Reinforced concrete drainage pipeline cutting mechanism capable of adaptively adjusting cutting depth

Abstract

The invention discloses a reinforced concrete drainage pipeline cutting mechanism capable of adaptively adjusting the cutting depth. The reinforced concrete drainage pipeline cutting mechanism comprises cutting head equipment, linear driving equipment and processor equipment, wherein the linear driving equipment and the processor equipment are connected with the cutting head equipment. The cutting head equipment comprises a water cutting tool bit, a high-frequency ultrasonic detector, a flexible water conveying pipe and a sand supply cylinder communicated with the flexible water conveying pipe. Wherein the water cutting tool bit is mounted on the cutting head equipment through the spray distance adjusting mechanism; the flexible water conveying pipe is connected with the water cutting tool bit and used for conveying high-pressure water flow to the water cutting tool bit, and the water cutting tool bit is provided with a water pressure adjusting mechanism used for adjusting the water flow pressure. The sand supply cylinder is communicated with the flexible water conveying pipe through a sand amount adjusting mechanism; the high-frequency ultrasonic detector is arranged at the position corresponding to the water cutting tool bit and used for measuring the cutting depth of the water cutting tool bit cutting the drainage pipeline. And the processor equipment is in communication connection with the high-frequency ultrasonic detector, the spraying distance adjusting mechanism, the water pressure adjusting mechanism, the sand amount adjusting mechanism and the linear driving equipment.

Description

Technical Field

[0001] The present application relates to the technical field of pipe cutting, and in particular to a reinforced concrete drainage pipe cutting mechanism capable of adaptively adjusting cutting depth. Background Art

[0002] When replacing old underground reinforced concrete drainage pipes (hereinafter referred to as "drainage pipes"), the old pipes need to be cut. Waterjet cutting equipment (high-pressure water jet technology) is used for this purpose due to its advantages of no thermal damage, high precision, and environmental friendliness.

[0003] In many drainage pipe cutting operations, to prevent the high-pressure water flow from impacting the soil around the pipe, it is often required not to completely cut through the pipe, but to cut to a certain depth with a predetermined margin. Therefore, it is necessary to be able to accurately control the cutting capacity of the water jet cutting equipment so that it only cuts the pipe to the predetermined depth.

[0004] The existing technology usually sets the linear movement speed of the cutter head, water pressure, sand content of the water flow, and spray distance of the water cutting equipment in advance. The cutting mechanism then cuts the drainage pipe according to the set parameters. However, in reality, different drainage pipes are made of different materials and have different cutting resistance. Even the same drainage pipe has different cutting resistance in different sections due to different corrosion and damage conditions. Therefore, the cutting mechanism of the existing technology often has a large deviation between the cutting depth and the preset depth during the actual cutting process, resulting in the drainage pipe being cut through or failing to reach the cutting depth, affecting subsequent construction. In addition, since the cutting depth of the cutting mechanism cannot be measured in real time during the cutting process, the staff can only measure the cutting depth after completing a cutting process and know that there is a deviation in the cutting depth during the cutting process. Therefore, the staff cannot adjust the cutting depth of the cutting mechanism in a timely manner according to the deviation in the cutting depth, which brings inconvenience.

[0005] There is currently no effective solution to the technical problem that the cutting mechanism in the existing technology cannot adapt to the changes in the cutting strength of the drainage pipe during the cutting process, resulting in depth deviation, and the staff cannot adjust the cutting depth of the cutting mechanism according to the depth deviation in time. Summary of the Invention

[0006] The present application provides a reinforced concrete drainage pipe cutting mechanism that can adaptively adjust the cutting depth to meet the cutting operation requirements of reinforced concrete drainage pipes.

[0007] According to one aspect of the present application, a reinforced concrete drainage pipe cutting mechanism with adaptive cutting depth adjustment is provided, comprising a cutting head device, a linear drive device connected to the cutting head device, and a processor device. The cutting head device is configured to extend into a reinforced concrete drainage pipe and cut the pipe. The linear drive device is connected to the rear end of the cutting head device and is configured to drive the cutting head device forward or backward. The cutting head device comprises a waterjet cutting head, a high-frequency ultrasonic detector, a flexible water pipe, and a sand supply cylinder connected to the flexible water pipe. The waterjet cutting head is mounted to the cutting head device via a spray distance adjustment mechanism. The flexible water pipe is connected to the waterjet cutting head and is configured to deliver high-pressure water to the waterjet cutting head. The waterjet cutting head is provided with a water pressure adjustment mechanism for adjusting the water pressure. The sand supply cylinder is connected to the flexible water pipe via a sand quantity adjustment mechanism. The high-frequency ultrasonic detector is positioned corresponding to the waterjet cutting head and is configured to measure the cutting depth of the drainage pipe. The processor device is communicatively connected to the high-frequency ultrasonic detector, the spray distance adjustment mechanism, the water pressure adjustment mechanism, the sand quantity adjustment mechanism, and the linear drive device.

