Hanging pipe crane for municipal pipeline engineering and control system of hanging pipe crane

Abstract

The invention provides a pipe crane for municipal pipeline engineering and a control system of the pipe crane, and relates to the technical field of pipe cranes, the pipe crane comprises a vehicle body and a hanging bracket, the hanging bracket is rotationally connected to the front side of the vehicle body, an angle sensor is arranged at the rotating joint, the hanging bracket is connected with a hoisting assembly, and a tension sensor is arranged on the hoisting assembly; a plurality of sets of linkage devices are arranged on the shore side of one side of a pipeline groove to synchronously put down a pipeline, a first air cylinder pushes a hanging bracket to rotate and incline, a second winch releases a second inhaul cable, so that a hook and a hanging belt descend, the pipeline is put into the pipeline groove, and in the process, a second air cylinder pushes a telescopic supporting arm to rotate to adjust the angle, and the telescopic supporting arm extends; and according to the shape of a supporting base surface of the opposite bank of the pipeline groove, a third air cylinder is driven to push the supporting plates on the two sides to rotate, the adaptive angle is changed, the supporting plates are matched with friction teeth to be supported on the opposite supporting surface, and the phenomenon that the crane topples over is effectively prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe hoisting crane, and particularly relates to a pipe hoisting crane for municipal pipeline engineering and a control system thereof. BACKGROUND

[0002] In the field of municipal pipeline engineering construction, for the trench lowering operation of long-distance and heavy municipal pipelines, the existing technology generally adopts the operation mode of linear arrangement and synchronous linkage of multiple pipe hoisting cranes along the pipeline trench bank. This operation mode needs to jointly bear the self-weight load of long pipelines by multiple cranes, and cooperatively control the angle of the lifting frame and the lowering speed of the cable, so as to realize the stable falling of the pipeline into the preset position of the pipeline trench. However, the structural design of the existing pipe hoisting crane is not fully adapted to the special working conditions of long pipeline hoisting: since the load transfer of long pipelines has linear distribution characteristics, when the self-weight of the long pipeline acts on the lifting frame of each crane through the lifting belt, an additional overturning moment towards the inner side of the pipeline trench is formed on the main body of the crane. However, the telescopic support arm support system of the existing crane is a static adjustment structure, which can only set the fixed support angle and extension length according to the initial working condition, and cannot dynamically respond to the fluctuation of the overturning moment caused by the change of the pipeline load, so that the crane is prone to the situation that the center of gravity deviates beyond the safety threshold, and then the risk of tilting towards the pipeline trench direction is generated. When multiple pipe hoisting cranes are used to hoist long pipelines, there is a lack of synchronous anti-overturning control mechanism based on working condition coupling, and the operation cooperation between the cranes only depends on manual operation, without establishing a real-time cross-device force state feedback link. When a single crane triggers the tilting trend due to unstable center of gravity, the lateral tension generated by the tilting is transmitted to the adjacent crane through the rigid connection between the crane and the long pipeline, which breaks the original force balance state of the adjacent device, causing the center of gravity of the adjacent crane to deviate, forming a "domino effect" type of chain tilting accident. Such accidents not only cause structural damage to multiple cranes, but also cause secondary disasters such as long pipeline rupture and pipeline trench slope collapse, causing delay in the construction period, posing a serious threat to the safety of on-site construction personnel, and bringing major economic losses and safety risks to municipal engineering construction. Therefore, the present application proposes a pipe hoisting crane for municipal pipeline engineering and a control system thereof to solve the problems in the prior art. SUMMARY

[0003] In view of the above problems, the present application provides a pipe hoisting crane for municipal pipeline engineering and a control system thereof, which effectively prevents the crane from tilting.

[0004] In order to achieve the purpose of the present application, the present application is realized by the following technical solutions: a pipe hoisting crane for municipal pipeline engineering, comprising a vehicle body and a lifting frame, the lifting frame is rotationally connected to the front side of the vehicle body, and an angle sensor is arranged at the rotationally connected position, a hoisting assembly is connected to the lifting frame, and a tension sensor is arranged on the hoisting assembly, and a lifting belt is connected to the lower end of the cable assembly. A telescopic support arm is rotationally arranged at the middle end of the lifting frame, and support plates are rotationally arranged on both sides of the output end of the telescopic support arm.

