Transport vehicle for pressure steel pipe transportation, attitude control system and transportation method

Abstract

The invention relates to the technical field of transportation equipment, and discloses a transport vehicle for pressure steel pipe transportation, a posture control system and a transport method.The transport vehicle is arranged on a track in a hole in pairs to synchronously advance and comprises a walking assembly, a rotating assembly, a clamping assembly and a control unit, the walking assembly is connected with the track, and a second sensor assembly is arranged at the advancing end of the top of the walking assembly; the scanning module is used for scanning an operation area and constructing a global map in combination with a GPS; the rotating assembly is connected to the upper end of the walking assembly and drives the clamping assembly to rotate according to the global map. The clamping assembly is provided with a clamping part and a lifting part, and the lifting part is electrically connected with the second sensor assembly; the control unit is in communication connection with each component; the traditional'manual leading 'transportation is upgraded to'autonomous control', the low manual turning efficiency and potential safety hazards are eliminated, the problems of steel pipe heeling, trembling and the like are solved through real-time posture adjustment, and the method is suitable for safe transportation of the pressure steel pipes in complex scenes such as in-hole rails and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation equipment, in particular to a transport vehicle for transporting pressure steel pipes, a posture control system and a transportation method. BACKGROUND

[0002] In the scenario of transporting pressure steel pipes through a curve, due to the difference in path length between the inside and outside of the curve, the double roller frame needs to have different turning angles to adapt to the curve track. However, in the prior art, the angle adjustment of the double roller frame mostly relies on manual operation, and the operator needs to manually adjust the position and angle of the roller frame before passing through the curve. This process not only consumes a lot of time and prolongs the overall transportation operation time, but also, when the operator operates near the equipment, improper operation can easily cause the pressure steel pipe to shift, roll off, etc., posing a serious threat to the personal safety of the operator and greatly increasing the safety hazards in the operation process.

[0003] At the same time, the pressure steel pipe will also vibrate due to road bumps during transportation, and will be affected by centrifugal force when turning, causing the steel pipe to easily assume unstable postures such as tilting and shaking. These unstable postures not only interfere with the normal operation of the transportation equipment itself, but also further threaten the safety of the on-site operators, posing risks such as equipment damage, steel pipe falling and injuring people, and bringing great safety challenges to the transportation of pressure steel pipes. SUMMARY

[0004] The purpose of the present application is to provide a transport vehicle for transporting pressure steel pipes, a posture control system and a transportation method, which upgrades the traditional "manual dominated" transportation mode to "autonomous control", eliminating the low efficiency and safety hazards of manual curve passing, and solving the stability problems of steel pipe tilting and shaking through real-time posture adjustment. At the same time, the flexible bearing part of the clamping assembly forms a flexible active space, providing a deflection space for the steel pipe, adapting to the path difference between the inside and outside of the curve, reducing the turning radius limitation, avoiding stress concentration or obstruction caused by rigid constraint, and significantly improving the transportation stability, safety and adaptability in complex environments.

[0005] The present application is realized by the following technical solutions: A transport vehicle for transporting pressure steel pipes, the transport vehicle is arranged in pairs on the tunnel track and travels synchronously, the transport vehicle comprises: a walking assembly, the walking assembly is connected to the tunnel track, comprising a second sensor assembly, the second sensor assembly is arranged on the top of the walking assembly and located on the advancing end, the second sensor assembly is used for scanning the operation area and constructing a global map in combination with GPS positioning; a rotating assembly, the rotating assembly is connected to the upper end of the walking assembly and drives the clamping assembly to rotate according to the constructed global map; The clamping assembly comprises a clamping part for clamping the pressure steel pipe, a bearing part for bearing the pressure steel pipe, and a lifting part connected below the clamping part, and the lifting part is electrically connected with the second sensor assembly, wherein the bearing part is a component made of flexible material, and both ends of the component are connected to the clamping part and move with the clamping part, and a flexible moving space is formed for the pressure steel pipe. The control unit is in communication connection with the walking assembly, the rotating assembly, the clamping assembly and the second sensor assembly respectively.

