipe jacking machine 100 to stop.

[0084] In this embodiment, the area shielded by the roller 114 is the roller 114 frame for installing the roller 114. When, during the pipe jacking process, the steel pipe 400 passes through this roller 114 frame, the portion of the steel pipe 400 shielded by the roller 114 is the steel pipe shielding area E1.

[0085] The steel pipe 400 in this embodiment has four steel pipe shielding areas E1. Therefore, the steel pipe 400 includes a first sub-segment D1, a second sub-segment D2, a third sub-segment D3, a fourth sub-segment D4, and a fifth sub-segment D5.

[0086] The fracture difference value between the spacing value between each sub-segment and the adjacent sub-segment and the shielding length is obtained through the following combination formula:

[0087] d i =d it -d i+1h ;

[0088] d e =|d i -d0|;

[0089] Wherein, d0 is the width of the steel pipe shielding area E1, d it is the head coordinate of each sub-segment, d i+1h is the tail coordinate of the sub-segment adjacent to the head of each sub-segment, d i is the spacing value between each sub-segment and the adjacent sub-segment, de is the fracture difference value.

[0090] Further, in step S240, if the fracture difference value is greater than or equal to the first fracture threshold and less than the second fracture threshold, the steel pipe 400 is about to break, and a warning is issued. If the fracture difference value is greater than or equal to the second fracture threshold, the steel pipe 400 breaks, a fracture warning is issued, and the pipe jacking machine 100 is controlled to stop.

[0091] In this embodiment, if the fracture difference value is greater than or equal to the first fracture threshold and less than the second fracture threshold, the steel pipe 400 is in a state of about to break, and a warning is issued. If the fracture difference value is greater than or equal to the second fracture threshold, the steel pipe 400 breaks, a fracture warning is issued, and the pipe jacking machine 100 is controlled to stop.

[0092] In this embodiment, the first fracture threshold is 1 mm, the second fracture threshold is 1.5 mm, and the width d0 of the steel pipe occlusion area E1 is 0.35 mm. That is, when 1 mm ≤ d e <1.5 mm, the steel pipe 400 is in a state of about to break. At this time, a warning is issued to remind the operator to check the state of the steel pipe 400. When d e ≥1.5 mm, the steel pipe 400 breaks, a fracture warning is issued, and the pipe jacking machine 100 is controlled to stop. The first fracture threshold and the second fracture threshold in this embodiment can be freely set. The embodiments of the present application are only examples and are not specifically limited.

[0093] As Figure 4 shown, in the third embodiment of the present invention, the pipe jacking machine monitoring and control method further includes steps S310 to S340.

[0094] In step S310, the steel pipe position information in the pipe jacking machine 100 is obtained.

[0095] In step S320, based on the steel pipe position information, it is determined whether the steel pipe 400 is in a steel biting state or a steel throwing state, and when the pipe jacking machine 100 drives the steel pipe 400 into the steel biting state or the steel throwing state each time, the drive torque information of the pipe jacking machine 100 is obtained.

[0096] In step S330, based on the drive torque information, the average steel biting torque and the average steel throwing torque of the pipe jacking machine 100 each time it rolls the steel pipe 400 are obtained.

[0097] In step S340, when the pipe jacking machine 100 drives the steel pipe 400 into the steel biting state, the torque of the pipe jacking machine 100 is linearly adjusted to the average steel biting torque. When the pipe jacking machine 100 drives the steel pipe 400 into the steel throwing state, the torque of the pipe jacking machine 100 is linearly adjusted to the average steel throwing torque, so that the pipe jacking machine 100 drives the steel pipe 400 to smoothly bite into or disengage from the roll 114.

[0098] When the mandrel 111 drives the steel pipe 400 through the rolling mill 114, the load on the mandrel 111 will change suddenly at the moment of biting or discharging the steel. At this time, the moving speed of the mandrel 111 will fluctuate, resulting in the mandrel 111 and the steel pipe 400 moving at different speeds during the biting or discharging state, which affects the accuracy of judging the head coordinates of the steel pipe according to the main stroke image and the auxiliary stroke image.