[0005] Further improvements are as follows: a first hinge seat is arranged below the front side of the vehicle body, the lower end of the lifting frame is hingedly connected to the first hinge seat, the angle sensor is arranged at the hinge connection position of the lifting frame and the first hinge seat, a second hinge seat is arranged at the middle end of the front side of the vehicle body, a first air cylinder is hingedly connected to the second hinge seat, the output end of the first air cylinder is hingedly connected to the lifting frame, a first winch is arranged at the rear side of the top of the vehicle body, and a first cable is connected to the first winch, a connecting head is arranged at the upper end of the rear side of the lifting frame, and one end of the first cable is connected to the connecting head.

[0006] Further improvements are as follows: the hoisting assembly comprises a fixed pulley block, a movable pulley block and a hook, the fixed pulley block is arranged above the front side of the lifting frame, a second winch is arranged at the front side of the top of the vehicle body, and a second cable is connected to the second winch, one end of the second cable passes through the fixed pulley block and is connected to the movable pulley block, the tension sensor is arranged between the movable pulley block and the hook, the lifting belt is hung on the hook, and the lifting belt is used for hoisting the pipeline.

[0007] Further improvements are as follows: second air cylinders are hingedly arranged at the middle positions of both ends of the lifting frame, connecting plates are hingedly connected to the output ends of the second air cylinders, the connecting plates are fixed to the telescopic support arm through bolts, hinge blocks are arranged at the output ends of the telescopic support arms, hinge joints are arranged at one end of the support plates, the hinge joints are rotationally connected to the hinge blocks, third air cylinders are hingedly arranged at the upper and lower positions of the output ends of the telescopic support arms, and the output ends of the third air cylinders are hingedly connected to the support plates.

[0008] Further improvements are as follows: lifting plates are movably arranged inside the support plates, the lifting plates are lifted by electric push rods, the friction teeth are arranged on the lifting plates, through holes are arranged on one side of the support plates, and the friction teeth extend out of the support plates through the through holes.

[0009] A control system for a pipe hoisting crane for municipal pipeline engineering, comprising a visual acquisition module, a data processing unit and an execution control module; the visual acquisition module is installed at the top of the lifting frame and is used for acquiring image data and distance information of the opposite bank of the pipeline groove; The data processing unit is electrically connected to the vision acquisition module, angle sensor, and tension sensor, respectively, and is used to calculate the distance L of the opposite bank of the pipeline based on the visual data, and to calculate the extension length of the telescopic support arm. It is used to calculate and adjust the rotation angle θ of the telescopic outrigger, and also to determine the shape of the support base on the opposite bank of the pipeline based on visual data, and to calculate and adjust the rotation angle of the support plate. It is also used to receive the hanger angle change rate α from the angle sensor and the tension change rate F from the tension sensor, calculate the synchronization deviation ΔS of multiple pipe cranes, and perform adaptive adjustment; The execution control module is used to execute the control commands output by the data processing unit to control the adjustment of the pipe-lifting crane.

[0010] A further improvement is made by calculating the extension length of the telescopic outrigger using the following formula. : Where: L is the distance to the opposite bank of the pipeline measured by the visual acquisition module (unit: m); The initial length of the telescopic outrigger (length when not extended, unit: m); The initial rotation angle of the telescopic boom (the angle between the boom and the hanger, in degrees). The rotation angle θ of the telescopic outrigger can be calculated using the following formula: Where: H is the installation height of the visual acquisition module (relative to the ground on the bank of the pipeline, unit: m); h is the average height of the support base on the opposite bank of the pipeline (identified by visual data, unit: m); L is the distance on the opposite bank of the pipeline (unit: m). Based on visual data, determine the shape of the support base on the opposite bank of the pipeline trench, including flat surfaces, slopes, and irregular curved surfaces. Then, based on this, output control signals according to the following formula to adjust the rotation angle of the support plate. ; in: The target rotation angle of the support plate, relative to the telescopic arm, in degrees; The real-time rotation angle of the telescopic outrigger is calculated using the above formula, in degrees. β is the slope of the support base opposite the pipe trench, calculated from the 3D LiDAR point cloud data scanned by the vision acquisition module: β = 0° for a flat surface, β is the angle between the base surface and the horizontal plane (5°-30°) for a sloping surface, and β is the average slope of a local area of ​​the base surface for an irregular curved surface, in degrees. When the base surface is flat (β = 0°), = +90°, to ensure that the support plate is perpendicular to the horizontal plane; when the base surface is a slope (β=5°-30°), θ1 decreases with the increase of β, to ensure that the support plate adheres to the slope; when the base surface is an irregular curved surface, the average value of the local region β is taken to calculate Adhesion is achieved by segmented adjustment. The synchronization deviation ΔS of multiple pipe lifting cranes is calculated by the following formula: when ΔS exceeds the threshold T, an adaptive adjustment signal is output to control the lifting assembly and the lifting frame, to ensure that multiple devices are synchronized to lower the pipeline. Wherein: is the lifting frame angle change rate of the i-th pipe lifting crane (unit: ° / s); α_avg is the average value of the lifting frame angle change rate of all synchronized operation devices (unit: ° / s); is the tension change rate of the i-th pipe lifting crane (unit: N / s); F_avg is the average value of the tension change rate of all synchronized operation devices (unit: N / s).

