Pipeline bending radian fault-tolerant adjusting method and system supported by LTE Cat1

Abstract

The invention discloses a pipeline bending radian fault-tolerant adjustment method and system supported by LTE Cat1, and relates to the technical field of pipeline bending machining, and the method comprises the steps: controlling a pipeline bending process according to a preset pipeline bending target parameter and an LTE Cat1 communication parameter; sensing data of the pipeline in the bending process are collected in real time, and the sensing data comprise the actual bending radian and the stress value of the pipeline and the real-time displacement data of the hydraulic bending head; and transmitting the sensing data from the sensing module to a control center through an LTE Cat1 communication network. By means of real-time sensing data collection and dynamic adjustment, the rate proportion of the hydraulic bending head is accurately corrected, a long pipe is directly and accurately bent, a large number of cutting and splicing links are omitted, the working time, material waste and labor and maintenance cost are reduced, and the machining efficiency is improved; interface dislocation and radian deviation are avoided, and the forming precision is improved.

Description

Technical Field

[0001] This invention relates to the field of pipe bending processing technology, specifically to a pipe bending curvature tolerance adjustment method and system supported by LTE Cat1. Background Technology

[0002] Currently, the industry mainstream adopts two technical solutions for pipe installation in curved walkway areas, but both have significant limitations. The first solution uses a "straight instead of curved" short pipe splicing method, which simulates a curved path by cutting long pipes into short sections and splicing them together. While this method can visually create an approximate curved effect, it suffers from low processing efficiency, significant material waste, and high construction costs. The need for extensive cutting not only increases labor time but also significantly raises processing costs. Furthermore, the increased frequency of short pipe handling and the requirement for more connectors and welding points during splicing lead to a substantial increase in material and labor costs. In addition, the forming accuracy of multi-segment spliced ​​pipes is difficult to guarantee, easily resulting in problems such as misalignment of joints and curvature deviations, which also increases subsequent maintenance costs.

[0003] The second approach uses unconventional angle connectors to splice long pipes, directly connecting them to accommodate the curved shape. While this method eliminates the need for cutting and processing, the fixed angle of the connectors and the rigidity of the pipes make it difficult to achieve a tight fit with the walls and ceiling of the curved walkway, resulting in a significant gap between the pipes and the ceiling. In the already confined space of the walkway, this gap severely impacts space utilization, interferes with the planning and routing of other electromechanical pipelines, increases the overall coordination difficulty and cost of construction, and may even affect the functional stability of the electromechanical system.

[0004] Both of these traditional solutions face numerous challenges in practical applications, failing to simultaneously meet the demands for construction accuracy, installation efficiency, cost control, and spatial adaptability.

[0005] In summary, neither of the existing technical solutions has effectively solved the problems of "precision, efficiency, cost, and space adaptability" in the installation of curved walkway pipes, and it is difficult to meet the requirements of modern building electromechanical construction for high quality, high efficiency, and low cost. There is an urgent need for a new technical solution that can achieve precise bending and shaping of pipes, adapt to curved structures, and controllable costs. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a method and system for adjusting the curvature of pipes supported by LTE Cat1, which solves the problems of accuracy, efficiency, cost, and space adaptation in the installation of curved walkways in existing technologies.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a method for adjusting the bending radius of a pipeline supported by LTE Cat1, the method comprising: The pipe bending process is controlled based on preset pipe bending target parameters and LTE Cat1 communication parameters; The sensor data of the pipeline during the bending process is collected in real time. The sensor data includes the actual bending arc of the pipeline, the stress value, and the real-time displacement data of the hydraulic bending head. The sensor data is transmitted from the sensor module to the control center via the LTE Cat1 communication network. The control center receives the sensor data and compares it with the target parameters of the pipe bending to determine the deviation between the actual bending state and the target state, and generates an adjustment command based on the deviation. The adjustment command is transmitted from the control center to the controller of the hydraulic bending head through the LTE Cat1 communication network to drive the hydraulic bending head to adjust its motion state and dynamically correct the deviation value. In the event of an interruption in the LTE Cat1 communication network, the controller activates a local fault tolerance mechanism, utilizes locally cached pipeline bending target parameters and historical adjustment data, and autonomously maintains the adjustment movement of the hydraulic bending head based on a preset PID control algorithm until the LTE Cat1 communication network is restored.

[0008] Furthermore, controlling the pipe bending process based on preset pipe bending target parameters and LTE Cat1 communication parameters includes: Based on the design parameters of the curved walkway, the target parameters for pipe bending are calculated. These target parameters include the maximum progress and the rate ratio of the hydraulic bending head. The formula for calculating the maximum progress is: a = r * (1 - cosθ); the formula for calculating the rate ratio is: V1 / V2 = a / 2; where a is the maximum progress, r is the radius of the curved walkway, θ is the bending angle of the pipe, V1 is the vertical rate of the hydraulic bending head, and V2 is the horizontal rate of the hydraulic bending head. Configure the LTE Cat1 communication parameters, which include data transmission frequency, communication timeout threshold, and local buffer capacity.

[0009] Furthermore, the real-time acquisition of sensor data during the bending process of the pipeline includes: An arc sensor and a stress sensor are installed in the predetermined bending area of ​​the pipeline. The arc sensor is used to collect the actual bending arc of the pipeline in real time, and the stress sensor is used to collect the stress value of the pipeline during the bending process in real time. A displacement sensor is installed on the hydraulic bending head. The displacement sensor is used to collect the horizontal and vertical displacements of the hydraulic bending head in real time to determine the real-time speeds V1 and V2 of the hydraulic bending head.

[0010] Further, generating the adjustment command based on the deviation value includes: The control center calculates the difference between the actual bending radius and the target bending radius, as well as the deviation between the real-time rate ratio and the target rate ratio. Determine whether the deviation value exceeds a preset allowable deviation threshold; If the deviation value does not exceed the allowable deviation threshold, the current adjustment command remains unchanged; If the deviation value exceeds the allowable deviation threshold, a new adjustment command is generated. The new adjustment command is used to adjust the values ​​of the vertical speed V1 and the horizontal speed V2 of the hydraulic bending head to correct the speed ratio so that the actual bending arc of the pipe approaches the target bending arc.

[0011] Furthermore, the controller activates a local fault tolerance mechanism, including: The controller continuously monitors the communication link status with the control center. When a data transmission timeout is detected to reach a preset communication timeout threshold, it determines that the LTE Cat1 communication network has been interrupted. The controller calls the pipeline bending target parameters and historical adjustment data sequence stored in its local cache unit; The controller takes the historical adjustment data as input and uses the PID control algorithm to predict and control subsequent adjustment movements, generating local adjustment commands to maintain the continuity and stability of the hydraulic bending head movement.