[0099] As Figure 5 shown, in this embodiment, taking the steel pipe 400 passing through one of the rolling mills 114 as an example, when recording 6 steel pipes 400, the driving torques when the heads of the 6 steel pipes bite into the roll die are T1 e ~T6 e , and the driving torque when the steel pipe 400 discharges the steel is T1 x ~T6 x .

[0100] Furthermore, the average biting torque TA e for calculating the 6 rolling processes is:

[0101]

[0102] The average discharging torque TX e for the 6 rolling processes is:

[0103]

[0104] After obtaining the average biting torque and the average discharging torque, a pre-control method is adopted. When the pipe jacking machine 100 drives the steel pipe 400 in the biting state, the torque of the pipe jacking machine 100 is linearly adjusted to the average biting torque. When the pipe jacking machine 100 drives the steel pipe 400 in the discharging state, the torque of the pipe jacking machine 100 is linearly adjusted to the average discharging torque, so that the pipe jacking machine 100 drives the steel pipe 400 to smoothly bite into or disengage from the rolling mill 114, enabling the steel pipe 400 to smoothly complete the rolling process, making the obtained main stroke image and auxiliary stroke image clear, and further ensuring the accuracy of the head coordinates of the steel pipe.

[0105] The jacking machine monitoring and control method provided by the embodiment of the present invention includes: obtaining the main stroke image of the main stroke area A1 of the jacking machine 100, the auxiliary stroke image of the auxiliary stroke area B1, and the rack coordinates, where the area range of the main stroke image and the area range of the auxiliary stroke image partially overlap; splicing the main stroke image and the auxiliary stroke image to form a spliced image; obtaining the steel pipe head coordinates of the jacking machine 100 based on the spliced image; calculating the displacement deviation value between the steel pipe head of the jacking machine 100 and the rack 115 based on the steel pipe head coordinates and the rack coordinates; and judging whether the jacking machine 100 has broken through based on the displacement deviation value. If the jacking machine 100 has broken through, at least one of the following operations is performed: issuing a warning, issuing a breakthrough warning, or controlling the jacking machine 100 to stop.

[0106] The jacking machine monitoring and control method provided by the embodiment of the present invention can splice the main stroke image of the main stroke area A1 of the jacking machine 100 and the auxiliary stroke image of the auxiliary stroke area B1 into a spliced image to obtain the steel pipe head coordinates of the jacking machine 100, calculate the relative positions of the steel pipe 400 and the rack 115 during the rolling of the steel pipe 400 according to the steel pipe head coordinates and the rack coordinates, judge whether the jacking machine 100 has broken through, and can also stop the machine in time when the jacking machine 100 has broken through to avoid damaging the equipment or causing potential safety hazards to personnel.

[0107] The embodiment of the present invention also provides a Figure 10 jacking machine monitoring and control system 200 as shown. The jacking machine monitoring and control system 200 includes a vision component 210 and a control component 220.

[0108] The vision component 210 is used to obtain the main stroke image of the main stroke area A1 of the jacking machine 100, the auxiliary stroke image of the auxiliary stroke area B1, and the rack coordinates, where the area range of the main stroke image and the area range of the auxiliary stroke image partially overlap.

[0109] The control component 220 is communicatively connected to the vision component 210. The control component 220 is used to splice the main stroke image and the auxiliary stroke image to form a spliced image, obtain the steel pipe head coordinates of the jacking machine 100 based on the spliced image, and calculate the displacement deviation value between the steel pipe head of the jacking machine 100 and the rack 115 based on the steel pipe head coordinates and the rack coordinates.

[0110] The control component 220 is further used to judge whether the jacking machine 100 has broken through based on the displacement deviation value. If the jacking machine 100 has broken through, at least one of the following operations is performed: issuing a warning, issuing a breakthrough warning, or controlling the jacking machine 100 to stop.

[0111] As Figure 6 and Figure 10As shown, in this embodiment, the control component 220 obtains the main travel image of the main travel area A1 and the auxiliary travel image of the auxiliary travel area B1 through the vision component 210, splices the main travel image and the auxiliary travel image to form a spliced image, and then obtains the steel pipe head coordinates of the pipe jacking machine 100 based on the spliced image. Finally, based on the rack coordinates, the displacement deviation value between the steel pipe head of the pipe jacking machine 100 and the rack 115 is calculated to determine whether the pipe jacking machine 100 has broken through.