[0011] Further improvement lies in that the threshold T of the synchronization deviation is set to 5%, and when ΔS>5%, the data processing unit outputs an adjustment signal: when , it indicates that the i-th device is lowering too fast; when , it indicates that the i-th device is lowering too slowly.

[0012] Further improvement lies in that the visual acquisition module includes a binocular camera and a 3D laser radar; the binocular camera is used to acquire a two-dimensional image of the opposite bank of the pipeline slot and calculate the distance L by parallax; the 3D laser radar is used to scan three-dimensional point cloud data of the support base surface, to assist in judging the shape of the base surface, wherein the plane determination standard is that the point cloud height difference is ≤0.1m, the slope determination standard is that the point cloud height difference changes linearly along the horizontal direction, the slope is 5°-30°, and the irregular curved surface determination standard is that the point cloud height difference is >0.1m and has a nonlinear pattern, and the base surface slope β is calculated by point cloud fitting.

[0013] Further improvement lies in that when the data processing unit judges the shape of the support base surface, a convolutional neural network image segmentation algorithm is adopted: the image acquired by the visual acquisition module is input into a pre-trained CNN model, the model outputs the semantic segmentation result of the base surface region, the base surface type is determined by calculating the height gradient and curvature in the segmented region, and the calculation result of the base surface slope β is corrected in combination with the point cloud data of the 3D laser radar, and the data processing unit is also provided with a redundancy processing module: when the main data processing unit fails, the redundancy processing module automatically switches to work, receives the data of the visual acquisition module, the angle sensor and the tension sensor, and maintains the normal operation of the control system.

[0014] The beneficial effects of the present application are: 1. The multiple groups linkage of the application synchronously lowers the pipeline on one side of the pipeline groove, the first cylinder pushes the hanger to rotate and tilt, the second winch releases the second cable, so that the hook and the sling are lowered, and the pipeline is placed into the pipeline groove, in this process, the second cylinder pushes the telescopic support arm to rotate and adjust the angle, the telescopic support arm is elongated, so that the support plate supports the opposite bank of the pipeline groove, synchronously, according to the shape of the support surface on the opposite bank of the pipeline groove, the third cylinder is driven to push the support plates on both sides to rotate, the angle is changed to adapt, and the friction teeth are supported on the opposite support surface, so that the phenomenon of crane overturning is effectively prevented.

[0015] 2. The friction teeth are arranged on the lifting plate, the lifting plate is lifted and moved in the support plate, the friction teeth are driven to extend out of the support plate or retract through the through hole, so that the adhered soil on the friction teeth is scraped off, and the friction force is ensured.

[0016] 3. The visual acquisition module and the formula are used to automatically calculate the distance between the opposite banks of the pipeline groove and the shape of the support surface without manual judgment, the elongation length and the rotation angle of the telescopic support arm are quickly adjusted, and the target rotation angle of the support plate can be accurately calculated according to the slope β of the base surface. Without replacing the equipment, the diversified construction scene can be met, the error and trial time of manual adjustment are avoided, the time consumption of single equipment adjustment is short, and the overturning risk caused by improper support is prevented.

[0017] 4. The formula is used to calculate the synchronous deviation of multiple devices in real time, when a device is lowered too fast or too slowly, the winch speed and the cylinder thrust are adaptively adjusted, so that the angle change rate deviation of all devices is less than or equal to 5%, the tension change rate deviation is less than or equal to 5%, the pipeline lowering speed difference is controlled to be less than or equal to 0.05 m / min, the bending deformation of the pipeline caused by uneven stress is effectively avoided, and the pipeline damage rate is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a front view of the application; Figure 2 It is a schematic view of the structure on the hanger of the application; Figure 3 It is a schematic view of the structure on the telescopic support arm of the application; Figure 4 It is a schematic view of the support plate of the application; Figure 5 It is a schematic view of the synchronous operation of multiple cranes of the application; Figure 6 It is a schematic view of the system of the application.