[0006] In the scheme, the second sensor assembly scans the working area and constructs a global map in combination with the GPS, so as to realize accurate perception of the track environment in the tunnel and autonomous path planning, and overcome the low efficiency and error problem of relying on manual judgment of the path in the prior art; the rotating assembly can drive the clamping assembly to rotate according to the global map, and the clamping assembly cooperates with the synchronous movement of the pair of transport vehicles, so as to automatically adapt to the curved track without manual adjustment of the angle, thereby solving the safety hazard and low efficiency problem existing in the traditional manual operation; the flexible bearing part of the clamping assembly is made of flexible material and both ends thereof are connected to the clamping part to form a flexible moving space, so as to provide adaptive deflection space for the pressure steel pipe, accommodate the angle deflection caused by the difference between the inside and outside paths when passing through the curved track, reduce the limitation on the turning radius of the curved track, and avoid stress concentration or transportation obstruction caused by rigid constraint; the lifting part is electrically connected with the second sensor assembly, and can be dynamically adjusted in height to adapt to steel pipes of different diameters and track flatness, and cooperates with the control unit to control the cooperation of each assembly, so as to realize real-time optimization of the posture of the pressure steel pipe during transportation, and significantly improve the transportation stability, safety and adaptability in the complex track environment in the tunnel compared with the prior art.

[0007] As a further scheme of the transport vehicle, the walking assembly further comprises a limiting wheel and a support frame, the limiting wheel is arranged in pairs on both sides of the support frame and in rolling contact with the side surface of the track in the tunnel, so as to effectively constrain the lateral displacement of the transport vehicle during movement along the track, and further avoid lateral shaking or displacement of the transport vehicle caused by factors such as track unevenness, centrifugal force when passing through a curve, or offset of the gravity center of the steel pipe.

[0008] As a further scheme of the transport vehicle, the rotating assembly comprises a second driving assembly, a driving gear and a support disc. The support disc is rotatably connected with the walking assembly through a bearing, and an edge thereof is provided with a gear ring engaged with the driving gear. The second driving assembly drives the driving gear to rotate according to the global map information constructed, so as to drive the support disc to drive the clamping assembly to rotate around a vertical axis, so that the transport vehicle can automatically adjust the angle of the steel pipe when passing through a curve, dynamically match the track curvature, avoid the hysteresis and errors of traditional manual operation, and form a closed-loop control by feeding back the rotation angle to the control unit in real time during the rotation through an encoder, so as to ensure that the angle difference of the paired transport vehicles is less than or equal to 1° when the transport vehicles are in action, and significantly improve the stability of the steel pipe during the curve passing process and reduce the stress concentration and shaking risk caused by the angle deviation.

[0009] As a further scheme of the transport vehicle, the clamping part of the clamping assembly comprises a rotating seat, a clamping plate and a first sensor assembly. The rotating seat is rotatably connected with the lifting frame of the lifting part, so that the clamping plate can be adaptively rotated according to the posture of the pressure steel pipe, and local stress concentration caused by rigid clamping is avoided. The clamping plate is arranged in pairs on the rotating seat, and is driven to relatively approach or move away from each other by a fourth driving assembly, so as to adapt to pressure steel pipes of different diameters and enhance the versatility. Meanwhile, the first sensor assembly is arranged at the bottom of the bearing part, and is used for detecting the contact pressure between the pressure steel pipe and the bearing part. The pressure data can be fed back to the control unit in real time, the clamping force is dynamically adjusted, and the pressure steel pipe is prevented from shaking and falling off due to over-looseness or surface damage caused by over-tightness.

[0010] As a further scheme of the transport vehicle, the lifting part comprises an adjusting frame, an adjusting block and a straight rack. The adjusting frame is fixed on the support disc. The adjusting block is slidably connected with the adjusting frame. The adjusting block drives the lifting frame to lift along the vertical direction by a third driving assembly. The height of the clamping part can be flexibly adjusted according to the diameter of the pressure steel pipe, the track flatness and the posture change in the transportation process, so that the clamping plate can clamp the steel pipe at a suitable height, and the steel pipe is prevented from tilting or being unevenly stressed due to unsuitable height. The upper side of the adjusting block is fixedly connected with the lifting frame. The other side of the lifting frame is fixedly connected with the straight rack. The output end of the fourth driving assembly is provided with a gear engaged with the straight rack. The fourth driving assembly is driven to relatively approach or move away from each other, and the first sensor assembly detects the contact pressure, so that the clamping force is dynamically optimized, and the steel pipe is prevented from falling off or surface damage.