[0112] The pipe jacking machine monitoring and control system 200 provided by the embodiment of the present invention can splice the main travel image of the main travel area A1 and the auxiliary travel image of the auxiliary travel area B1 of the pipe jacking machine 100 into a spliced image to obtain the steel pipe head coordinates of the pipe jacking machine 100, and calculate the relative position between the steel pipe 400 and the rack 115 during the rolling of the steel pipe 400 based on the steel pipe head coordinates and the rack coordinates to determine whether the pipe jacking machine 100 has broken through. It can also stop the machine in time when the pipe jacking machine 100 breaks through to avoid damaging the equipment or causing potential safety hazards to personnel.

[0113] In some optional embodiments, the pipe jacking machine monitoring and control system 200 further includes a marking component 230. The marking component 230 includes a first detection mark 231, a second detection mark 232, and a third detection mark 233. The first detection mark 231 is set in the main travel area A1, the second detection mark 232 is set at the junction of the main travel area A1 and the auxiliary travel area B1, and the third detection mark 233 is set in the auxiliary travel area B1.

[0114] The control component 220 is further configured to obtain the first calibration position of the first detection mark 231 and the second calibration position of the second detection mark 232 based on the main travel image to determine whether the area range of the main travel image has shifted; obtain the second calibration position of the second detection mark 232 and the third calibration position of the third detection mark 233 based on the auxiliary travel image to determine whether the area range of the auxiliary travel image has shifted, and when the area range of the main travel image or the auxiliary travel image has shifted, reset the area range of the main travel image or the auxiliary travel image.

[0115] In this embodiment, before monitoring the pipe jacking machine 100, the control component 220 first determines whether the area ranges of the main travel image and the auxiliary travel image have shifted by detecting whether the corresponding detection marks are included in the area ranges of the main travel image and the auxiliary travel image to ensure the accuracy of the images obtained during the monitoring of the pipe jacking machine 100.

[0116] The main stroke image and the auxiliary stroke image are acquired synchronously in real time. The overlapping area C1 of the main stroke image and the auxiliary stroke image is the setting position of the second detection mark 232. That is, when the main stroke image and the auxiliary stroke image do not shift, the main stroke image should include the first detection mark 231 and the second detection mark 232, and the auxiliary stroke image should include the second detection mark 232 and the third detection mark 233. If one of the marks is missing in either the main stroke image or the auxiliary stroke image, it proves that the main stroke image or the auxiliary stroke image has shifted. At this time, the main stroke image or the auxiliary stroke image needs to be reset to ensure the accuracy of the main stroke image or the auxiliary stroke image.

[0117] As Figure 6 shown, in some alternative embodiments, the vision component 210 includes a first vision camera 211 and a second vision camera 212. The first vision camera 211 and the second vision camera 212 are communicatively connected to the control component 220 and are disposed on one side of the mandrel 111 of the pipe jacking machine 100. The first vision camera 211 faces the main stroke area A1 and generates a main stroke image, and the second vision camera 212 faces the auxiliary stroke area B1 and generates an auxiliary stroke image.

[0118] In this embodiment, the first vision camera 211 is used to acquire the main stroke image of the main stroke area A1, and the second vision camera 212 is used to acquire the auxiliary stroke image of the auxiliary stroke area B1. A second detection mark 232 is provided in the overlapping area C1 of the first field of view A2 of the first vision camera 211 and the second field of view B2 of the second vision camera 212 to determine whether the first vision camera 211 and the second vision camera 212 have shifted, ensuring the accuracy of the acquired main stroke image and auxiliary stroke image.

[0119] As Figure 6 shown, in some alternative embodiments, the pipe jacking machine 100 includes a gear 116 and a driving member 113. The driving end of the driving member 113 is connected to the gear 116, and the driving member 113 is connected to the control component 220. The control component 220 is used to control the start and stop of the driving member 113 and adjust the output power of the driving member 113 to control the start and stop of the pipe jacking machine 100 and adjust the moving speed of the steel pipe 400. Among them, the driving member 113 is a rack rotating motor.