[0019] Wherein: 1, the car body; 2, the hanger; 3, the sling; 4, the tension sensor; 5, the telescopic support arm; 6, the support plate; 7, the friction gear; 8, the first hinge seat; 9, the second hinge seat; 10, the first cylinder; 11, the first winch; 12, the first cable; 13, the connector; 14, the fixed pulley block; 15, the second winch; 16, the second cable; 17, the movable pulley block; 18, the hook; 19, the second cylinder; 20, the connecting plate; 21, the hinge block; 22, the hinge; 23, the third cylinder; 24, the pipeline. DETAILED DESCRIPTION

[0020] In order to deepen the understanding of the present application, the present application will be further described below in conjunction with examples, which are only used to explain the present application and do not constitute a limitation on the scope of protection of the present application.

[0021] Example one According to Figure 1 , 2 , 3, 4, 5, 6, the present application proposes a pipe hoisting crane for municipal pipeline engineering, which comprises a car body 1 and a hanger 2, the hanger 2 is rotatably connected to the front side of the car body 1, and an angle sensor is arranged at the rotatable connection, a hoisting assembly is connected to the hanger 2, and a tension sensor 4 is arranged on the hoisting assembly, and a sling 3 is connected below the cable assembly. A telescopic support arm 5 is rotatably arranged at the middle end of the hanger 2, and support plates 6 are rotatably arranged on both sides of the output end of the telescopic support arm 5, and a friction gear 7 is arranged on one side of the support plate 6. When in use, multiple groups of linkage are used to synchronously lower the pipeline on one side of the pipeline groove, the first cylinder 10 pushes the hanger 2 to rotate and tilt, the second winch 15 releases the second cable 16, so that the hook 18 and the sling 3 are lowered, and the pipeline is placed into the pipeline groove, in this process, the second cylinder 19 pushes the telescopic support arm 5 to rotate and adjust the angle, the telescopic support arm 5 is elongated, so that the support plate 6 supports the opposite bank of the pipeline groove, synchronously, according to the shape of the support surface on the opposite bank of the pipeline groove, the third cylinder 23 is driven to push the support plates 6 on both sides to rotate, so as to change the adaptive angle, and the friction gear is supported on the opposite support surface, effectively preventing the crane from tilting.

[0022] The lower side of the front side of the vehicle body 1 is provided with a first hinge seat 8, the lower end of the hanger 2 is hinged with the first hinge seat 8, the angle sensor is arranged at the hinge between the hanger 2 and the first hinge seat 8, the middle end of the front side of the vehicle body 1 is provided with a second hinge seat 9, and the first cylinder 10 is hinged on the second hinge seat 9, the output end of the first cylinder 10 is hinged with the hanger 2, the rear side of the top of the vehicle body 1 is provided with a first winch 11, and the first drag rope 12 is connected on the first winch 11, the upper end of the rear side of the hanger 2 is provided with a connecting head 13, and one end of the first drag rope 12 is connected with the connecting head 13. In use, the first cylinder 10 pushes the hanger 2 to rotate and tilt, synchronously, the first winch 11 releases the first drag rope 12 to connect the hanger 2, so as to ensure the stability of the rotation of the hanger 2, and the angle sensor senses the angle of the rotation of the hanger 2.

[0023] The lifting assembly comprises a fixed pulley set 14, a movable pulley set 17 and a hook 18, the fixed pulley set 14 is arranged above the front side of the hanger 2, the front side of the top of the vehicle body 1 is provided with a second winch 15, and the second drag rope 16 is connected on the second winch 15, one end of the second drag rope 16 is wound around the fixed pulley set 14 and connected with the movable pulley set 17, the tension sensor 4 is arranged between the movable pulley set 17 and the hook 18, the sling 3 is hung on the hook 18, and the sling 3 is used for hoisting the pipeline 24. In use, the second winch 15 releases the second drag rope 16, through the linkage of the fixed pulley set 14 and the movable pulley set 17, the hook 18 and the sling 3 are lowered, so as to lower the pipeline 24, and the tension sensor 4 senses the real-time tension of the lowering pipeline.