[0008] In summary, according to the embodiment of the present application, the processor device first adjusts the linear movement speed of the water jet cutting head and the sand content of the high-pressure water flow according to the overall first deviation value between the cutting depth of each water jet cutting head and the reference depth, and uniformly adjusts the water pressure and spray distance of each water jet cutting head, so that the linear movement speed of the water jet cutting head and the sand content of the water flow can be adjusted to appropriate values with faster efficiency. In this way, the water pressure and spray distance of each water jet cutting head can be uniformly adjusted to a more suitable value, and then the water pressure and spray distance of each water jet cutting head can be adjusted to a more accurate value through subsequent fine-tuning, thereby greatly improving the adjustment efficiency of the water jet cutting head.

[0009] Based on the detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Hereinafter, some specific embodiments of the present application will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the drawings:

[0011] Figure 1 is a schematic diagram of a reinforced concrete drainage pipe cutting mechanism according to the present application;

[0012] Figure 2 is a top view of the reinforced concrete drainage pipe cutting mechanism according to the present application;

[0013] Figure 3 is a side view of the reinforced concrete drainage pipe cutting mechanism according to the present application;

[0014] Figure 4 and Figure 5 yes Figure 3 An enlarged portion of the side view shown;

[0015] Figure 6 Further illustrating a schematic diagram of the retractable support mechanism 160 after being deployed;

[0016] Figure 7 is a front view of the reinforced concrete drainage pipe cutting mechanism according to the present application; and

[0017] Figure 8 yes Figure 7 An enlarged view of a portion of the front view shown; Figure 9 is a schematic diagram of a control system of a reinforced concrete drainage pipe cutting mechanism according to the present application;

[0018] Figure 10 is a flow chart of a processor device controlling a cutting mechanism according to the present application;

[0019] Figure 11 is a schematic diagram of a first neural network model according to the present application; and

[0020] Figure 12 is a schematic diagram of the second neural network model described in this application. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] Figure 1 is a schematic diagram of a reinforced concrete drainage pipe cutting mechanism according to the present application, Figure 2 is a top view of the reinforced concrete drainage pipe cutting mechanism according to the present application, Figure 3 is a side view of the reinforced concrete drainage pipe cutting mechanism according to the present application, Figure 4 and Figure 5 yes Figure 3 An enlarged portion of the side view is shown. Figure 6 A schematic diagram of the retractable support mechanism 160 after being unfolded is further shown.

[0026] Figure 7 is a front view of the reinforced concrete drainage pipe cutting mechanism according to the present application; Figure 8 yes Figure 7 A partial enlarged view of the front view is shown. Figure 9 It is a schematic diagram of the control system of the reinforced concrete drainage pipe cutting mechanism described in this application.

[0027] refer to Figures 1 to 5 as well as Figures 7-9 As shown, the present application provides a reinforced concrete drainage pipe cutting mechanism (hereinafter referred to as cutting mechanism) with adaptively adjusting cutting depth, comprising a cutting head device 100, a linear drive device 200 connected to the cutting head device 100, and a processor device 400 (see Figure 9), wherein the cutting head device 100 is used to extend into a reinforced concrete drainage pipe (hereinafter referred to as the "drainage pipe") 300 to cut the drainage pipe 300. The linear drive device 200 is connected to the rear end of the cutting head device 100 and is used to drive the cutting head device 100 forward or backward. The cutting head device 100 includes a water jet cutting head 130, a high-frequency ultrasonic detector 410, a flexible water pipe 112, and a sand supply cylinder 113 connected to the flexible water pipe 112. Among them, the water cutting head 130 is installed on the cutting head equipment 100 through the spray distance adjustment mechanism 420; the flexible water pipe 112 is connected to the water cutting head 130, for delivering high-pressure water flow to the water cutting head 130, and the water cutting head 130 is provided with a water pressure adjustment mechanism 430 for adjusting the water flow pressure; the sand supply tube 113 is connected to the flexible water pipe 112 through the sand amount adjustment mechanism 440; the high-frequency ultrasonic detector 410 is arranged at a position corresponding to the water cutting head 130, for measuring the cutting depth of the water cutting head 130 cutting the drainage pipe 300; and the processor device 400 is communicatively connected with the high-frequency ultrasonic detector 410, the spray distance adjustment mechanism 420, the water pressure adjustment mechanism 430, the sand amount adjustment mechanism 440 and the linear drive device 220.

[0028] Among them reference Figure 7 and Figure 8 As shown, since there are multiple water cutting heads 130 (5 in this embodiment) arranged on the cutting mechanism, there are also multiple corresponding high-frequency ultrasonic detectors 410, spray distance adjustment mechanisms 420 and water pressure adjustment mechanisms 430, and they correspond to the corresponding water cutting heads 130 respectively.

[0029] Therefore, during the process of cutting the drainage pipe 300, as the water cutting head 130 cuts the drainage pipe 300 through high-pressure water flow, the high-frequency ultrasonic detector 410 at the corresponding position of the water cutting head 130 can measure the cutting depth of the water cutting head 130 in real time, and send the real-time measured cutting depth to the processor device 400.

[0030] The processor device 400 can thus control the jet distance adjustment mechanism 420, the water pressure adjustment mechanism 430, the sand quantity adjustment mechanism 440, and the linear drive device 220 based on the actual measured cutting depth, thereby adjusting the linear movement speed, water pressure, jet distance, and sand content of the high-pressure water flow of the water jet cutting head 130 in real time. This method adjusts the cutting depth of the drainage pipe 300 by the water jet cutting head 130. The specific method for adjusting the cutting depth will be described in detail later.