[0012] Furthermore, the method also includes: After the LTE Cat1 communication network is restored, the controller will synchronize the sensor data and adjustment records generated and stored during the local fault tolerance period to the control center through the breakpoint resume mechanism. The control center receives and analyzes the synchronized data, recalibrates the global pipeline bending target parameters, generates new adjustment commands based on the calibrated parameters, and takes over the control of the hydraulic bending head.

[0013] Furthermore, the method also includes the step of assembling and securing the device before bending, including: A gantry frame is constructed using I-beams to support the horizontal movement of the hydraulic bending head. The gantry frame is equipped with transverse guide rails, a drive motor, diagonal braces, and pre-embedded column feet. Adjust the distance between the two support points of the bending table according to the diameter of the pipe to be bent, and lock the pipe wheel after adjustment to fix the pipe on the bending table.

[0014] Furthermore, the method also includes a forming verification step after bending is completed, including: The control center aggregates and processes all sensor data and adjustment command data throughout the bending process. Based on the entire data, a bending curvature report is generated, which includes the final actual curvature, maximum deviation value, stress change curve, and adjustment command record. The indicators in the bending curvature report are compared with the initial design requirements to verify the qualification of this pipe bending and forming.

[0015] Furthermore, the step of generating adjustment instructions based on the deviation value further includes: The control center monitors the stress values ​​in the sensor data in real time. When the stress value fluctuates abnormally or exceeds the preset safety threshold, the control center will preferentially generate adjustment commands to reduce the vertical speed V1 and horizontal speed V2 of the hydraulic bending head, so as to slow down the bending process and prevent the pipeline from undergoing irreversible deformation due to abnormal stress.

[0016] Furthermore, the present invention also provides an LTE Cat1-supported pipe bending radius tolerance adjustment system, applied to the LTE Cat1-supported pipe bending radius tolerance adjustment method described in any of the above claims, the system comprising: The parameter preset and control module is used to control the pipe bending process according to the pipe bending target parameters and LTE Cat1 communication parameters. The pipe bending target parameters include the maximum progress and the rate ratio of the hydraulic bending head. The LTE Cat1 communication parameters include the data transmission frequency, the communication timeout threshold and the local buffer capacity. The sensing module is used to collect sensing data of the pipeline in real time during the bending process. The sensing data includes the actual bending arc of the pipeline, stress value and real-time displacement data of the hydraulic bending head. The LTE Cat1 communication module is used for bidirectional data and command transmission between the sensing module, the parameter preset and control module, and the controller of the execution module. The dynamic adjustment module, integrated into the parameter preset and control module, is used to receive the sensing data, determine the deviation value between the actual bending state and the target state, and generate adjustment instructions based on the deviation value. The execution module includes a hydraulic bending head and its controller, used to receive the adjustment command and adjust the motion state to correct the deviation value; The fault-tolerant module, integrated in the controller of the execution module, is activated when the LTE Cat1 communication module is interrupted. Based on locally cached parameters and historical data, and using a PID control algorithm, it autonomously maintains the adjustment movement of the hydraulic bending head until communication is restored.

[0017] Beneficial effects This invention utilizes real-time sensor data acquisition and dynamic adjustment to precisely correct the hydraulic bending head rate ratio, enabling direct and accurate bending of long pipes. This eliminates numerous cutting and splicing steps, reducing labor time, material waste, and labor and maintenance costs, thus improving processing efficiency. It avoids interface misalignment and curvature deviation, improving forming accuracy. It ensures a tight fit between the pipe and the curved walkway wall / ceiling, reducing installation gaps, minimizing interference with other pipelines and construction coordination difficulties, and optimizing spatial adaptation. Relying on LTE Cat1 communication and a local fault-tolerant mechanism, it autonomously maintains adjustment through a PID algorithm during communication interruptions, ensuring processing continuity and stability. Real-time monitoring of stress values ​​and deceleration to prevent irreversible pipe deformation in case of anomalies enhances safety control. A report is generated after bending to verify compliance, achieving closed-loop quality control. A robust equipment setup provides hardware support for high-precision processing, fully meeting the modern construction demands for high quality, high efficiency, and low cost. Attached Figure Description

[0018] Figure 1 This is a system structure block diagram of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1This invention provides a fault-tolerant adjustment method for pipe bending curvature supported by LTE Cat1, comprising: controlling the pipe bending process according to preset pipe bending target parameters and LTE Cat1 communication parameters; real-time acquisition of sensing data of the pipe during the bending process, including the actual bending curvature of the pipe, stress value, and real-time displacement data of the hydraulic bending head; transmitting the sensing data from the sensing module to the control center through the LTE Cat1 communication network; the control center receiving the sensing data and comparing it with the pipe bending target parameters to determine the deviation value between the actual bending state and the target state, and generating an adjustment command based on the deviation value; transmitting the adjustment command from the control center to the controller of the hydraulic bending head through the LTE Cat1 communication network to drive the hydraulic bending head to adjust its motion state and dynamically correct the deviation value; under the condition of LTE Cat1 communication network interruption, the controller activates the local fault-tolerant mechanism, uses the locally cached pipe bending target parameters and historical adjustment data, and autonomously maintains the adjustment motion of the hydraulic bending head based on a preset PID control algorithm until the LTE Cat1 communication network is restored.

[0021] Among them, LTE Cat1 communication parameters refer to the communication protocol parameters used to configure data transmission during pipeline bending adjustment. Specifically, this can be achieved by setting the data transmission frequency, communication timeout threshold, and local buffer capacity. By optimizing the communication parameters, reliable transmission of sensor data and control commands in low-power wide area networks is ensured, solving the problem of adjustment lag caused by communication delay in traditional solutions.

[0022] Real-time acquisition of sensor data refers to continuously acquiring the physical state quantities of a pipe during the bending process through sensors. Specifically, this can be achieved by installing arc sensors, stress sensors, and displacement sensors. By acquiring multi-dimensional data, real-time feedback can be provided for dynamic adjustment, overcoming the shortcomings of traditional solutions that rely on manual measurement and thus lack accuracy.

[0023] The control center's comparison deviation value refers to the difference analysis between the actual bending state and the preset target parameters. Specifically, it can be achieved by calculating the difference between the actual bending arc and the target arc, and the rate ratio deviation. By quantifying the deviation, the adjustment command is generated, which solves the problem that traditional solutions cannot correct forming errors in real time.