[0011] A posture control system for pressure steel pipe transportation is used for the above transport vehicle, and comprises: An environment perception module based on the laser radar and the industrial camera of the second sensor assembly acquires the curve of the curve, the track flatness and the position deviation of the pressure steel pipe in the working area in real time, and constructs a global map in combination with GPS positioning. A control module generates a rotation angle instruction of the rotation assembly, a height adjustment instruction of the lifting part, and a speed control instruction of the walking assembly based on data of the environment perception module; A safety monitoring module monitors a clamping state and a transportation posture of the pressure steel pipe in real time based on pressure data of the first sensor assembly and position data of the second sensor assembly, and triggers a pre-warning or an emergency brake when an abnormality occurs.

[0012] In the scheme, the environment perception module acquires the curvature of a curve, the track flatness, and the position deviation of the pressure steel pipe in the working area in real time by means of the laser radar, the industrial camera, and the GPS positioning of the second sensor assembly, and constructs a global map, thereby providing accurate environment and target state information for the transport vehicle, which is the basis for realizing automatic transportation; the control module generates the rotation angle of the rotation assembly, the height adjustment of the lifting part, and the speed control instruction of the walking assembly based on these data, which can coordinate the collaborative action of each component, so that the transport vehicle can accurately adapt to the curve track when passing through the curve, adjust the height and speed according to the road conditions, and ensure the smoothness and accuracy of the transportation process; the safety monitoring module monitors the clamping state and the transportation posture of the steel pipe in real time based on the pressure data of the first sensor assembly and the position data of the second sensor assembly, and triggers a pre-warning or an emergency brake in time when an abnormality such as pressure abnormality or excessive position deviation occurs, thereby forming a safety closed loop and effectively preventing the risks of steel pipe falling off and collision; the scheme realizes the automation, accuracy, and safety of pressure steel pipe transportation from environment perception, action control to safety guarantee, greatly improves the transportation efficiency and reduces the safety hazards of manual intervention.

[0013] Further, the control module comprises: A path planning unit generates an optimal transportation path based on the global map and the geometric parameters of the pressure steel pipe, including a rotation angle curve and a speed curve when passing through the curve, which can provide accurate action guidance for the transport vehicle and ensure it to travel according to the most reasonable track and parameters; A synchronous control unit uses a timestamp synchronization mechanism to make the pair of posture control systems have a time error of ≤10ms when executing the rotation angle instruction, the height adjustment instruction, and the speed control instruction, which can ensure that the two transport vehicles act highly cooperatively and prevent problems such as force imbalance and deviation of the steel pipe caused by asynchronous action, especially when passing through the curve, which can accurately adapt to the path difference inside and outside the curve; An adaptive compensation unit compensates the posture deviation caused by track unevenness and load changes in real time, which can dynamically correct the slight imbalance in the transportation process and further improve the stability and safety of the transportation of the pressure steel pipe.

[0014] Further, the safety monitoring module comprises: The pressure threshold judgment unit triggers the third driving assembly to increase the clamping force when the contact pressure detected by the first sensor group is less than a preset threshold; and triggers the third driving assembly to decrease the clamping force when the contact pressure is greater than the preset threshold, so as to avoid the steel pipe from shaking and falling due to too small pressure, and prevent the surface of the steel pipe from being damaged due to too large pressure by dynamically adjusting the clamping force; The position deviation judgment unit triggers the walking assembly to slow down to 0.5 m / s or below when the position deviation of the pressure steel pipe detected by the second sensor assembly exceeds ±50 mm, so as to reduce the risk of deviation expansion by reserving time for subsequent attitude adjustment by reducing the speed, and drive the clamping part at the front end to open to expand the flexible activity space for deflecting the pressure steel pipe, so as to reduce the risk of deviation expansion by actively compensating for the deviation. The emergency braking unit triggers the mechanical locking device immediately when the inclination angle of the pressure steel pipe exceeds ±3° or the relative displacement exceeds ±20 mm, so as to quickly lock the steel pipe when a serious attitude anomaly occurs to prevent the accident from further deteriorating.