[0031] As described in the background, prior art typically sets the water jet cutting equipment's linear speed, water pressure, sand content, and spray distance in advance. The cutting mechanism then cuts the drainage pipe according to the set parameters. However, in reality, different drainage pipes are made of different materials and have different cutting resistances. Even the same drainage pipe has different cutting resistances in different sections. Therefore, during the actual cutting process, the cutting mechanism of prior art often experiences a significant deviation between the cutting depth and the preset depth, resulting in the drainage pipe being cut through or failing to reach the cutting depth, making it impossible to cut through the rebar and affecting subsequent construction. Furthermore, since the cutting depth of the cutting mechanism cannot be measured in real time during the cutting process, workers can only measure the cutting depth after completing a cutting process and learn of the deviation in cutting depth. Consequently, workers cannot adjust the cutting depth of the cutting mechanism in a timely manner based on the deviation, which is inconvenient.

[0032] In view of this, the cutting mechanism described in this application is equipped with a high-frequency ultrasonic detector, a spray distance adjustment mechanism, and a water pressure adjustment mechanism corresponding to the water jet cutting head. Furthermore, a sand quantity adjustment mechanism for adjusting the sand content of the water flow is provided in the sand supply tube. Furthermore, the cutting mechanism is provided with a processor device that is communicatively connected to the high-frequency ultrasonic detector, the spray distance adjustment mechanism, the water pressure adjustment mechanism, the sand quantity adjustment mechanism, and the linear drive device. Thus, during the process of cutting the drainage pipe, as the water jet cutting head cuts the drainage pipe with high-pressure water flow, the high-frequency ultrasonic detector at the corresponding position of the water jet cutting head can measure the cutting depth of the water jet cutting head in real time and transmit the real-time measured cutting depth to the processor device. The processor device can then control the spray distance adjustment mechanism, the water pressure adjustment mechanism, the sand quantity adjustment mechanism, and the linear drive device based on the actual measured cutting depth, thereby adjusting the linear movement speed of the water jet cutting head, the water pressure, the spray distance, and the sand content of the high-pressure water flow in real time. In this way, the cutting depth of the drainage pipe by the water jet cutting head is adjusted. Therefore, even when cutting drainage pipes of different materials or cutting sections of different materials within the same drainage pipe, the cutting mechanism can adjust the cutting depth of the water jet cutting head based on the real-time cutting depth measurement to ensure that it is consistent with the preset reference depth. This solves the technical problem in the prior art where the cutting mechanism cannot adapt to the changes in the cutting strength of the drainage pipe during the cutting process, resulting in depth deviation, and the operator cannot adjust the cutting depth of the cutting mechanism in a timely manner according to the depth deviation.

[0033] Optionally, Figure 10 A schematic diagram of the process flow of the processor device 400 is shown. Figure 10 As shown, the processor device 400 is configured to:

[0034] S1002: Receive the cutting depth corresponding to each water jet cutting cutter head from the high-frequency ultrasonic detector corresponding to each water jet cutting cutter head;

[0035] S1004: averaging the cutting depths of the respective water jet cutting heads to determine a corresponding average cutting depth; and

[0036] S1006: When the first deviation value between the average cutting depth and the reference depth is greater than a preset threshold value, the linear drive device and the sand amount adjustment mechanism are controlled according to the first deviation value, thereby adjusting the linear movement speed of the water cutting head and the sand content of the high-pressure water flow, and uniformly controlling the spray distance adjustment mechanism and the water pressure adjustment mechanism of each water cutting head, thereby uniformly adjusting the water pressure and spray distance of each water cutting head.

[0037] Specifically, while the cutting mechanism is cutting the drainage pipe 300, the processor device 400 receives the cutting depth corresponding to each water jet cutting head 130 from the high-frequency ultrasonic detector 410 corresponding to each water jet cutting head 130 (S1002). For example, in this embodiment, the processor device 400 obtains the cutting depths a1 to a5 corresponding to each of the five water jet cutting heads 130 from the high-frequency ultrasonic detectors 410 corresponding to each of the five water jet cutting heads 130.

[0038] The processor device 400 then averages the respective cutting depths a1 to a5 to determine an average cutting depth ap ( S1004 ).

[0039] Then, the processor device 400 determines a first deviation value ac between the average cutting depth ap and the reference depth ar. The processor device 400 compares the first deviation value ac with a preset threshold value. When the first deviation value ac is greater than the preset threshold value, the processor device 400 controls the linear drive device 200 and the sand amount adjustment mechanism 440 according to the first deviation value, thereby adjusting the linear movement speed of the water jet cutting head 130 and the sand content of the high-pressure water flow, and uniformly controls the spray distance adjustment mechanism 420 and the water pressure adjustment mechanism 430 of each water jet cutting head 130, thereby uniformly adjusting the water pressure and spray distance of each water jet cutting head 130 (S1006).

[0040] That is to say, in the first stage, the processor device 400 uniformly controls the spray distance adjustment mechanism 420 and the water pressure adjustment mechanism 430 of each water cutting head 130, that is, each water cutting head 130 is adjusted to the same spray distance and the same water pressure.