[0024] Dynamic correction of deviation refers to adjusting the motion parameters of the hydraulic bending head according to the adjustment command. Specifically, it can be achieved by changing the ratio of the vertical speed to the horizontal speed of the hydraulic bending head. Through closed-loop control, the actual bending arc is made close to the target value, eliminating the interface misalignment and stress concentration problems existing in traditional splicing schemes.

[0025] Local fault tolerance mechanism refers to an emergency strategy that autonomously maintains the adjustment movement when communication is interrupted. Specifically, it can be implemented by calling local cache parameters, historical adjustment data and PID control algorithm. Localized predictive control ensures the continuity of adjustment and avoids the interruption of processing or failure of forming due to communication failure in traditional solutions.

[0026] As a preferred embodiment, the solution of this application is specifically implemented as follows: First, calculate the target parameters for pipe bending based on the design parameters of the curved walkway, including the maximum progress and the rate ratio of the hydraulic bending head. Configure LTE Cat1 communication parameters, setting the data transmission frequency to 10 times per second, the communication timeout threshold to 5 seconds, and the local buffer capacity to accommodate 1 hour of data.

[0027] Curvature sensors and stress sensors are installed in the predetermined bending area of ​​the pipeline to collect the actual bending curvature and stress values. Displacement sensors are installed on the hydraulic bending head to collect horizontal and vertical displacement data. The sensor sampling frequency is set to 20 times per second.

[0028] After receiving the sensor data, the control center calculates the difference between the actual bending radius and the target bending radius, as well as the deviation between the real-time rate ratio and the target rate ratio. An allowable deviation threshold of 2% is set. When the deviation exceeds the threshold, a new adjustment command is generated to adjust the vertical and horizontal rates of the hydraulic bending head.

[0029] The controller of the hydraulic bending head continuously monitors the communication link status with the control center. When a data transmission timeout of 5 seconds is detected, it is determined that the LTE Cat1 communication network has been interrupted. The controller then calls upon the locally cached target parameters and historical adjustment data, and uses a PID control algorithm to generate local adjustment commands to maintain the movement of the hydraulic bending head.

[0030] After communication is restored, the controller synchronizes the data generated during the local fault tolerance period to the control center via a breakpoint resume mechanism. The control center analyzes the synchronized data, recalibrates the target parameters for pipe bending, and generates new adjustment commands based on the calibrated parameters, taking over control of the hydraulic bending head.

[0031] This application further proposes to calculate the target parameters for pipe bending based on the design parameters of the arc-shaped walkway. The target parameters for pipe bending include the maximum progress and the rate ratio of the hydraulic bending head. The formula for calculating the maximum progress is a=r*(1-cosθ); the formula for calculating the rate ratio is V1 / V2=a / 2. Where a is the maximum progress, r is the radius of the arc-shaped walkway, θ is the bending angle of the pipe, V1 is the vertical rate of the hydraulic bending head, and V2 is the horizontal rate of the hydraulic bending head. LTE Cat1 communication parameters are configured, including data transmission frequency, communication timeout threshold, and local buffer capacity.

[0032] The radius *r* and bending angle *θ* of the curved walkway are used as core design parameters. The maximum process *a* is derived through geometric relationships to ensure that the displacement of the hydraulic bending head precisely matches the curved trajectory in both horizontal and vertical movements. The rate ratio *V1 / V2=a / 2* is set using a kinematic model to maintain speed coordination of the hydraulic bending head during dual-axis linkage. The data transmission frequency is set to 10-20 times per second, the communication timeout threshold is set to 300-500 milliseconds, and the local cache capacity is configured to store the most recent 30 seconds of historical adjustment data. These three parameters work together to ensure the real-time performance of control commands and fault tolerance during interruptions.

[0033] Specifically, in a scenario with a curved walkway radius of 1.2 meters and a bending angle of 45 degrees, the maximum progress a = 1.2 * (1 - cos45°) = 0.35 meters is calculated using the formula, and the rate ratio V1 / V2 = 0.35 / 2 = 0.175. The hydraulic bending head operates in dual-axis linkage with a vertical rate of 0.1 m / s and a horizontal rate of 0.57 m / s to ensure that the bending trajectory matches the designed curvature. The LTECat1 communication parameters are set to a data transmission frequency of 15 Hz, a timeout threshold of 400 milliseconds, and a local buffer capacity of 500 sets of data. During real-time transmission, the displacement changes of the hydraulic bending head are fully recorded. When communication is interrupted, the local buffer data can support at least 25 seconds of autonomous adjustment. Through parameterized calculation of the mathematical model and quantitative configuration of communication parameters, both the geometric accuracy of the bending formation and the seamless connection between control command transmission and interruption recovery are ensured.

[0034] As a preferred embodiment, the solution of this application is specifically implemented as follows: Based on the design parameters of the curved walkway, the target parameters for pipe bending are calculated. These parameters include the maximum progress and the rate ratio of the hydraulic bending head. The maximum progress is calculated using the formula a = r * (1 - cosθ). The rate ratio is calculated using the formula V1 / V2 = a / 2. Where a is the maximum progress, r is the radius of the curved walkway, θ is the pipe bending angle, V1 is the vertical rate of the hydraulic bending head, and V2 is the horizontal rate of the hydraulic bending head.

[0035] Further, configure the LTE Cat1 communication parameters. LTE Cat1 communication parameters include data transmission frequency, communication timeout threshold, and local buffer capacity. For example, the data transmission frequency is set to 10 times per second, the communication timeout threshold is set to 5 seconds, and the local buffer capacity is set to 1GB.

[0036] Specifically, for an arc-shaped walkway with a radius of 5 meters and a bending angle of 30 degrees, the maximum progress a can be calculated as a = 5 * (1 - cos30°) ≈ 0.67 meters. Therefore, the speed ratio of the hydraulic bending head is V1 / V2 = 0.67 / 2 ≈ 0.335. As a preferred embodiment, the vertical speed V1 of the hydraulic bending head can be set to 10 mm / s, and the horizontal speed V2 can be set to 30 mm / s to meet the calculated speed ratio requirements.

[0037] This application further proposes installing an arc sensor and a stress sensor in the predetermined bending area of ​​the pipeline. The arc sensor is used to collect the actual bending arc of the pipeline in real time, and the stress sensor is used to collect the stress value of the pipeline during the bending process in real time. A displacement sensor is installed on the hydraulic bending head. The displacement sensor is used to collect the horizontal and vertical displacement of the hydraulic bending head in real time to determine the real-time speeds V1 and V2 of the hydraulic bending head.