[0120] In this embodiment, the control component 220 controls the driving force applied by the push rod 112 to the mandrel 111 by adjusting the torque of the driving member 113, and further controls the moving speed of the mandrel 111, so as to achieve linear smooth control of the moving speed of the steel pipe 400.

[0121] In some alternative embodiments, the pipe jacking machine monitoring and control system 200 further includes an encoder 240. The encoder 240 is disposed at the driving member 113. The encoder 240, the driving member 113, and the control component 220 are connected. The encoder 240 is configured to record the rack coordinates and send the rack coordinates to the control component 220.

[0122] In this embodiment, the control component 220 can obtain and record the moving distance of the gear 116 on the rack 115 through the encoder 240 to obtain the rack coordinates. Due to the fact that when the push rod 112 is on the mandrel 111, it is synchronized with the moving distance of the gear 116 on the rack 115. Therefore, the moving distance of the mandrel 111 can be indirectly determined through the moving distance of the rack 115 recorded by the encoder 240, and then the mandrel head coordinates can be determined. After obtaining the mandrel head coordinates and the steel pipe head coordinates, the relative positions of the steel pipe 400 and the mandrel 111 during the rolling of the steel pipe 400 are calculated to accurately determine whether the pipe jacking machine 100 has broken through.

[0123] For the above-mentioned pipe jacking machine monitoring and control system 200, the embodiment of the present invention also provides Figure 6 a pipe jacking machine 100 as shown in

[0124] The pipe jacking machine body 110 includes a mandrel 111, a rack 115, a gear 116, a driving member 113, and a plurality of rolling rolls 114. The gear 116 is meshed with the rack 115. The rack 115 is connected to the mandrel 111. The driving end of the driving member 113 is connected to the gear 116. The driving member 113 can drive the gear 116 to rotate to drive the rack 115 and the mandrel 111 to reciprocate, so that the mandrel 111 can roll the tube blank. The plurality of rolling rolls 114 are disposed on both sides of the mandrel 111 and are located in the main stroke area A1. The vision component 210 is disposed on one side of the mandrel 111 and faces the direction where the mandrel 111 is located.

[0125] In this embodiment, after passing through the plurality of rolling rolls 114, the steel pipe 400 moves to the auxiliary stroke area B1 formed by the plurality of transport rolls 117.

[0126] When the pipe jacking machine body 110 is rolling the steel pipe 400, the pipe jacking machine monitoring and control system 200 locates the steel pipe head coordinates and the rack coordinates during the pipe jacking process by acquiring the main stroke images at the plurality of rolling rolls 114 and the auxiliary stroke images of the steel pipe 400 at the plurality of transport rolls 117, and then determines the breakthrough risk of the pipe jacking machine 100 and whether the pipe jacking machine 100 has broken through according to the displacement deviation value between the two.

[0127] The pipe jacking machine 100 provided by the embodiment of the present invention can locate the coordinate of the steel pipe head during the pipe jacking process according to the spliced image formed by the main stroke image and the auxiliary stroke image, and calculate the relative position of the steel pipe 400 and the rack 115 during the rolling of the steel pipe 400 according to the coordinate of the steel pipe head and the coordinate of the rack, determine whether a breakthrough occurs, and stop the machine in time when a breakthrough occurs to avoid damaging the equipment or causing potential safety hazards to personnel.

[0128] For the above method embodiment, the embodiment of the present invention also provides a pipe jacking machine monitoring and control device as shown in Figure 11 Figure, which includes a processor 301 and a memory 302, and instructions are stored in the memory 302; the processor 301 calls the instructions in the memory 302 to enable the processor 301 to execute the pipe jacking machine monitoring and control method of any one of the foregoing embodiments of the present invention.