[0041] Thus, in this way, the processor device 400 first adjusts the linear movement speed of the water jet cutting head and the sand content of the high-pressure water flow according to the overall first deviation value ac between the cutting depth of each water jet cutting head 130 and the reference depth ar, and uniformly adjusts the water pressure and spray distance of each water jet cutting head, thereby being able to adjust the linear movement speed of the water jet cutting head and the sand content of the water flow to appropriate values with faster efficiency. In addition, in this way, the water pressure and spray distance of each water jet cutting head can be uniformly adjusted to a more suitable value, and then the water pressure and spray distance of each water jet cutting head can be adjusted to a more accurate value through subsequent fine-tuning, thereby greatly improving the adjustment efficiency of the water jet cutting head.

[0042] Optionally, the linear moving speed of the water cutting head and the sand content of the high-pressure water flow are adjusted according to the first deviation value, and the water pressure and spray distance of each water cutting head are uniformly adjusted, including: determining the first linear moving speed of the water cutting head and the first water flow sand content of the high-pressure water flow at the current moment; determining the average water pressure of each water cutting head as the first water pressure according to the water pressure of each water cutting head at the current moment; determining the average spray distance of each water cutting head as the first spray distance according to the spray distance of each water cutting head at the current moment; combining the first deviation value, the first linear moving speed, the first water flow sand content, the first water pressure and the first spray distance to obtain first feature information; determining the second linear moving speed, the second water flow sand content, the second water pressure and the second spray distance as the first parameter target value according to the first feature information using a pre-trained first neural network model, wherein the second water pressure and the second spray distance are separate values; and adjusting the linear moving speed of the water cutting head and the sand content of the high-pressure water flow according to the first parameter target value, and uniformly adjusting the water pressure and spray distance of each water cutting head.

[0043] Specifically, after determining the first deviation value ac between the average cutting depth ap and the reference depth ar, the processor device 400 further determines the first linear movement speed of the water cutting head 130 at the current moment, that is, the linear driving speed of the linear driving device 200 at the current moment, and determines the first sand content of the current high-pressure water flow.

[0044] Then, the processing device 400 calculates the average value (i.e., the average water pressure) based on the water pressure of each water cutting head 130 at the current moment as the first water pressure used to characterize the overall water pressure of each water cutting head 130; and calculates the average value (i.e., the average spray distance) based on the spray distance of each water cutting head 130 at the current moment as the first spray distance used to characterize the overall spray distance of each water cutting head 130.

[0045] Then, the processor device 400 combines the first deviation value ac, the first linear movement speed, the first water flow sand content, the first water pressure, and the first spray distance to determine the first characteristic information X:

[0046] X=[x0,x1,x2,x3,x4] T .

[0047] Wherein x0 corresponds to the first deviation value, x1 corresponds to the first linear movement speed, x2 corresponds to the first water flow sand content, x3 corresponds to the first water pressure, and x4 corresponds to the first spray distance.

[0048] Then, refer to Figure 11 As shown, the processor device 400 inputs the first feature information X into a pre-trained first neural network model, thereby outputting a prediction vector Y:

[0049] Y=[y1,y2,y3,y4] T .

[0050] Wherein y1 corresponds to the second linear movement speed as the parameter target value, y2 corresponds to the second water flow sand content as the parameter target value, y3 corresponds to the second water pressure as the parameter target value, and y4 corresponds to the second spray distance as the parameter target value.

[0051] Then, the processor device 400 adjusts the linear drive device 200, the sand amount adjustment mechanism 440, the spray distance adjustment mechanism 420 of each water jet cutting head 130, and the water pressure adjustment mechanism 430 according to the parameter target values y1 to y4. Specifically, the processor device 400 controls the linear drive device 200 using the second linear movement speed y1 as the target value to adjust the linear movement speed of the water jet cutting head 130; controls the sand amount adjustment mechanism 440 using the second water flow sand content y2 as the target value to adjust the sand content of the high-pressure water flow; uniformly adjusts the water pressure adjustment mechanism 430 of each water jet cutting head 130 using the second water pressure y3 as the target value to uniformly adjust the water pressure of each water jet cutting head 130; and uniformly adjusts the spray distance adjustment mechanism 420 of each water jet cutting head 130 using the second spray distance y4 as the target value to uniformly adjust the spray distance of each water jet cutting head 130.

[0052] In this way, the present application uses a pre-trained first neural network model to predict the target value of the adjustment parameter, so that the parameter value of the first neural network model can be optimized through more data samples, so that the linear movement speed of the water cutting head 130 and the sand content of the high-pressure water flow can be accurately adjusted, as well as the water pressure and spray distance of each water cutting head 130 can be accurately adjusted, so that the overall adjustment of the cutting depth of each water cutting head 130 can be achieved more quickly and accurately by adjusting the linear movement speed of the water cutting head 130, the sand content of the high-pressure water flow, the water pressure and spray distance of each water cutting head 130.

[0053] Optionally, the first neural network model is trained by the following operations: constructing a training sample set, wherein each sample in the training sample set includes input information and actual results, wherein the input information includes water cutting depth deviation, cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance and cutter head water pressure, and the verification result includes cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance and cutter head water pressure; inputting the input information of the sample into the neural network to obtain corresponding prediction results, wherein the prediction results include water cutting depth deviation, cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance and cutter head water pressure; and using a pre-designed loss function, the first neural network model is trained according to the prediction results and the actual results.