[0038] The curvature sensor and stress sensor are installed in the bending area of ​​the pipe to directly monitor the deformation and stress state during the bending process. The displacement sensor is integrated into the hydraulic bending head, and the motion rate can be derived by measuring the real-time changes in its horizontal and vertical displacement. For example, the rate of change of horizontal displacement with time corresponds to the horizontal velocity V2, and the rate of change of vertical displacement with time corresponds to the vertical velocity V1.

[0039] Specifically, during the pipe bending process, the curvature sensor continuously outputs the actual bending curvature data, while the stress sensor simultaneously collects the stress values ​​generated by the pipe deformation. The displacement sensor of the hydraulic bending head converts its horizontal and vertical displacement data into rate parameters V1 and V2. This data is transmitted to the control center via a communication network and compared with the preset target parameters. If the actual bending curvature deviates from the target value, or the rate ratio deviates from the preset range, the control center can generate precise adjustment commands based on the complete sensor dataset. By simultaneously monitoring the deformation, stress, and motion parameters of the actuator in the bending area, the comprehensiveness and accuracy of the deviation calculation are ensured, thereby improving the effectiveness of the adjustment commands and achieving closed-loop control of the pipe bending process.

[0040] As a preferred embodiment, the solution of this application is specifically implemented as follows: An arc sensor and a stress sensor are installed in the predetermined bending area of ​​the pipeline. The arc sensor, a fiber optic grating sensor, is spirally wound and fixed along the outer surface of the pipeline to collect the actual bending arc of the pipeline in real time. The stress sensor is a piezoresistive strain gauge, which is adhered to the outer wall of the pipeline with epoxy resin to collect the stress value experienced by the pipeline during bending in real time.

[0041] Displacement sensors are installed on the hydraulic bending head. The displacement sensors are magnetic scales, which are installed on the horizontal moving track and the vertical lifting mechanism of the hydraulic bending head, respectively, to collect the horizontal and vertical displacements of the hydraulic bending head in real time, and then determine the real-time speeds V1 and V2 of the hydraulic bending head.

[0042] This application further proposes a method for generating adjustment commands, including the following steps: calculating the difference between the actual bending radius and the target bending radius, and the deviation between the real-time rate ratio and the target rate ratio; determining whether the deviation value exceeds a preset allowable deviation threshold; if the deviation value does not exceed the allowable deviation threshold, maintaining the current adjustment command unchanged; if the deviation value exceeds the allowable deviation threshold, generating a new adjustment command, the new adjustment command being used to adjust the values ​​of the vertical rate V1 and the horizontal rate V2 of the hydraulic bending head to correct the rate ratio, so that the actual bending radius of the pipeline approaches the target bending radius.

[0043] The allowable deviation thresholds are set based on the elastic modulus of the pipe material and the safety margin of the bending process. For example, for low-carbon steel pipes, the allowable arc deviation range is set to ±0.5°, and the rate ratio deviation range is set to ±3%. The judgment process adopts a dual-condition parallel mechanism, simultaneously monitoring the arc deviation and rate ratio deviation. If either indicator exceeds the threshold, an adjustment command is triggered. When a new adjustment command is generated, the direction with the larger deviation in the rate ratio is adjusted first. For example, when the actual rate of V1 exceeds the target rate ratio, the driving voltage value of V1 is reduced first, and the displacement increment of V2 is adjusted proportionally to ensure that the rate ratio is restored to the target value of a / 2.

[0044] Specifically, after receiving sensor data, the control center first calculates the angle difference Δθ between the actual bending radius and the target value, and the difference Δk between the real-time rate ratio V1 / V2 and the target ratio a / 2, using a built-in algorithm. When Δθ exceeds 0.5° or Δk exceeds 3%, it is determined that the current adjustment state has a risk of exceeding tolerance. At this time, the control center determines the motion compensation direction of the hydraulic bending head based on the positive or negative direction of Δθ. For example, when the actual radius is less than the target value, the vertical rate V1 of the bending head needs to be increased to improve the bending process. At the same time, the drive parameters of V1 and V2 are dynamically adjusted based on the value of Δk. For example, when the V1 / V2 ratio is too high, the target rate is recalculated according to the formula V2=V1×2 / a, and the corresponding pulse width modulation signal is output to the hydraulic actuator through the PID controller. In this process, the rate adjustment amplitude adopts a piecewise linear control strategy according to the degree of deviation. When Δk is in the 3%-5% range, the rate adjustment step size is 50% of the reference value; when Δk exceeds 5%, the adjustment step size is increased to 80% of the reference value to accelerate deviation convergence. Through the aforementioned multi-parameter collaborative judgment and graded adjustment mechanism, the hydraulic system oscillation problem caused by frequent and large-scale adjustments can be effectively avoided while ensuring adjustment accuracy.

[0045] As a preferred embodiment, the solution of this application is specifically implemented as follows: The control center calculates the difference between the actual bending radius and the target bending radius, as well as the deviation between the real-time rate ratio and the target rate ratio. Further, it determines whether the deviation exceeds a preset allowable deviation threshold. Therefore, if the deviation does not exceed the allowable deviation threshold, the current adjustment command remains unchanged. Specifically, if the deviation exceeds the allowable deviation threshold, a new adjustment command is generated. This new command adjusts the values ​​of the vertical rate V1 and the horizontal rate V2 of the hydraulic bending head to correct the rate ratio, making the actual bending radius of the pipeline closer to the target bending radius.

[0046] For example, in practical applications, the control center can set an allowable deviation threshold of 5%. When the difference between the actual bending radius and the target bending radius exceeds 5%, the control center will generate a new adjustment command. As a preferred embodiment, the new adjustment command may include adjusting the vertical speed V1 of the hydraulic bending head to 110% of the original speed and the horizontal speed V2 to 90% of the original speed, in order to correct the speed ratio and gradually bring the actual bending radius of the pipeline closer to the target bending radius.

[0047] This application further proposes that the controller continuously monitors the communication link status of the control center. When a data transmission timeout is detected to reach a preset communication timeout threshold, it determines that the LTE Cat1 communication network has been interrupted. It then calls the pipeline bending target parameters and historical adjustment data sequences stored in the local cache unit. Using the historical adjustment data as input, it uses a PID control algorithm to predict and control subsequent adjustment movements, generating local adjustment commands to maintain the continuity and stability of the hydraulic bending head movement.