[0129] The pipe jacking machine monitoring and control method provided by the embodiment of the present invention includes: obtaining the main stroke image of the main stroke area A1 of the pipe jacking machine 100, the auxiliary stroke image of the auxiliary stroke area B1, and the rack coordinate, and the area ranges of the main stroke image and the auxiliary stroke image partially overlap; splicing the main stroke image and the auxiliary stroke image to form a spliced image; obtaining the coordinate of the steel pipe head of the pipe jacking machine 100 based on the spliced image; calculating the displacement deviation value between the steel pipe head and the rack of the pipe jacking machine 100 based on the coordinate of the steel pipe head and the coordinate of the rack; judging whether the pipe jacking machine 100 has a breakthrough based on the displacement deviation value, and if the pipe jacking machine 100 has a breakthrough, at least one of the following operations is performed: issuing a warning, issuing a breakthrough warning, or controlling the pipe jacking machine 100 to stop.

[0130] By implementing the above method, the pipe jacking machine monitoring and control device provided by the embodiment of the present invention can splice the main stroke image of the main stroke area of the pipe jacking machine 100 and the auxiliary stroke image of the auxiliary stroke area into a spliced image to obtain the coordinate of the steel pipe head of the pipe jacking machine 100, and calculate the relative position of the steel pipe 400 and the rack 115 during the rolling of the steel pipe according to the coordinate of the steel pipe head and the coordinate of the rack, determine whether the pipe jacking machine 100 has a breakthrough, and can also stop the machine in time when the pipe jacking machine 100 has a breakthrough to avoid damaging the equipment or causing potential safety hazards to personnel.

[0131] Further, the pipe jacking machine monitoring and control device provided by the embodiment of the present invention may further include a communication interface 303 and a bus 304, and the processor 301, the memory 302, and the communication interface 303 are electrically connected through the bus 304.

[0132] Among them, the memory 302 may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk memory. The communication connection between this system network element and at least one other network element is realized through at least one communication interface 303 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 304 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 11 only a bidirectional arrow is used in Figure 11 , but it does not mean that there is only one bus or one type of bus.

[0133] The processor 301 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor 301 or the instructions in the form of software. The above-mentioned processor 301 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. This storage medium is located in the memory 302, and the processor 301 reads the information in the memory 302 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0134] For the above method embodiments, the embodiments of the present invention further provide a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a computer, the computer is caused to execute the steps of the above-mentioned pipe jacking machine monitoring and control method.

[0135] The computer-readable storage medium provided by the embodiments of the present invention stores data and computer-executable instructions of the above-mentioned pipe jacking machine monitoring and control method. The above-mentioned pipe jacking machine monitoring and control method includes: acquiring a main travel image of the main travel area A1 of the pipe jacking machine 100, an auxiliary travel image of the auxiliary travel area B1, and the rack coordinates. The area range of the main travel image and the area range of the auxiliary travel image partially overlap; splicing the main travel image and the auxiliary travel image to form a spliced image; based on the spliced image, acquiring the steel pipe head coordinates of the pipe jacking machine 100; based on the steel pipe head coordinates and the rack coordinates, calculating the displacement deviation value between the steel pipe head of the pipe jacking machine 100 and the rack 115; based on the displacement deviation value, determining whether the pipe jacking machine 100 has broken through. If the pipe jacking machine 100 has broken through, at least one of the following operations is performed: issuing a warning, issuing a breakthrough warning, or controlling the pipe jacking machine 100 to stop.

[0136] By implementing the above method, the computer-readable storage medium provided by the embodiments of the present invention can splice the main travel image of the main travel area A1 and the auxiliary travel image of the auxiliary travel area B1 of the pipe jacking machine 100 into a spliced image to obtain the steel pipe head coordinates of the pipe jacking machine 100, and calculate the relative positions of the steel pipe 400 and the rack 115 during the steel pipe rolling process according to the steel pipe head coordinates and the rack coordinates, determine whether the pipe jacking machine 100 has broken through, and can also stop the machine in time when the pipe jacking machine 100 has broken through to avoid damaging the equipment or causing potential safety hazards to personnel.