[0024] The middle positions of the two ends of the hanger 2 are hinged with the second cylinder 19, the output end of the second cylinder 19 is hinged with the connecting plate 20, the connecting plate 20 is fixed with the telescopic support arm 5 through bolts, the output end of the telescopic support arm 5 is provided with the hinge block 21, one end of the support plate 6 is provided with the hinge head 22, the hinge head 22 is rotationally connected with the hinge block 21, the upper and lower positions of the output end of the telescopic support arm 5 are hinged with the third cylinder 23, and the output end of the third cylinder 23 is hinged with the support plate 6. In use, the second cylinder 19 pushes the telescopic support arm 5 to rotate and adjust the angle, the telescopic support arm 5 is elongated, so that the support plate 6 supports the opposite bank of the pipeline groove, synchronously, according to the shape of the support surface on the opposite bank of the pipeline groove, the third cylinder 23 is driven to push the support plates 6 on both sides to rotate, the adaptive angle is changed, and the friction tooth is supported on the opposite support surface, which effectively prevents the crane from tilting.

[0025] The inside of the support plate 6 is provided with a lifting plate, and the lifting plate is lifted by an electric push rod; the friction teeth 7 are arranged on the lifting plate; one side of the support plate 6 is provided with a through hole, and the friction teeth 7 extend out of the support plate 6 through the through hole. The friction teeth 7 are arranged on the lifting plate, the lifting plate is lifted in the support plate 6, the friction teeth 7 are driven to extend out of the support plate 6 or retract through the through hole, the soil adhered to the friction teeth 7 is scraped off, and the friction force is ensured.

[0026] Embodiment two According to Figure 1 , 2 , 3, 4, 5, 6, the embodiment provides a control system of a pipe hoisting crane for municipal pipeline engineering, which comprises a visual acquisition module, a data processing unit and an execution control module; the visual acquisition module is installed at the top of a lifting frame 2 and is used for acquiring image data and distance information of an opposite bank of a pipeline groove; The data processing unit is electrically connected with the visual acquisition module, an angle sensor and a tension sensor 4 respectively, is used for calculating the distance L of the opposite bank of the pipeline groove according to the visual data, calculating the elongation length of an adjustable telescopic support arm 5 , calculating the rotation angle θ of the telescopic support arm 5, and is also used for judging the shape of a support base surface of the opposite bank of the pipeline groove according to the visual data, calculating the rotation angle of a support plate 6 , and receiving the lifting frame angle change rate α of the angle sensor and the tension change rate F of the tension sensor 4, calculating the synchronization deviation ΔS of a plurality of pipe hoisting cranes and performing adaptive adjustment; The execution control module is used for executing the control instructions output by the data processing unit and controlling the adjustment of the pipe hoisting crane. The execution control module is also electrically connected with a second cylinder 19 of the telescopic support arm 5; the data processing unit calculates the rotation angle θ according to the formula and outputs a signal to control the telescopic amount of the second cylinder 19, so that the rotation angle of the telescopic support arm 5 is accurately adjusted (adjustment accuracy ±0.5°); and the data processing unit calculates according to the formula and controls the telescopic amount of a third cylinder 23, so that the rotation angle of the support plate 6 is adjusted (adjustment accuracy ±0.3°).

[0027] The elongation length of the telescopic support arm 5 is calculated according to the following formula : Wherein, L is the distance of the opposite bank of the pipeline groove measured by the visual acquisition module (unit: m); is the initial length of the telescopic support arm 5 (the length when not elongated, unit: m); is the initial rotation angle of the telescopic support arm 5 (the included angle with the lifting frame 2, unit: °); The rotation angle θ of the telescopic support arm 5 is calculated according to the following formula Where: H is the installation height of the visual acquisition module (relative to the ground on the bank of the pipeline, unit: m); h is the average height of the support base on the opposite bank of the pipeline (identified by visual data, unit: m); L is the distance on the opposite bank of the pipeline (unit: m). Based on visual data, determine the shape of the support base on the opposite bank of the pipeline trench, including flat surfaces, slopes, and irregular curved surfaces. Then, based on this, output a control signal according to the following formula to adjust the rotation angle of the support plate 6. ; in: The target rotation angle of the support plate 6 is the included angle relative to the telescopic arm 5, in degrees. The real-time rotation angle of the telescopic outrigger 5 is calculated using the above formula, in degrees. β is the slope of the support base opposite the pipe trench, calculated from the 3D LiDAR scanning point cloud data of the visual acquisition module: β = 0° for a flat surface, β is the angle between the base surface and the horizontal plane (5°-30°) for a sloping surface, and β is the average slope of a local area of ​​the base surface for an irregular curved surface, in degrees. When the base surface is flat (β = 0°), = +90°, ensuring the support plate is perpendicular to the horizontal plane; when the base surface is a slope (β=5°-30°), The value decreases as β increases to ensure the support plate fits the slope; when the base surface is an irregular curved surface, the average value of β in a local area is used for calculation. Achieving a snug fit through segmented adjustments; The synchronization deviation ΔS of multiple pipe-laying cranes is calculated using the following formula. When ΔS exceeds the threshold T, an adaptive adjustment signal is output to control the lifting components and the lifting frame 2, ensuring that multiple devices lower the pipe synchronously. in: Let α_avg be the rate of change of the lifting angle of the i-th pipe-laying crane (unit: ° / s); α_avg be the average rate of change of the lifting angle of all synchronously operating equipment (unit: ° / s); Fᵢ be the rate of change of the tension of the i-th pipe-laying crane (unit: N / s); F_avg be the average rate of change of the tension of all synchronously operating equipment (unit: N / s).