[0048] The communication timeout threshold setting needs to be combined with the motion response time of the hydraulic bending head and the real-time requirements of the pipe bending process. For example, when the horizontal speed V2 of the hydraulic bending head is 5 mm / s, the timeout threshold can be set to 2 seconds to ensure that the local fault tolerance mechanism is triggered in time after communication interruption. The historical adjustment data sequence stored in the local cache unit includes timestamps, rate proportional deviation values, and corresponding adjustment commands, forming a closed-loop control data chain. The proportional coefficient, integral time, and derivative time of the PID control algorithm are pre-calibrated according to the mechanical characteristics of the hydraulic bending head. For example, the proportional coefficient is set to 0.8 and the integral time is set to 1.2 seconds to balance the adjustment speed and stability.

[0049] Specifically, after a communication link interruption, the controller retrieves the most recent 10 sets of historical adjustment data through a local cache unit, including a sequence of deviations between the actual rate ratio V1 / V2 and the target rate ratio. The PID control algorithm calculates the current deviation trend based on this sequence and outputs the hydraulic bending head rate adjustment. For example, if the historical deviation sequence shows that the rate ratio is consistently lower than the target value, the algorithm will increase the proportional term output, increasing the adjustment range of V1. Simultaneously, the integral term compensates for the accumulated deviation to avoid static error accumulation, and the derivative term suppresses overshoot caused by sudden rate changes. The resulting local adjustment command drives the hydraulic bending head to gradually approach the target bending curvature, ensuring that the pipe bending accuracy is controlled within ±1.5° before communication is restored.

[0050] As a preferred embodiment, the solution of this application is specifically implemented as follows: The controller continuously monitors the communication link status with the control center. When a data transmission timeout is detected to reach a preset communication timeout threshold, it is determined that the LTE Cat1 communication network has been interrupted. For example, the communication timeout threshold can be set to 5 seconds.

[0051] The controller accesses the target parameters for pipe bending and the sequence of historical adjustment data stored in its local cache unit. The local cache unit can store historical adjustment data for the most recent 10 minutes.

[0052] The controller uses historical adjustment data as input and employs a PID control algorithm to predict and control subsequent adjustment movements, generating local adjustment commands to maintain the continuity and stability of the hydraulic bending head's movement. The parameters of the PID control algorithm can be set as follows: proportional coefficient Kp = 0.8, integral coefficient Ki = 0.2, and derivative coefficient Kd = 0.1.

[0053] This application further proposes that after the communication network is restored, the controller will synchronize the sensor data and adjustment records generated and stored during the local fault tolerance period to the control center through the breakpoint resume mechanism; the control center receives and analyzes the synchronized data, recalibrates the global pipeline bending target parameters, and generates new adjustment commands based on the calibrated parameters, and takes over the control of the hydraulic bending head.

[0054] Among them, the breakpoint resume mechanism is configured to transmit only newly added sensor data and adjustment records based on the last transmission position before the communication interruption, avoiding the repeated transmission of synchronized data; the parameter recalibration of the control center is configured to dynamically correct the rate ratio and maximum process in the pipeline bending target parameters by combining the local adjustment records and real-time sensor data during the fault tolerance period; the new adjustment command generation process is configured to prioritize the adjustment commands executed during the local fault tolerance period, ensuring a smooth transition of control to the control center.

[0055] Specifically, after the communication network is restored, the locally stored data from the fault-tolerance period is extracted and marked as data segments to be synchronized. The breakpoint resumption mechanism locates the data start point based on the timestamp of the last successful transmission, transmitting only the unsynchronized portion. After receiving the data, the control center aligns the adjustment records from the fault-tolerance period with the real-time sensor data in a time series, identifies the cumulative deviation between the actual bending radius and the target value, and recalculates the correction coefficients for the rate ratio and maximum progress. The calibrated parameters are input to the dynamic adjustment module, generating new adjustment commands. These commands are sent to the controller via the communication network, overriding the predictive control commands based on historical data from the local fault-tolerance period. Thus, the motion state of the hydraulic bending head is seamlessly switched to the globally calibrated control mode, eliminating the risk of accumulated control deviations caused by communication interruptions.

[0056] As a preferred embodiment, the solution of this application is specifically implemented as follows: After the LTE Cat1 communication network is restored, the controller synchronizes the sensor data and adjustment records generated and stored during the local fault tolerance period to the control center via a breakpoint resume mechanism. Specifically, the controller first detects that the communication link with the control center has been re-established, and then initiates the data synchronization procedure. This procedure reads the sensor data and adjustment records cached in the local storage unit and packages them into data packets. Each data packet contains information such as a timestamp, sensor ID, measurement value, and adjustment command. The controller sends these data packets sequentially to the control center via the LTE Cat1 network, while recording the sequence number of the sent data packets. If the transmission is interrupted again during the process, it can resume transmission from the point of interruption upon the next recovery, avoiding duplicate transmissions.

[0057] The control center receives and analyzes synchronized data, recalibrates the global pipeline bending target parameters, and generates new adjustment commands based on the calibrated parameters, taking over control of the hydraulic bending head. Further, the control center first checks the integrity and consistency of the received data, eliminating duplicate or erroneous data. Then, this data is compared and analyzed with previous historical data to evaluate the bending effect during the tolerance period. Based on the analysis results, the control center may fine-tune parameters such as bending rate and pressure. For example, if it is found that the bending speed is too fast during the tolerance period, causing stress concentration, the bending rate is reduced in the new adjustment command. Finally, the control center generates new commands containing the adjusted parameters and sends them to the controller of the hydraulic bending head via the LTECat1 network, regaining real-time control of the bending process.

[0058] This application further proposes steps for assembling and fixing the equipment before bending, including: using I-beams to construct a gantry frame for supporting the horizontal movement of the hydraulic bending head, the gantry frame being equipped with transverse guide rails, a drive motor, diagonal braces, and pre-embedded column feet; adjusting the distance between the two support points of the bending table according to the diameter of the pipe to be bent, and locking the pipe wheel after adjustment to fix the pipe on the bending table.

[0059] The cross-sectional dimensions of the I-beams are selected based on the maximum working load of the hydraulic bending head. For example, H250×250×9×14 type I-beams are used, with a bending section modulus of 1,020 cm³, capable of withstanding a maximum bending moment of 205 kN·m. The installation accuracy of the transverse guide rails is controlled within ±0.5 mm / m to ensure the straightness of the horizontal movement trajectory of the hydraulic bending head. Diagonal braces are welded at a 45° angle between the gantry columns and crossbeams, forming a triangular stable structure to reduce equipment vibration. The pre-embedded column base depth is not less than 800 mm, and it is fixed using C30 concrete pouring to prevent the gantry from overturning under dynamic loads. The bending table support point spacing adjustment range is 300-600 mm, driven synchronously by a screw mechanism. After adjustment, the support point position is fixed by a hydraulic locking device with a locking force of not less than 5 MPa. The pipe wheel adopts a V-groove structure with a 3mm thick rubber layer covering the groove surface. Radial clamping force is applied by double-headed bolts to limit the axial displacement of the pipe to within ±1mm.