[0054] Specifically, in order to train the first neural network model, a training sample set can be constructed, where the training sample set is as follows: Figure 1 As shown:

[0055] Figure 1

[0056] Sample serial number Sample input information Real results <![CDATA[S1]]> <![CDATA[Sx1]]> <![CDATA[Sy1]]> <![CDATA[S2]]> <![CDATA[Sx2]]> <![CDATA[Sy2]]> <![CDATA[S3]]> <![CDATA[Sx3]]> <![CDATA[Sy3]]> ... <![CDATA[S m ]]> <![CDATA[Sx m ]]> <![CDATA[Sy m ]]>

[0057] Each input information sample Sx i (i=1~m) includes five input parameters: water cutting depth deviation, cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance and cutter head water pressure.

[0058] Each true result Sy i (i=1~m) includes the target values of four parameters: cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance and cutter head water pressure.

[0059] Each input information sample Sx i Input to Figure 11 The first neural network model shown in the figure is used to obtain the corresponding prediction result Hy i(i=1~m), where each prediction result includes the target values of four prediction parameters: cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance and cutter head water pressure.

[0060] The first neural network model is then trained using gradient descent according to the loss function described below:

[0061]

[0062] In addition, further, after adjusting using the target value output by the first neural network model, the above steps are repeated until a first deviation value between the average cutting depth and the reference depth is less than a preset threshold.

[0063] Optionally, the processor device is also configured to: obtain the second cutting depth of the corresponding water cutting head measured by each high-frequency ultrasonic detector when the first deviation value between the average cutting depth and the reference depth is not greater than a preset threshold value; determine the second deviation value between the second cutting depth measured by each high-frequency ultrasonic detector and the reference depth; and control the spray distance adjustment mechanism and water pressure adjustment mechanism of the corresponding water cutting head according to the second deviation value, thereby fine-tuning the spray distance and water pressure of the corresponding water cutting head.

[0064] Specifically, if the first deviation value ac between the average cutting depth and the reference depth is not greater than a preset threshold, the processor device 400 fine-tunes the spray distance and water pressure of each water jet cutting head 130. In this case, the adjustment amount of each water jet cutting head 130 can be different, so that the cutting depth of each water jet cutting head 130 is further consistent with the reference depth.

[0065] Specifically, a water jet cutting cutter head 130 is used for description below.

[0066] The processor device 400 obtains the second cutting depth at measured by the high-frequency ultrasonic probe 140 of the water jet cutting head 130, and compares the second cutting depth at with the reference depth ar to determine a second deviation value r between the second cutting depth at and the reference depth ar.

[0067] Then, the processor device 400 controls the spray distance adjustment mechanism 420 and the water pressure adjustment mechanism 430 of the corresponding water cutting head 130 according to the second deviation value r, thereby fine-tuning the spray distance and water pressure of the corresponding water cutting head 130.

[0068] In this way, in the second stage, the processor device 400 locks the parameters of the linear drive device 200 and the sand amount adjustment mechanism 430, thereby fine-tuning the spray distance and water pressure of each water jet cutting head 130.

[0069] Therefore, the present application adjusts the cutting depth of each water jet cutting head 130 in a phased manner. In the first phase, the jet distance and water pressure of the water jet cutting head 130 are generally adjusted based on the linear movement speed of the water jet cutting head 130 and the sand content of the high-speed water flow. In the second phase, the linear movement speed of the water jet cutting head 130 and the sand content of the high-speed water flow are locked, thereby fine-tuning the jet distance and water pressure of each water jet cutting head 130. In this way, the cutting depth of each water jet cutting head 130 can be adjusted quickly and accurately.

[0070] Optionally, the operation of controlling the spray distance adjustment mechanism and the water pressure adjustment mechanism of the corresponding water cutting head according to the second deviation value includes: determining the first adjustment value corresponding to the spray distance adjustment mechanism and the second adjustment value corresponding to the water pressure adjustment mechanism using a PID control model according to the second deviation value; and adjusting the spray distance adjustment mechanism and the water pressure adjustment mechanism according to the first adjustment value and the second adjustment value.

[0071] Specifically, at the mth moment in the second phase, the processor device 400 determines the second deviation value r corresponding to the cutting depth of the water jet cutting head 130. m .

[0072] Then, the processor device 400 determines a second deviation value r from the moment m The corresponding proportional, integral and differential terms are:

[0073] Proportional term: Tp = r m ;

[0074] Integral item:

[0075] Differential term: Td = r m -r m-1 .

[0076] Thus, the processor device 400 uses the PID control model to determine the first adjustment value corresponding to the spray distance adjustment mechanism 420 and the second adjustment value corresponding to the water pressure adjustment mechanism 430. Specifically, the formula of the PID control model is as follows:

[0077]

[0078] Among them, u1 and u2 correspond to the first adjustment value and the second adjustment value respectively, α1, α2, β1, β2, γ1 and γ2 are parameters of the PID control model, which will be described in detail later.

[0079] Optionally, the operation of determining the first adjustment value and the second adjustment value based on the second deviation value using the PID control model includes: obtaining a first historical adjustment value for adjusting the spray distance adjustment mechanism and a second historical adjustment value for adjusting the water pressure adjustment mechanism; determining first weight information corresponding to the spray distance adjustment mechanism and the water pressure adjustment mechanism based on the first historical adjustment value and the second historical adjustment value; determining the proportional term, integral term and differential term corresponding to the second deviation value; determining the second weight information corresponding to the proportional term, integral term and differential term respectively using a pre-trained second neural network model based on the proportional term, integral term and differential term; determining the parameters of the PID control model based on the first weight information and the second weight information; and determining the first adjustment value and the second adjustment value based on the second deviation value using the PID control model.