[0015] A posture control method for transporting a pressure steel pipe, comprising the following steps: Step 1: scanning the working area by the second sensor assembly to construct a global map and identify the curve parameters; Step 2: planning a transportation path based on the global map and the parameters of the pressure steel pipe, and calculating the target rotation angle θ of the rotating assembly and the differential ratio v1 / v2 of the walking assembly; Step 3: the control unit synchronously controls the pairs of transport vehicles to rotate the rotating assembly to the target angle θ, the walking assembly to travel at the differential ratio v1 / v2, and the lifting part to adjust to the preset height; Step 4: real-time monitoring the posture and position of the pressure steel pipe by the first sensor assembly and the second sensor assembly, and executing corresponding safety strategies when an anomaly occurs to timely find and handle problems such as too loose / tight clamping and too large position deviation, forming a complete closed loop from environmental perception, path planning to safety monitoring, realizing the automation, precision and safety of pressure steel pipe transportation, and greatly improving the transportation efficiency and reducing the safety hazards of manual intervention.

[0016] Further, to ensure that the pressure steel pipe always maintains a stable posture in a complex curve environment, further reduce the transportation risk, and improve the safety and reliability of the transportation process, the calculation formula of the target rotation angle θ is: wherein L is the length of the pressure steel pipe, α is the curve angle, R is the curve radius of curvature, and θ0 is the compensation angle with a value range of 1°-5°; The calculation formula of the differential ratio v1 / v2 is: wherein d is the distance between the pairs of transport vehicles; In step 3, the multi-source data of the second sensor assembly is fused by a Kalman filter to realize dynamic optimization of attitude control, and the optimization frequency is greater than or equal to 100 Hz.

[0017] Compared with the prior art, the present application has the following advantages and beneficial effects: 1. The present application constructs a global map through the second sensor assembly, plans a path through the control module and generates accurate control instructions, combines the automatic rotation of the rotating assembly with the differential cooperation of the walking assembly, realizes the automation of the whole process of pressure steel pipe transportation, does not need manual intervention, greatly shortens the preparation time for turning and the overall transportation time, and significantly improves the work efficiency; 2. The first sensor assembly of the clamping assembly monitors the clamping pressure in real time and dynamically adjusts, cooperates with the height compensation of the lifting part, avoids the shaking caused by clamping too loose or the damage to the steel pipe caused by clamping too tight; the multi-level protection mechanism of the safety monitoring module can quickly respond when an abnormality occurs, thereby reducing the risk of steel pipe falling off, collision, etc. from the root; at the same time, the synchronous control of the pair of transport vehicles and the dynamic optimization of the Kalman filter ensure the angle and speed when turning, and effectively suppress the imbalance of the steel pipe attitude; The present application can flexibly adapt to steel pipes of multiple specifications through the rotation adjustment of the rotating assembly, the height adjustment of the lifting part and the self-adaptive opening and closing of the clamping plate, and the walking assembly matches the path difference inside and outside the curve through the differential ratio formula, combined with the flexible active space formed by the flexible bearing part, to adapt to the path difference of the curve and reduce the limitation of the turning radius, thereby avoiding stress concentration caused by rigid constraint; in addition, when the second sensor assembly detects that the position deviation of the pressure steel pipe exceeds ± 50 mm, the safety monitoring module drives the front clamping part to open, further expands the flexible active space, actively adapts to the deviation to reduce the hard collision between the steel pipe and the clamping part, reduces the risk of deviation expansion, cooperates with the dynamic adjustment and synchronous control of the clamping part, significantly improves the transportation adaptability and safety of the pressure steel pipe in complex curves, uneven tracks and other scenes, and makes up for the defects of the prior art that rigid constraint cannot cope with dynamic deviation and path difference. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings described herein are used to provide further understanding of the embodiments of the present application, constitute a part of the present application, and do not constitute a limitation on the embodiments of the present application. In the drawings: Figure 1 It is a state schematic view of the present application when passing through a straight track; Figure 2 It is a state schematic view of the present application when passing through a curved track; Figure 3 It is a structural schematic view of the clamping assembly; Figure 4Structure diagram of supporting chassis unit; Figure 5 Transportation flow diagram of the present application.