[0060] Specifically, during the gantry crane setup, the I-beams and columns are connected using high-strength bolts with a preload of 8.8 grade to ensure node rigidity. The transverse guide rails undergo surface hardening to achieve a hardness of HRC50-55, reducing the coefficient of friction to below 0.15. A servo motor is used for the drive, working in conjunction with a ball screw to achieve displacement accuracy of ±0.1mm. When adjusting the support point spacing, the minimum support span L_min is calculated based on the pipe's outer diameter D and wall thickness t: L_min = 2.5√(D×t). For example, when D = 150mm and t = 6mm, the support point spacing must be greater than 97mm. When locking the pipe rollers, the rubber layer compression is controlled within 15%-20% to ensure sufficient friction while preventing excessive indentation on the pipe surface. After fixing, a laser rangefinder is used to check the deviation between the pipe axis and the bending table centerline, adjusting it to a coaxiality error ≤0.3mm. This setup and fixing process reduces the equipment vibration amplitude to below 0.05mm, providing a foundation for subsequent high-precision bending control.

[0061] As a preferred embodiment, the solution of this application is specifically implemented as follows: Before pipe bending, the equipment needs to be erected and secured. First, a gantry frame is constructed using I-beams to support the hydraulic bending head for horizontal movement. The gantry frame is equipped with transverse guide rails, a drive motor, diagonal braces, and pre-embedded column feet. The transverse guide rails are made of 45# steel with a hardened surface to improve wear resistance. The drive motor is a servo motor with a rated power of 5kW and a maximum speed of 3000rpm. The diagonal braces are set at a 45-degree angle and are made of Q235 steel with a cross-section of 100mm × 100mm square tubing. The pre-embedded column feet are secured with M20 expansion bolts, with four bolts used for each column foot.

[0062] Next, adjust the distance between the two support points of the bending table according to the diameter of the pipe to be bent. The bending table adopts an adjustable design, and the distance between the support points can be adjusted within the range of 500mm to 2000mm. After adjustment, lock the pipe wheel with a hydraulic locking device to ensure the stability of the pipe during bending. The pipe wheel is made of polyurethane with a hardness of 90 degrees to prevent damage to the pipe surface.

[0063] Finally, the pipe is secured to the bending table. Quick-release clamps are used for securing the pipe, with two clamps at each fulcrum. The clamping force of the clamps is adjustable from 0-5000N to accommodate pipes of different diameters and materials.

[0064] This application further proposes a forming verification step after bending is completed, including: the control center summarizing and processing the full-process sensor data and adjustment command data throughout the bending process; based on the full-process data, generating a bending curvature report containing the final actual curvature, maximum deviation value, stress change curve and adjustment command record; comparing the various indicators in the bending curvature report with the initial design requirements to verify the qualification of this pipeline bending forming.

[0065] The system includes comprehensive sensor data covering the actual bending radius, stress value, and hydraulic bending head displacement throughout the entire pipeline bending cycle. Adjustment command data includes all rate adjustment commands issued by the control center and their execution timestamps. The bending radius report uses data visualization technology to convert the deviation between the actual and target radius into a quantitative indicator; the maximum deviation value is obtained by statistically analyzing the instantaneous deviation extremes at each sampling point. The stress change curve plots the dynamic evolution trend of stress values ​​during pipeline bending, using a time axis as a reference. The adjustment command record arranges the adjustment parameters and triggering conditions of each command in chronological order.

[0066] Specifically, after the bending action terminates, the control center starts the data summarization program, aligns and fuses the sensor data and adjustment instructions stored dispersedly in time series, and eliminates data misalignment caused by communication delays or interruptions. When generating the bending radian report, the cubic spline interpolation algorithm is used to perform curve fitting on the discrete actual radian sampling points, and a point-by-point comparison is made with the theoretical curve of the target radian to calculate the deviation amount at each position point. The maximum deviation value is obtained by traversing the deviation amounts of all sampling points, and the maximum absolute values in the positive and negative directions are extracted as the core evaluation index of the forming accuracy. The stress change curve shows the stress fluctuations in different bending stages of the pipeline in the form of a line chart. Combining with the rate adjustment parameters in the adjustment instruction record, the correlation between the abnormal stress fluctuations and the motion state of the hydraulic bending head can be traced. In the final comparison link, the actual radian deviation amount, the maximum deviation value and the stress peak value in the report are automatically compared with the allowable thresholds in the design specifications. If all indicators are lower than the thresholds, it is determined as qualified; otherwise, an unqualified alarm is triggered and defect location information is generated.

[0067] As a preferred embodiment, the solution of this application is specifically implemented as follows: After the pipeline is bent and formed, the control center starts the data summarization program, and integrates and processes the displacement sensor data during the operation of the hydraulic bending head, the actual bending radian data collected by the radian sensor, the stress change data recorded by the stress sensor, and the adjustment instruction execution record. The data processing module filters and denoises the original data, extracts effective characteristic values, calculates the maximum deviation value, and generates a comprehensive report including the actual bending radian curve, the stress change curve and the adjustment instruction time sequence diagram. After the report is displayed through the visualization interface, it is automatically compared with the target radian range and stress threshold in the preset pipeline bending design parameter database, and a verification result including deviation quantification indicators and qualification determination conclusions is generated, and the result is transmitted to the construction management terminal.

[0068] This application further proposes a forming verification step after bending, which is specifically: The control center summarizes and processes the whole-process sensor data and adjustment instruction data during the whole bending process; based on the whole-process data, a bending radian report including the final actual radian, the maximum deviation value, the stress change curve and the adjustment instruction record is generated; the indicators in the bending radian report are compared with the initial design requirements to verify the qualification of the current pipeline bending and forming.

[0069] Among them, the full-process sensing data includes the actual bending radian, stress value, hydraulic bending head displacement data, and rate ratio change, and the adjustment instruction data covers the adjustment instruction sequence generated by the control center and the adjustment record independently generated during the local fault tolerance period. The bending radian report integrates multi-dimensional data into a structured report through a data fusion algorithm. Among them, the final actual radian is obtained by fitting the actual bending curve through a cubic spline interpolation algorithm, and the maximum deviation value uses the root mean square error algorithm to quantify the overall deviation degree between the actual radian and the target radian. The stress change curve reflects the dynamic characteristics of the stress distribution during the bending process through time series analysis.