[0080] Specifically, in the process of controlling using the PID control model, the processor device 400 first obtains the historical information u of the adjustment value for adjusting the spray distance adjustment mechanism 420. 1,1 ~u 1,n and historical information u of the adjustment value for adjusting the water pressure adjustment mechanism 430 2,1 ~u 2,n .

[0081] Then the processor device 400 calculates the historical information u 1,1 ~u 1,n The average value u1' and historical information u 2,1 ~u 2,n The ratio between the average values u2' is used to determine the first weight information w1 and w2:

[0082] w1+w2=1, and

[0083] w1 / w2=u1' / u2'.

[0084] The processor device 400 then determines the values Tp, Ti, Td of the proportional term, the integral term, and the differential term as described above.

[0085] Then the processor device 400 inputs the numerical values Tp, Ti, and Td of the proportional term, the integral term, and the differential term into the pre-trained second neural network model to determine the second weight information α, β, and γ corresponding to the proportional term, the integral term, and the differential term, respectively. Figure 12 shown.

[0086] in,

[0087] 0≤α, β, γ≤1, and

[0088] α+β+γ=1.

[0089] Then, the processor device 400 determines parameters α1, α2, β1, β2, γ1, and γ2 of the PID control model according to the following formula.

[0090] α1=w1*α;

[0091] α2=w2*α;

[0092] β1=w1*β;

[0093] β2=w2*β;

[0094] γ1 = w1 * γ; and

[0095] γ2=w2*γ。

[0096] Then, the processor device 400 determines the first adjustment value u1 and the second adjustment value u2 according to the PID controller model described above.

[0097] The parameters α1, α2, β1, β2, γ1, and γ2 of the PID control model thus determined not only reflect the proportional distribution between the proportional term, the integral term, and the differential term, but also reflect the proportional distribution between the first adjustment value and the second adjustment value. The determined PID control model can therefore more accurately determine the first adjustment value u1 corresponding to the spray distance adjustment mechanism and the second adjustment value u2 corresponding to the water pressure adjustment mechanism.

[0098] Further optionally, the cutting head device 100 includes a cutting head body 110 and a cutter head holder 120. The cutter head holder 120 is rotatably fixed to the front end of the cutting head body 110 via a core shaft 140. The water jet cutting head 130 is fixedly mounted on the cutter head holder 120, with the nozzle 131 of the water jet cutting head 130 facing away from the core shaft 140. Furthermore, a first rotation drive device 150 is provided within the cutting head body 110 for driving the cutter head holder 120 to rotate along the core shaft 140. Specifically, the first rotation drive device 150 may be, for example, a motor, which may drive the cutter head holder 150 to rotate via gears or a transmission belt.

[0099] Thus, when cutting the reinforced concrete drainage pipe 300, the cutting head device 100 can be driven by the linear drive device 200 to move along the reinforced concrete drainage pipe 300. At the same time, the nozzle 131 of the water jet cutting cutter head 130 sprays high-pressure water, thereby achieving longitudinal cutting of the reinforced concrete drainage pipe 300. After the cutting head device 100 travels a preset distance, the first rotary drive device 150 drives the cutter head fixing seat 120 to rotate along the core shaft 140, thereby achieving transverse cutting along the circumference of the reinforced concrete drainage pipe 300. In this way, the reinforced concrete drainage pipe cutting mechanism provided by the present application can achieve both longitudinal cutting of the reinforced concrete drainage pipe 300 and transverse cutting along the circumference of the reinforced concrete drainage pipe 300, thereby meeting the complex cutting operation requirements of reinforced concrete drainage pipes.

[0100] Optionally, refer to Figure 4 As shown, the front end of the cutting head body 110 is provided with a bearing 111 for fixing the core shaft 140. Thus, the cutter head fixing seat 120 connected to the core shaft 140 can rotate relative to the cutting head body 110, so that the water jet cutting cutter head 130 cuts the reinforced concrete drainage pipe 300 horizontally.

[0101] Optionally, refer to Figure 4 As shown, a through hole 141 is provided at the center of the core shaft 140, and the flexible water pipe 112 is connected to the water jet cutting head 130 via the through hole 141. In this way, even when the water jet cutting head 130 is rotating, the high-pressure water flow can still be continuously supplied to the water jet cutting head 130 through the flexible water pipe 112, thereby performing a transverse cutting of the reinforced concrete drainage pipe 300.

[0102] Optionally, refer to Figure 5 As shown, the cutting head device 100 further includes a plurality of retractable support mechanisms 160 distributed along the cross section of the cutting head body 110. Thus, after the cutting head device 100 enters the reinforced concrete drainage pipe 300, it can be supported by the retractable support mechanisms 160.

[0103] also, Figure 6 A schematic diagram of the retractable support mechanism 160 after being unfolded is further shown.

[0104] Optionally, refer to Figure 5 and Figure 6 As shown, the retractable support mechanism 160 includes a roller assembly 161 and a retractable assembly 162. The roller assembly 161 includes a plurality of rollers distributed along the longitudinal direction of the cutting head body 110; and the roller assembly 161 is connected to the cutting head body 110 through the retractable assembly 162.