[0019] Markings in the drawings and corresponding component names: 1-walking assembly, 10-limiting wheel, 11-walking wheel set, 12-first driving assembly, 13-supporting frame; 2-rotating assembly, 20-second driving assembly, 21-driving gear, 22-supporting disc; 3-clamping assembly, 30-adjusting frame, 31-adjusting block, 32-third driving assembly, 33-lifting frame, 34-straight rack, 35-rotating seat, 36-clamping plate, 37-first sensor assembly, 38-fourth driving assembly, 39-bearing part; 4-pressure steel pipe, 5-second sensor assembly. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the present application clearer and more apparent, the present application will be further described in detail below with examples and drawings, the illustrative embodiments of the present application and the description thereof are only used to explain the present application, and do not limit the present application.

[0021] Example 1 This example 1 provides a transport vehicle for pressure steel pipe transportation, as shown in the figure, two transport vehicles are arranged symmetrically in front and back along the track in the hole, which jointly supports and transports the pressure steel pipe 4, the distance between the two transport vehicles is adjusted according to the pipe length (usually 2-5 meters), the transport vehicle includes a walking assembly 1, a rotating assembly 2, a clamping assembly 3 and a control unit; Figures 1-2 As shown in the figure, the walking assembly 1 is connected to the track in the hole, which is used to support the overall weight of the rotating assembly 2, the clamping assembly 3 and the pressure steel pipe 4, which includes a walking wheel set 11, a first driving assembly 12 and a supporting frame 13, specifically, the walking wheel set 11 contains 4 groups of double-rim walking wheels, which are symmetrically distributed on both sides of the bottom of the supporting frame 13, each group of walking wheels is composed of 2 forged steel wheels, the walking wheels are connected with the supporting frame 13 through bearing seat and driven by the first driving assembly 12 to move along the track in the hole; at the same time, in order to effectively constrain the lateral displacement of the transport vehicle during its movement along the track, two pairs of limiting wheels 10 are arranged on both sides of the supporting frame 13, a total of 8, which are polyurethane rubber-coated wheels, the axis of the limiting wheel 10 is perpendicular to the axis of the walking wheel, and is in rolling contact with the side surface of the track in the hole, the gap between the wheel surface and the track side surface is controlled within 2-3mm, which further avoids the lateral shaking or deviation of the transport vehicle caused by factors such as uneven track, centrifugal force of over-bending or deviation of steel pipe gravity center. Figure 4

[0022] ​​In this embodiment, a second sensor assembly 5 is integrated on the top of the support frame 13 and on the forward end. The second sensor assembly 5 includes a lidar (such as the Hesai Pandar XT), an industrial camera (equipped with an 8mm fixed-focus lens), an RTK-GPS module (positioning accuracy ±2cm), and an IMU inertial measurement unit. The lidar has a horizontal field of view of 360°, a vertical field of view of 45°, a ranging range of 0.5 to 200m, and an accuracy of ±3cm. It is used to scan the surrounding environment of the track, the curvature of the curve, and the flatness. The industrial camera is symmetrically installed on both sides of the lidar to capture the track markings and the edge of the pressure steel pipe 4 and identify positional deviations. The RTK-GPS module and the IMU inertial measurement unit are fused to generate the coordinates and attitude reference of the global map. The sensor data is aggregated to the control unit through an industrial switch.

[0023] Please refer to the following: Figure 4 As shown, the rotating component 2 is connected to the top center of the support frame 13. The rotating component 2 includes a second drive component 20, a drive gear 21, and a support disk 22. The support disk 22 is rotatably connected to the walking component 1 through a bearing. Its edge is provided with a gear ring that meshes with the drive gear 21. The second drive component 20 drives the drive gear 21 to rotate according to the constructed global map information, so that the drive support disk 22 drives the clamping component 3 to rotate around the vertical axis. This allows the transport vehicle to automatically adjust the angle of the steel pipe when passing through a curve, dynamically matching the curvature of the track. During the rotation, the encoder feeds back the rotation angle to the control unit in real time, forming a closed-loop control to ensure that the angle difference between the paired transport vehicles is ≤1° when they move.