[0028] The threshold T for the synchronization deviation is set to 5%; when ΔS > 5%, the data processing unit outputs an adjustment signal: if This indicates that the i-th piece of equipment is being lowered too quickly. The speed of the second winch 15 should be reduced by 10%-20%, and the thrust of the first cylinder 10 should be reduced by 5%-15%. When the ΔS exceeds the threshold T, the adaptive adjustment signal is output to control the rotation speed of the second winch 15 and the thrust of the first cylinder 10, so as to ensure the synchronous lowering of the multiple devices.

[0029] The visual acquisition module includes a binocular camera and a 3D laser radar. The binocular camera is used to acquire a two-dimensional image of the opposite bank of the pipeline slot and calculate the distance L by parallax. The 3D laser radar is used to scan the three-dimensional point cloud data of the support base surface to assist in judging the base surface shape. The plane determination standard is that the point cloud height difference is less than or equal to 0.1 m. The slope determination standard is that the point cloud height difference changes linearly along the horizontal direction, and the slope is 5°-30°. The irregular curved surface determination standard is that the point cloud height difference is greater than 0.1 m and the nonlinear pattern, and the base surface slope β is calculated by point cloud fitting. The visual acquisition module combines the binocular camera and the 3D laser radar, which can adapt to different light (sunny, cloudy, night light) and base surface types (plane, slope, irregular curved surface).

[0030] When the data processing unit judges the shape of the support base surface, a convolutional neural network image segmentation algorithm is used. The image obtained by the visual acquisition module is input into the pre-trained CNN model, the model outputs the semantic segmentation result of the base surface area, the base surface type is determined by calculating the height gradient and curvature in the segmentation area, and the calculation result of the base surface slope β is corrected in combination with the point cloud data of the 3D laser radar. The data processing unit is also provided with a redundancy processing module. When the main data processing unit fails, the redundancy processing module automatically switches to work, receives the data of the visual acquisition module, the angle sensor and the tension sensor 4, and maintains the normal operation of the control system. The design of the redundancy processing module avoids the interruption of work caused by the failure of the data processing unit, improves the continuous operation reliability of the device to more than 99.5%, and reduces the risk of construction delay.

[0031] The multiple groups linkage synchronously lowers the pipeline on one side of the pipeline groove, the first cylinder 10 drives the hanger 2 to rotate and tilt, the second winch 15 releases the second cable 16, so that the hook 18 and the sling 3 are lowered, and the pipeline is placed into the pipeline groove, in the process, the second cylinder 19 drives the telescopic support arm 5 to rotate and adjust the angle, the telescopic support arm 5 is lengthened, so that the support plate 6 supports the opposite bank of the pipeline groove, synchronously, according to the shape of the support surface on the opposite bank of the pipeline groove, the third cylinder 23 is driven to drive the support plates 6 on both sides to rotate, the angle is changed to adapt, and the friction teeth are supported on the opposite support surface, so that the crane tilting phenomenon is effectively prevented. And the friction teeth 7 are arranged on the lifting plate, the lifting plate is lifted and moved in the support plate 6, the friction teeth 7 are driven to extend out of the support plate 6 or retract, so as to facilitate scraping the soil adhered to the friction teeth 7, and the friction force is ensured. At the same time, through the visual acquisition module and the formula, the distance between the opposite banks of the pipeline groove and the shape of the support surface can be automatically calculated without manual judgment, the lengthening length and the rotation angle of the telescopic support arm can be quickly adjusted, and the target rotation angle of the support plate can also be accurately calculated according to the slope β of the base surface , without replacing the equipment, various construction scenes can be met, the error and trial time of manual adjustment are avoided, the time consumption of single equipment adjustment is short, and the overturning risk caused by improper support is prevented. In addition, the synchronous deviation of multiple devices is calculated in real time through the formula, when a device is lowered too fast or too slowly, the winch speed and the cylinder thrust are adaptively adjusted, so that the angle change rate deviation of all devices is less than or equal to 5%, the tension change rate deviation is less than or equal to 5%, the pipeline lowering speed difference is controlled to be less than or equal to 0.05 m / min, the bending deformation of the pipeline caused by uneven stress is effectively avoided, and the pipeline damage rate is reduced.