[0105] After the cutting head device 100 enters the reinforced concrete drainage pipe 300, the roller assembly 161 can be extended through the retractable assembly 162 to abut against the inner wall of the reinforced concrete drainage pipe 300, thereby stably fixing the cutting head device 100 at a position close to the axis of the reinforced concrete drainage pipe 300. This maintains the stability of the position of the cutting head device 100.

[0106] Optionally, refer to Figures 1 to 3 As shown, the linear drive device 200 includes: a ball screw 210 rotatably connected to the rear end of the cutting head body 110; and a second rotary drive device 220 for driving the ball screw 210. Specifically, the second rotary drive device 220 can be, for example, a motor, and drives the ball screw 210 through a transmission belt.

[0107] Optionally, refer to Figures 1 to 3 As shown, the linear drive device 200 further includes a guide rod 240 connected to the cutting head body 110. Thus, the guide rod 240 ensures the stability of the longitudinal movement of the cutting head device 100.

[0108] Optionally, the linear drive device 200 further includes: a frame 230 for mounting and fixing the ball screw 210 and the second rotary drive device 220 .

[0109] Alternatively, refer to Figure 1 and Figure 3 As shown, the frame 230 is further provided with a roller guide 250 for guiding the roller assembly 161 of the cutting head device 100, thereby guiding the cutting head device 100 into the reinforced concrete drainage pipe 300. Therefore, when cutting the reinforced concrete drainage pipe 300, the roller guide 250 can be abutted against the end of the reinforced concrete drainage pipe 300, thereby guiding the cutting head device 100 into the reinforced concrete drainage pipe 300.

[0110] In summary, according to this embodiment, the processor device first adjusts the linear movement speed of the water jet cutting head and the sand content of the high-pressure water flow according to the overall first deviation value between the cutting depth of each water jet cutting head and the reference depth, and uniformly adjusts the water pressure and spray distance of each water jet cutting head, thereby being able to adjust the linear movement speed of the water jet cutting head and the sand content of the water flow to appropriate values with faster efficiency. In this way, the water pressure and spray distance of each water jet cutting head can be uniformly adjusted to a more suitable value, and then the water pressure and spray distance of each water jet cutting head can be adjusted to a more accurate value through subsequent fine-tuning, thereby greatly improving the adjustment efficiency of the water jet cutting head.

[0111] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0112] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0113] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0114] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A reinforced concrete drainage pipe cutting mechanism with adaptive cutting depth adjustment, characterized in that: The invention comprises a cutting head device (100), a linear drive device (200) connected to the cutting head device (100), and a processor device (400), wherein the cutting head device (100) is used to extend into a reinforced concrete drainage pipe (300) to cut the drainage pipe (300), and the linear drive device (200) is connected to the rear end of the cutting head device (100) to drive the cutting head device (100) forward or backward, wherein: The cutting head device (100) comprises a water cutting head (130), a high-frequency ultrasonic detector (410), a flexible water pipe (112), and a sand supply cylinder (113) connected to the flexible water pipe (112), wherein The water jet cutting head (130) is mounted on the cutting head device (100) via a spray distance adjustment mechanism (420); The flexible water pipe (112) is connected to the water jet cutting head (130) and is used to deliver high-pressure water flow to the water jet cutting head (130), and the water jet cutting head (130) is provided with a water pressure regulating mechanism (430) for regulating the water flow pressure; The sand supply cylinder (113) is connected to the flexible water pipe (112) via a sand quantity adjustment mechanism (440); The high-frequency ultrasonic detector (410) is arranged at a position corresponding to the water jet cutting head (130) and is used to measure the cutting depth of the drainage pipe (300) cut by the water jet cutting head (130); and The processor device (400) is communicatively connected to the high-frequency ultrasonic detector (410), the spray distance adjustment mechanism (420), the water pressure adjustment mechanism (430), the sand quantity adjustment mechanism (440), and the linear drive device (220).

2. The mechanism according to claim 1, characterized in that The processor device (400) is configured to: receiving a first cutting depth corresponding to each water cutting cutter head (130) from a high-frequency ultrasonic detector (410) corresponding to each water cutting cutter head (130); averaging the first cutting depths of the respective water jet cutting heads (130) to determine a corresponding average cutting depth; as well as When a first deviation value between the average cutting depth and the reference depth is greater than a preset threshold value, the linear drive device (200) and the sand amount adjustment mechanism (440) are controlled according to the first deviation value, thereby adjusting the linear movement speed of the water cutting head (130) and the sand content of the high-pressure water flow, and uniformly controlling the spray distance adjustment mechanism (420) and the water pressure adjustment mechanism (430) of each water cutting head (130), thereby uniformly adjusting the water pressure and spray distance of each water cutting head (130).