[0137] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0138] When 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 such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0139] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A pipe jacking machine monitoring and control method, characterized in that: include: Acquire a main stroke image of a main stroke area of ​​the pipe jacking machine, an auxiliary stroke image of an auxiliary stroke area, and rack coordinates, wherein the area range of the main stroke image and the area range of the auxiliary stroke image partially overlap; splicing the main stroke image and the auxiliary stroke image to form a spliced ​​image; Based on the spliced ​​image, obtaining the coordinates of the steel pipe head of the pipe jacking machine; Based on the steel pipe head coordinates and the rack coordinates, calculating the displacement deviation value between the steel pipe head and the rack of the pipe jacking machine; Based on the displacement deviation value, it is determined whether the pipe jacking machine has punched through. If the pipe jacking machine has punched through, at least one of the following operations is performed: Issue an early warning, issue a breakthrough warning, or control the pipe jacking machine to stop.

2. The pipe jacking machine monitoring and control method according to claim 1, characterized in that: The main stroke area is provided with a first detection mark, the junction of the main stroke area and the auxiliary stroke area is provided with a second detection mark, the auxiliary stroke area is provided with a third detection mark, and the pipe jacking machine monitoring and control method further includes: Based on the main stroke image, acquiring a first calibrated position of the first detection mark and a second calibrated position of the second detection mark; Based on the first calibration position and the second calibration position, determining whether the area range of the main stroke image is offset; and Based on the auxiliary stroke image, acquiring the second calibrated position of the second detection mark and the third calibrated position of the third detection mark; Based on the second calibration position and the third calibration position, determining whether the area range of the auxiliary trip image is offset; If the area range of the main-stroke image or the auxiliary-stroke image is shifted, the area range of the main-stroke image or the auxiliary-stroke image is reset.

3. The pipe jacking machine monitoring and control method according to claim 1, characterized in that: The main stroke area includes a plurality of steel pipe shielding areas formed by a plurality of rollers, so that the steel pipe located in the main stroke area is divided into a plurality of sub-segments by the plurality of steel pipe shielding areas, and the pipe jacking machine monitoring and control method further includes: Obtain the shielding length of the steel pipe shielding area; When the steel pipe passes through the roller, based on the main stroke image, the spacing value between each sub-segment and the adjacent sub-segment is obtained; Based on the spacing value between each of the sub-segments and the adjacent sub-segments, and the occlusion length, obtaining a break difference between the spacing value between each of the sub-segments and the adjacent sub-segments and the occlusion length; Whether the steel pipe is broken is determined based on the fracture difference. If the steel pipe is broken, at least one of the following operations is performed: Issue an early warning, a fracture warning, or control the pipe jacking machine to stop.

4. The pipe jacking machine monitoring and control method according to claim 3, characterized in that: The step of judging whether the steel pipe is broken based on the fracture difference, and if the steel pipe is broken, performing at least one of the following operations comprises: If the fracture difference is greater than or equal to the first fracture threshold, and the fracture difference is less than the second fracture threshold, the steel pipe is about to break and an early warning is issued; if the fracture difference is greater than or equal to the second fracture threshold, the steel pipe breaks, a fracture warning is issued and the pipe jacking machine is controlled to shut down.

5. The pipe jacking machine monitoring and control method according to claim 1, characterized in that: The pipe jacking machine monitoring and control method further comprises: Obtain the position information of the steel pipe in the pipe jacking machine; Based on the steel pipe position information, determine whether the steel pipe is in a steel biting state or a steel throwing state, and obtain the driving torque information of the pipe jacking machine each time the pipe jacking machine drives the steel pipe in the steel biting state or the steel throwing state; Based on the driving torque information, an average steel biting torque and an average steel throwing torque are obtained each time the pipe jacking machine rolls the steel pipe; When the pipe jacking machine drives the steel pipe in a steel-biting state, the torque of the pipe jacking machine is linearly adjusted to the average steel-biting torque. When the pipe jacking machine drives the steel pipe in a steel-throwing state, the torque of the pipe jacking machine is linearly adjusted to the average steel-throwing torque, so that the pipe jacking machine drives the steel pipe to smoothly bite into or out of the rolling roller.

6. The pipe jacking machine monitoring and control method according to claim 1, characterized in that: The step of judging whether the pipe jacking machine has punched through based on the displacement deviation value, and if the pipe jacking machine has punched through, performing at least one of the following operations comprises: If the displacement deviation value is greater than or equal to the first alarm threshold and less than the second alarm threshold, the pipe jacking machine is in a state of being about to break through and an early warning is issued; if the displacement deviation value is greater than or equal to the second alarm threshold, the pipe jacking machine breaks through, a break through warning is issued and the pipe jacking machine is controlled to stop.