[0070] Specifically, after the bending operation is completed, the control center calls the historical data in the storage module and performs data cleaning and alignment operations to eliminate abnormal data points caused by communication interruptions or sensor noise. Subsequently, a bending radian report is generated through a preset algorithm model. This report presents a superimposed comparison graph of the actual bending trajectory and the target radian, the stress value change curve over time, and the heat map of the adjustment instruction execution in a visual chart form. In the verification stage, the system automatically extracts the maximum deviation value in the report and compares it with the preset allowable threshold. If the maximum deviation value is less than the threshold and there is no mutation or overlimit in the stress change curve, it is determined that the pipe bending forming is qualified; if there are exceeded indicators, the system triggers an alarm and generates a correction suggestion, such as readjusting the parameters of the hydraulic bending head for local correction. Through this verification mechanism, closed-loop control of the bending forming quality can be achieved, ensuring the close fit between the pipe and the arc walkway structure after installation, and avoiding clearance problems or stress concentration risks caused by forming deviations.

[0071] As a preferred embodiment, the solution of this application is specifically implemented as follows: During the pipe bending process, the controller of the hydraulic bending head is configured to continuously receive the real-time data stream from the stress sensor. When the pipe is bent to the 75% stage of the target radian, the stress sensor detects that the stress value in a local area reaches 1.2 times the preset safety threshold. At this time, the control center immediately triggers the priority judgment logic. An emergency processing thread is inserted into the conventional adjustment instruction generation process, and the vertical rate of the hydraulic bending head is forced to be reduced from the original planned 2.5 mm / s to 1.2 mm / s, and at the same time, the horizontal rate is adjusted from 1.8 mm / s to 0.9 mm / s. Within 30 seconds after the rate adjustment, the stress sensor data drops below the safety threshold. At this time, the emergency processing thread terminates, and the control center resumes the original adjustment instruction generation process.

[0072] This application further proposes a pipe bending radian fault tolerance adjustment system supported by LTE Cat1, including a parameter presetting and control module, a sensing module, an LTE Cat1 communication module, a dynamic adjustment module, an execution module, and a fault tolerance module.

[0073] The parameter preset and control module configures the target parameters for pipe bending, including the maximum progress and the rate ratio of the hydraulic bending head, and sets the LTE Cat1 communication parameters, such as a data transmission frequency of 10 times per second, a communication timeout threshold of 5 seconds, and a local cache capacity of 100MB. The sensing module includes an arc sensor, a stress sensor, and a displacement sensor. The arc sensor is installed in the predetermined bending area of ​​the pipe to collect the actual bending arc in real time. The stress sensor monitors the pipe stress value, and the displacement sensor measures the horizontal and vertical displacement of the hydraulic bending head, calculating the real-time rates V1 and V2. The LTE Cat1 communication module transmits data and commands bidirectionally between the sensing module, the parameter preset and control module, and the controller of the execution module. For example, it uploads the actual bending arc data to the dynamic adjustment module at a frequency of 10Hz. The dynamic adjustment module receives the sensor data, calculates the difference between the actual bending arc and the target arc, and the deviation between the real-time rate ratio and the target rate ratio. When the deviation exceeds the allowable threshold, it generates an adjustment command, such as adjusting the rate ratio to V1 / V2 = 0.8. The controller of the execution module receives the adjustment command and drives the hydraulic bending head to adjust its motion state. The fault-tolerant module is integrated into the controller of the execution module. When the LTE Cat1 communication module is interrupted, it calls the locally cached pipeline bending target parameters and historical adjustment data sequence, and predicts the subsequent adjustment motion based on the PID control algorithm. For example, it uses the historical rate ratio data of the previous 10 seconds to generate compensation commands through proportional-integral-derivative calculations to maintain the motion stability of the hydraulic bending head.

[0074] Specifically, during system operation, the parameter preset and control module first calculates the maximum process a=r(1-cosθ) based on the radius and bending angle of the curved walkway, and sets the rate ratio V1 / V2=a / 2. The sensing module collects real-time data on the actual bending arc, stress value, and hydraulic bending head displacement of the pipeline, and transmits this data to the dynamic adjustment module via the LTE Cat1 communication module. The dynamic adjustment module compares the actual data with the target parameters. If the detected stress value exceeds the safety threshold, it prioritizes generating instructions to reduce V1 and V2 to slow down the bending process. When communication is normal, the adjustment instructions are sent to the execution module controller via the LTE Cat1 communication module to adjust the hydraulic bending head rate. If communication is interrupted for more than 5 seconds, the fault tolerance module is activated, calling the locally cached target parameters and historical data, and combining them with the PID algorithm to predict the trend of rate ratio changes in the next adjustment cycle, generating compensation instructions, such as adding a proportional correction amount to the historical rate ratio. ,in This is the current deviation value. , , The parameters are preset. The hydraulic bending head maintains movement according to local commands until communication is restored. At this point, the controller synchronizes the data from the interruption period to the control center and recalibrates the global parameters. Through the coordination of the above modules, the system can maintain continuous adjustment of the pipe bending process during communication interruption, avoiding the expansion of forming deviations and reducing reliance on manual intervention.

[0075] In a preferred embodiment, the solution of this application is implemented as follows: The system includes a parameter preset and control module. This module pre-stores the calculation formula for the ratio of the maximum process to the hydraulic bending head rate, and configures the data transmission frequency to 10 times per second, the communication timeout threshold to 5 seconds, and the local cache capacity to 1GB. The sensing module consists of an arc sensor, a stress sensor, and a displacement sensor of the hydraulic bending head installed in the pipe bending area. The displacement sensor adopts a magnetic grating structure and can simultaneously collect horizontal and vertical displacement data. The LTE Cat1 communication module establishes a low-latency connection with the control center through an embedded SIM card, supporting bidirectional transmission of sensor data and adjustment commands. The dynamic adjustment module has a built-in deviation value calculation unit, which compares the difference between the actual bending arc and the target arc in real time. When the deviation exceeds 3mm, a rate adjustment command is generated. The hydraulic bending head controller of the execution module is driven by a servo motor. After receiving the adjustment command, it adjusts the cylinder pressure through a proportional valve to achieve dynamic correction of the rate ratio. The fault-tolerant module is integrated into the controller. When communication is interrupted, it calls the last valid adjustment parameter cached locally, calculates the compensation amount in combination with the PID algorithm, and maintains the movement trajectory of the hydraulic bending head through incremental output.