3. The mechanism according to claim 2, characterized in that The operation of adjusting the linear movement speed of the water jet cutting head (130) and the sand content of the high-pressure water jet according to the first deviation value, and uniformly adjusting the water pressure and spray distance of each water jet cutting head (130), comprises: Determining a first linear moving speed of the water jet cutting head (130) and a first water flow sand content of the high-pressure water flow at a current moment; Determining the average water pressure of each water cutting cutter head (130) as a first water pressure based on the water pressure of each water cutting cutter head (130) at the current moment; According to the spray distances of the respective water jet cutting heads (130) at the current moment, an average spray distance of the respective water jet cutting heads (130) is determined as a first spray distance; combining the first deviation value, the first linear moving speed, the sand content of the first water flow, the first water pressure, and the first spray distance to obtain first feature information; Determining, based on the first feature information, a second linear moving speed, a second water flow sand content, a second water pressure, and a second spray distance as first parameter target values using a pre-trained first neural network model, wherein the second water pressure and the second spray distance are separate numerical values; and The linear moving speed of the water cutting head (130) and the sand content of the high-pressure water flow are adjusted according to the first parameter target value, and the water pressure and spray distance of each water cutting head (130) are uniformly adjusted.

4. The mechanism according to claim 3, characterized in that The first neural network model is trained by the following operations: Constructing a training sample set, where each sample in the training sample set includes input information and a true result, wherein the input information includes waterjet cutting depth deviation, cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance, and cutter head water pressure, and the verification result includes cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance, and cutter head water pressure; Inputting the input information of the sample into the first neural network model to obtain corresponding prediction results, wherein the prediction results include waterjet cutting depth deviation, cutter head linear movement speed, high-pressure water flow sand content, cutter head spray distance and cutter head water pressure; The first neural network model is trained according to the predicted results and the actual results using a pre-designed loss function.

5. The mechanism according to claim 2, characterized in that The processor device (400) is further configured to: When a first deviation value between the average cutting depth and the reference depth is not greater than the preset threshold, obtaining a second cutting depth of the corresponding water jet cutting head (130) measured by each high-frequency ultrasonic detector (410); Determining a second deviation value between a second cutting depth measured by each high-frequency ultrasonic detector (410) and a reference depth; as well as The spray distance adjustment mechanism (420) and the water pressure adjustment mechanism (430) of the corresponding water cutting head (130) are controlled according to the second deviation value, thereby fine-tuning the spray distance and water pressure of the corresponding water cutting head (130).

6. The mechanism according to claim 5, characterized in that The operation of controlling the spray distance adjustment mechanism (420) and the water pressure adjustment mechanism (430) of the corresponding water jet cutting head (130) according to the second deviation value comprises: Determining a first adjustment value corresponding to the spray distance adjustment mechanism and a second adjustment value corresponding to the water pressure adjustment mechanism using a PID control model according to the second deviation value; and The spray distance adjustment mechanism (420) and the water pressure adjustment mechanism (430) are adjusted according to the first adjustment value and the second adjustment value.

7. The mechanism according to claim 6, characterized in that The operation of determining the first adjustment value and the second adjustment value by using a PID control model according to the second deviation value includes: Acquiring a first historical adjustment value for adjusting the spray distance adjustment mechanism and a second historical adjustment value for adjusting the water pressure adjustment mechanism; determining first weight information corresponding to the spray distance adjustment mechanism and the water pressure adjustment mechanism according to the first historical adjustment value and the second historical adjustment value; determining a proportional term, an integral term, and a differential term corresponding to the second deviation value; Determining second weight information corresponding to the proportional term, the integral term, and the differential term, respectively, using a pre-trained second neural network model according to the proportional term, the integral term, and the differential term; Determining parameters of the PID control model according to the first weight information and the second weight information; and The first adjustment value and the second adjustment value are determined according to the second deviation value using the PID control model.

8. The mechanism according to claim 1, wherein: The cutting and casting equipment (100) further comprises a cutting head body (110) and a cutting head fixing seat (120), wherein: The cutter head fixing seat (120) is rotatably fixed to the front end of the cutting head body (110) via a core shaft (140); The water jet cutting head (130) is fixedly mounted on the head fixing seat (120), and the nozzle (131) of the water jet cutting head (130) faces in a direction away from the core shaft (140); and The cutting head body (110) is further provided with a first rotation driving device (150) for driving the cutter head fixing seat (120) to rotate along the core shaft (140), and wherein The front end of the cutting head body (110) is provided with a bearing (111) for fixing the core shaft (140); and A through hole (141) is provided at the center of the core shaft (140), and the flexible water pipe (112) is connected to the water cutting cutter head (130) via the through hole (141).

9. The mechanism according to claim 1, wherein: The cutting head device (100) further comprises a plurality of retractable support mechanisms (160) distributed along a cross section of the cutting head body (110), and wherein, The retractable support mechanism (160) includes a roller assembly (161) and a retractable assembly (162), and wherein The roller assembly (161) includes a plurality of rollers (163) distributed along the longitudinal direction of the cutting head body (110); and the roller assembly (161) is connected to the cutting head body (110) through the retractable assembly (162), and wherein The linear drive device (200) comprises: a ball screw (210) rotatably connected to the rear end of the cutting head body (110); and a second rotation drive device (220) for driving the ball screw (210).

10. The mechanism according to claim 1, wherein: The linear drive device (200) further includes a frame (230) for mounting and fixing the ball screw (210) and the second rotary drive device (220), and wherein The linear drive device (200) further includes a guide rod (240) connected to the cutting head body (110); and The frame (230) is further provided with a roller guide (240) for guiding the roller assembly (161) of the cutting head device (100), thereby guiding the cutting head device (100) into the reinforced concrete drainage pipe (300).

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