[0032] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited to the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A pipe-lifting crane for municipal pipeline engineering, comprising a vehicle body (1) and a lifting frame (2), characterized in that: The gantry (2) is rotatably connected to the front side of the vehicle body (1), and an angle sensor is provided at the rotatable connection. A lifting assembly is connected to the gantry (2), and a tension sensor (4) is provided on the lifting assembly. A sling (3) is connected to the bottom of the cable assembly. The middle end of the hanger (2) is provided with a telescopic arm (5), and both sides of the output end of the telescopic arm (5) are provided with a support plate (6), and one side of the support plate (6) is provided with a friction tooth (7).

2. The pipe-lifting crane for municipal pipeline engineering according to claim 1, characterized in that: The lower front side of the vehicle body (1) is provided with a first hinge seat (8), the lower end of the hanger (2) is hinged to the first hinge seat (8), the angle sensor is provided at the hinge of the hanger (2) and the first hinge seat (8), the middle front side of the vehicle body (1) is provided with a second hinge seat (9), and a first cylinder (10) is hinged on the second hinge seat (9). The output end of the first cylinder (10) is hinged to the hanger (2). The rear side of the top of the vehicle body (1) is provided with a first winch (11), and a first cable (12) is connected to the first winch (11). The upper rear side of the hanger (2) is provided with a connector (13), and one end of the first cable (12) is connected to the connector (13).

3. A pipe-lifting crane for municipal pipeline engineering according to claim 1, characterized in that: The lifting assembly includes a fixed pulley group (14), a movable pulley group (17), and a hook (18). The fixed pulley group (14) is located above the front side of the lifting frame (2). A second winch (15) is provided on the front side of the top of the vehicle body (1), and a second cable (16) is connected to the second winch (15). One end of the second cable (16) passes around the fixed pulley group (14) and is connected to the movable pulley group (17). The tension sensor (4) is located between the movable pulley group (17) and the hook (18). The sling (3) is hung on the hook (18) and is used to lift the pipe (24).

4. A pipe-lifting crane for municipal pipeline engineering according to claim 1, characterized in that: The second cylinder (19) is hinged at the middle position of both ends of the hanger (2), and the output end of the second cylinder (19) is hinged to the connecting plate (20). The connecting plate (20) is fixed to the telescopic arm (5) by bolts. The output end of the telescopic arm (5) is provided with a hinge block (21). One end of the support plate (6) is provided with a hinge joint (22). The hinge joint (22) is rotatably connected to the hinge block (21). The upper and lower positions of the output end of the telescopic arm (5) are both hinged to the third cylinder (23), and the output end of the third cylinder (23) is hinged to the support plate (6).

5. A pipe-lifting crane for municipal pipeline engineering according to claim 1, characterized in that: The support plate (6) is equipped with a lifting plate inside, and the lifting plate is pushed up and down by an electric push rod. The friction teeth (7) are provided on the lifting plate. A through hole is provided on one side of the support plate (6), and the friction teeth (7) extend out of the support plate (6) through the through hole.

6. A control system for a pipe-lifting crane used in municipal pipeline engineering, applied to a pipe-lifting crane used in municipal pipeline engineering as described in any one of claims 1-5, characterized in that: It includes a visual acquisition module, a data processing unit, and an execution control module; the visual acquisition module is installed on the top of the hanger (2) and is used to acquire image data and distance information of the opposite bank of the pipeline channel; The data processing unit is electrically connected to the vision acquisition module, the angle sensor, and the tension sensor (4) respectively, and is used to calculate the distance L of the opposite bank of the pipeline based on the visual data, and to calculate the extension length of the telescopic support arm (5). The calculation of the rotation angle θ of the telescopic support arm (5) is also used to determine the shape of the support base on the opposite bank of the pipeline based on visual data, and to calculate the rotation angle of the support plate (6). It is also used to receive the hanger angle change rate α of the angle sensor and the tension change rate F of the tension sensor (4) to calculate the synchronization deviation of multiple pipe-hanging cranes. To make adaptive adjustments; The execution control module is used to execute the control commands output by the data processing unit to control the adjustment of the pipe-lifting crane.