7. A pipe jacking machine monitoring and control system, characterized in that: include: A visual component, wherein the visual component is used to obtain a main stroke image of a main stroke area of ​​the pipe jacking machine, an auxiliary stroke image of an auxiliary stroke area, and rack coordinates, wherein the area range of the main stroke image and the area range of the auxiliary stroke image partially overlap; A control component is communicatively connected with the visual component, and is used for splicing the main stroke image with the auxiliary stroke image to form a spliced ​​image; based on the spliced ​​image, obtaining the coordinates of the steel pipe head of the pipe jacking machine; based on the coordinates of the steel pipe head and the rack coordinates, calculating the displacement deviation value between the steel pipe head and the rack of the pipe jacking machine; based on the displacement deviation value, judging whether the pipe jacking machine has punched through, and if the pipe jacking machine has punched through, performing at least one of the following operations: issuing an early warning, issuing a punch-through warning, or controlling the pipe jacking machine to stop.

8. The pipe jacking machine monitoring and control system according to claim 7, characterized in that: The pipe jacking machine monitoring and control system further includes a first detection mark, a second detection mark and a third detection mark, wherein the first detection mark is arranged in the main stroke area, the second detection mark is arranged at the junction of the main stroke area and the auxiliary stroke area, and the third detection mark is arranged in the auxiliary stroke area; The control component is further used to obtain a first calibration position of the first detection mark and a second calibration position of the second detection mark according to the main stroke image, so as to determine whether the area range of the main stroke image is offset; According to the auxiliary stroke image, acquiring the second calibrated position of the second detection mark and the third calibrated position of the third detection mark, and determining whether the area range of the auxiliary stroke image is offset; as well as When the area range of the main stroke image or the auxiliary stroke image is offset, the area range of the main stroke image or the auxiliary stroke image is reset.

9. The pipe jacking machine monitoring and control system according to claim 7, characterized in that: The visual component includes a first visual camera and a second visual camera, which are communicatively connected to the control component and are arranged on one side of the core rod of the pipe jacking machine. The first visual camera faces the main stroke area and generates the main stroke image, and the second visual camera faces the auxiliary stroke area and generates the auxiliary stroke image.

10. The pipe jacking machine monitoring and control system according to claim 7, characterized in that: The pipe jacking machine includes a gear and a driving member, wherein the driving end of the driving member is connected to the gear, and the driving member is connected to the control component. The control component is used to control the start and stop of the driving member and adjust the output power of the driving member to control the start and stop of the pipe jacking machine and adjust the movement speed of the steel pipe.

11. The pipe jacking machine monitoring and control system according to claim 10, characterized in that: The pipe jacking machine monitoring and control system also includes an encoder, which is arranged at the driving member. The encoder and the driving member are connected to the control component, and the encoder is used to record the rack coordinates and send the rack coordinates to the control component.

12. A pipe jacking machine, characterized in that: include: The main body of the pipe jacking machine includes a mandrel, a rack, a gear, a driving member, and a plurality of rollers, wherein the gear is meshed with the rack, the rack is connected to the mandrel, and the driving end of the driving member is connected to the gear, and the driving member can drive the gear to rotate to drive the rack and the mandrel to reciprocate, so that the mandrel can roll the pipe blank; as well as According to the pipe jacking machine monitoring and control system as described in any one of claims 7 to 11, the plurality of rollers are arranged on both sides of the mandrel and are located in the main stroke area, and the visual component is arranged on one side of the mandrel and faces the mandrel.

13. A pipe jacking machine monitoring and control device, characterized in that: The pipe jacking machine monitoring and control device comprises: a processor and a memory, wherein instructions are stored in the memory; The processor calls the instructions in the memory so that the pipe jacking machine monitoring and control device implements the pipe jacking machine monitoring and control method as described in any one of claims 1 to 6.

14. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the pipe jacking machine monitoring and control method as described in any one of claims 1 to 6 is implemented.

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