[0076] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for adjusting the tortuous curvature of a pipe supported by LTE Cat1, characterized in that, The method includes: The pipe bending process is controlled based on preset pipe bending target parameters and LTE Cat1 communication parameters; The sensor data of the pipeline during the bending process is collected in real time. The sensor data includes the actual bending arc of the pipeline, the stress value, and the real-time displacement data of the hydraulic bending head. The sensor data is transmitted from the sensor module to the control center via the LTE Cat1 communication network; The control center receives the sensor data and compares it with the target parameters of the pipe bending to determine the deviation between the actual bending state and the target state, and generates an adjustment command based on the deviation. The adjustment command is transmitted from the control center to the controller of the hydraulic bending head through the LTE Cat1 communication network to drive the hydraulic bending head to adjust its motion state and dynamically correct the deviation value. In the event of an interruption in the LTE Cat1 communication network, the controller activates a local fault tolerance mechanism, utilizes locally cached pipeline bending target parameters and historical adjustment data, and autonomously maintains the adjustment movement of the hydraulic bending head based on a preset PID control algorithm until the LTE Cat1 communication network is restored.

2. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 1, characterized in that, The control of the pipe bending process based on preset pipe bending target parameters and LTE Cat1 communication parameters includes: Based on the design parameters of the curved walkway, the target parameters for pipe bending are calculated. These target parameters include the maximum progress and the rate ratio of the hydraulic bending head. The formula for calculating the maximum progress is: a = r * (1 - cosθ); the formula for calculating the rate ratio is: V1 / V2 = a / 2; where a is the maximum progress, r is the radius of the curved walkway, θ is the bending angle of the pipe, V1 is the vertical rate of the hydraulic bending head, and V2 is the horizontal rate of the hydraulic bending head. Configure the LTE Cat1 communication parameters, which include data transmission frequency, communication timeout threshold, and local buffer capacity.

3. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 1, characterized in that, The real-time acquisition of sensor data during the bending process of the pipeline includes: An arc sensor and a stress sensor are installed in the predetermined bending area of ​​the pipeline. The arc sensor is used to collect the actual bending arc of the pipeline in real time, and the stress sensor is used to collect the stress value of the pipeline during the bending process in real time. A displacement sensor is installed on the hydraulic bending head. The displacement sensor is used to collect the horizontal and vertical displacements of the hydraulic bending head in real time to determine the real-time speeds V1 and V2 of the hydraulic bending head.

4. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 1, characterized in that, The step of generating adjustment instructions based on the deviation value includes: The control center calculates the difference between the actual bending radius and the target bending radius, as well as the deviation between the real-time rate ratio and the target rate ratio. Determine whether the deviation value exceeds a preset allowable deviation threshold; If the deviation value does not exceed the allowable deviation threshold, the current adjustment command remains unchanged; If the deviation value exceeds the allowable deviation threshold, a new adjustment command is generated. The new adjustment command is used to adjust the values ​​of the vertical speed V1 and the horizontal speed V2 of the hydraulic bending head to correct the speed ratio so that the actual bending arc of the pipe approaches the target bending arc.

5. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 1, characterized in that, The controller activates the local fault tolerance mechanism, including: The controller continuously monitors the communication link status with the control center. When a data transmission timeout is detected to reach a preset communication timeout threshold, it determines that the LTE Cat1 communication network has been interrupted. The controller calls the pipeline bending target parameters and historical adjustment data sequence stored in its local cache unit; The controller takes the historical adjustment data as input and uses the PID control algorithm to predict and control subsequent adjustment movements, generating local adjustment commands to maintain the continuity and stability of the hydraulic bending head movement.

6. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 5, characterized in that, The method further includes: After the LTE Cat1 communication network is restored, the controller will synchronize the sensor data and adjustment records generated and stored during the local fault tolerance period to the control center through the breakpoint resume mechanism. The control center receives and analyzes the synchronized data, recalibrates the global pipeline bending target parameters, generates new adjustment commands based on the calibrated parameters, and takes over the control of the hydraulic bending head.

7. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 1, characterized in that, The method also includes the steps of assembling and securing the equipment before bending, including: A gantry frame is constructed using I-beams to support the horizontal movement of the hydraulic bending head. The gantry frame is equipped with transverse guide rails, a drive motor, diagonal braces, and pre-embedded column feet. Adjust the distance between the two support points of the bending table according to the diameter of the pipe to be bent, and lock the pipe wheel after adjustment to fix the pipe on the bending table.

8. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 1, characterized in that, The method also includes a forming verification step after bending is completed, including: The control center aggregates and processes all sensor data and adjustment command data throughout the bending process. Based on the entire data, a bending curvature report is generated, which includes the final actual curvature, maximum deviation value, stress change curve, and adjustment command record. The indicators in the bending curvature report are compared with the initial design requirements to verify the qualification of this pipe bending and forming.

9. The LTE Cat1-supported pipe bending curvature tolerance adjustment method as described in claim 4, characterized in that, The step of generating adjustment instructions based on the deviation value further includes: The control center monitors the stress values ​​in the sensor data in real time. When the stress value fluctuates abnormally or exceeds the preset safety threshold, the control center will preferentially generate adjustment commands to reduce the vertical speed V1 and horizontal speed V2 of the hydraulic bending head, so as to slow down the bending process and prevent the pipeline from undergoing irreversible deformation due to abnormal stress.

10. An LTE Cat1-supported pipe bending radius tolerance adjustment system, applied to the LTE Cat1-supported pipe bending radius tolerance adjustment method described in any one of claims 1-9, characterized in that, The system includes: The parameter preset and control module is used to control the pipe bending process according to the pipe bending target parameters and LTE Cat1 communication parameters. The pipe bending target parameters include the maximum progress and the rate ratio of the hydraulic bending head. The LTE Cat1 communication parameters include the data transmission frequency, the communication timeout threshold, and the local buffer capacity. The sensing module is used to collect sensing data of the pipeline in real time during the bending process. The sensing data includes the actual bending arc of the pipeline, stress value and real-time displacement data of the hydraulic bending head. The LTE Cat1 communication module is used for bidirectional data and command transmission between the sensing module, the parameter preset and control module, and the controller of the execution module. The dynamic adjustment module, integrated into the parameter preset and control module, is used to receive the sensing data, determine the deviation value between the actual bending state and the target state, and generate adjustment instructions based on the deviation value. The execution module includes a hydraulic bending head and its controller, used to receive the adjustment command and adjust the motion state to correct the deviation value; The fault-tolerant module, integrated in the controller of the execution module, is activated when the LTE Cat1 communication module is interrupted. Based on locally cached parameters and historical data, and using a PID control algorithm, it autonomously maintains the adjustment movement of the hydraulic bending head until communication is restored.

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