7. The control system for a pipe-lifting crane used in municipal pipeline engineering according to claim 6, characterized in that: The extension length of the telescopic outrigger (5) can be calculated using the following formula. : Where: L is the distance to the opposite bank of the pipeline measured by the visual acquisition module (unit: m); The initial length of the telescopic outrigger (5) (length when not extended, unit: m); The initial rotation angle of the telescopic boom (5) (angle with the hanger (2), unit: °); The rotation angle θ of the telescopic outrigger (5) can be calculated using the following formula: Where: H is the installation height of the visual acquisition module (relative to the ground on the bank of the pipeline, unit: m); h is the average height of the support base on the opposite bank of the pipeline (identified by visual data, unit: m); L is the distance on the opposite bank of the pipeline (unit: m). Based on visual data, determine the shape of the support base on the opposite bank of the pipeline, including flat surfaces, slopes, and irregular curved surfaces. Based on this, output control signals according to the following formula to adjust the rotation angle of the support plate (6). ; in: The target rotation angle of the support plate (6) is the included angle relative to the telescopic arm (5), in °; The real-time rotation angle of the telescopic boom (5) is calculated from the above formula, in °; β is the slope of the support base on the opposite bank of the pipeline trench, calculated from the 3D laser radar scanning point cloud data of the vision acquisition module: β=0° when it is a plane, β is the angle between the base surface and the horizontal plane (5°-30°) when it is a slope, and β is the average slope of the local area of ​​the base surface when it is an irregular curved surface, in °; when the base surface is a plane (β=0°), = +90°, ensuring the support plate is perpendicular to the horizontal plane; when the base surface is a slope (β=5°-30°), The value decreases as β increases to ensure the support plate fits the slope; when the base surface is an irregular curved surface, the average value of β in a local area is used for calculation. Achieving a snug fit through segmented adjustments; The synchronization deviation ΔS of multiple pipe-laying cranes is calculated using the following formula. When ΔS exceeds the threshold T, an adaptive adjustment signal is output to control the lifting components and the hanger (2) to ensure that multiple devices lower the pipes synchronously. in: Let α_avg be the rate of change of the lifting angle of the i-th pipe-lifting crane (unit: ° / s); α_avg is the average rate of change of the lifting angle of all synchronously operating equipment (unit: ° / s). F_avg represents the rate of change of tension of the i-th pipe-laying crane (unit: N / s); F_avg represents the average rate of change of tension of all synchronously operating equipment (unit: N / s).

8. The control system for a pipe-lifting crane used in municipal pipeline engineering according to claim 7, characterized in that: The threshold T for the synchronization deviation is set to 5%. When ΔS > 5%, the data processing unit outputs an adjustment signal: when This indicates that the i-th device was deployed too quickly; when This indicates that the deployment of the i-th device is too slow.

9. The control system for a pipe-lifting crane used in municipal pipeline engineering according to claim 8, characterized in that: The visual acquisition module includes a binocular camera and a 3D LiDAR. The binocular camera is used to acquire two-dimensional images of the opposite bank of the pipeline channel and calculate the parallax to obtain the distance L. The 3D LiDAR is used to scan the three-dimensional point cloud data of the supporting base surface to assist in judging the shape of the base surface. The criteria for judging a planar surface are: point cloud height difference ≤ 0.1m; the criteria for judging a slope are: point cloud height difference changes linearly in the horizontal direction with a slope of 5°-30°; and the criteria for judging an irregular curved surface are: point cloud height difference > 0.1m and a non-linear pattern. At the same time, the base surface slope β is calculated by fitting the point cloud.

10. The control system for a pipe-lifting crane used in municipal pipeline engineering according to claim 9, characterized in that: When the data processing unit determines the shape of the supporting base surface, it adopts a convolutional neural network image segmentation algorithm: the image acquired by the visual acquisition module is input into the pre-trained CNN model, the model outputs the semantic segmentation result of the base surface area, the base surface type is determined by calculating the height gradient and curvature in the segmented area, and the calculation result of the base surface slope β is corrected by combining the point cloud data of the 3D laser radar. The data processing unit is also equipped with a redundant processing module. When the main data processing unit fails, the redundant processing module automatically switches to work, receives data from the visual acquisition module, angle sensor, and tension sensor (4), and maintains the normal operation of the control system.

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