[0024] Among them, such as Figures 1-3As shown, the clamping assembly 3 includes a clamping part for clamping the pressure steel pipe 4, a bearing part 39 for bearing the pressure steel pipe, and a lifting part connected below the clamping part, which is electrically connected with the second sensor assembly 5. The bearing part 39 is a component made of flexible material, and both ends thereof are connected to the clamping part and move with the clamping part, forming a flexible active space for the pressure steel pipe 4. Specifically, the clamping part of the clamping assembly 3 includes a rotating seat 35, a clamping plate 36, and a first sensor assembly 37. The bottom of the rotating seat 35 is hingedly connected to the lifting frame 33 of the lifting part, and the top of the rotating seat 35 is connected to the clamping plate 36 through a rotating assembly. The bearing part 39 is a belt-shaped component made of high-strength nylon canvas, and both ends thereof are connected to the middle of the pair of clamping plates (36) through bolts, and naturally droops to form an arc-shaped lifting surface, i.e., the flexible active space. The bearing part 39 rotates with the clamping plate 36 to change the active space for bearing the pressure steel pipe 4. The first sensor assembly 37 is arranged on the inner side of the bearing part 39, and is used to detect the contact pressure between the pressure steel pipe 4 and the bearing part 39, and can feed back the pressure data to the control unit. In the embodiment, the rotating assembly includes a straight rack 34 and a fourth driving assembly 38. The straight rack 34 is fixedly connected to the top end of the lifting frame 33, and the output end of the fourth driving assembly 38 is engaged with the straight rack 34 and connected to the clamping plate 36 through a belt. The fourth driving assembly 38 is driven to realize the relative approach or departure of the clamping plate 36, so as to accommodate the angular deflection of the steel pipe due to the path difference between the inner and outer sides during the curved transportation, and avoid stress concentration caused by rigid constraint. At the same time, the deformation buffer can also buffer the impact when the steel pipe slightly shakes, thereby improving the transportation stability. In combination with the detection of the contact pressure by the first sensor assembly 37, the clamping force can be dynamically optimized to prevent the steel pipe from falling off or surface damage.

[0025] Further, the lifting part includes an adjusting frame 30 and an adjusting block 31. The adjusting frame 30 is fixed on the support disc 22, and the adjusting block 31 is slidingly connected with the adjusting frame 30. That is, the adjusting frame 30 is provided with a T-shaped track, and the adjusting block 31 is provided with a sliding groove matched with the T-shaped track. In this way, the third driving assembly 32 can drive the adjusting block 31 to drive the lifting frame 33 to ascend or descend along the vertical direction. In the specific use process, the height of the clamping part can be flexibly adjusted according to the diameter of the pressure steel pipe 4, the track flatness, and the attitude change in the transportation process, so as to ensure that the clamping plate 36 can clamp the steel pipe at a suitable height, and avoid the inclination or uneven force of the steel pipe due to the unsuitable height.

[0026] The control unit is in communication connection with the walking assembly 1, the rotating assembly 2, the clamping assembly 3 and the second sensor assembly 5 respectively, when transporting pressure steel pipes 4 with different diameters, the fourth driving assembly 32 drives the clamping plate 36 to open and close, the first sensor assembly 37 feeds back the pressure value in real time, the control unit adjusts the clamping force to the preset range (50-150kN, dynamically adjusted according to the pipe diameter) through the PID algorithm; when passing through a curve or the track is uneven, the third driving assembly 32 drives the lifting part to adjust the height, cooperates with the angle adjustment of the rotating assembly 2, and ensures that the deviation between the steel pipe axis and the track center line is less than or equal to 20mm; if it is detected that the steel pipe is inclined or the clamping is loose, the rotating seat 35 compensates the angle through fine adjustment, and at the same time the clamping plate 36 automatically increases the clamping force, forming a dynamically stable clamping closed loop.

[0027] Embodiment 2 For the internal posture control system of the transport vehicle, please refer to Embodiment 2, which provides a posture control system for the above transport vehicle, comprising: An environment perception module based on the laser radar and industrial camera of the second sensor assembly 5, which obtains the curve of the bend, the track flatness and the position deviation of the pressure steel pipe 4 in the working area in real time, and constructs a global map combined with GPS positioning; Specifically, the environment perception module realizes the functions based on the laser radar, industrial camera and GPS positioning of the second sensor assembly 5, the laser radar generates a three-dimensional point cloud of the working area by emitting a laser beam, accurately extracts geometric information such as track edge and bend feature point, and calculates the curve of the bend and the track flatness; the industrial camera collects track texture, steel pipe contour and marking information, identifies the position deviation of the steel pipe through deep learning, and supplements the semantic data of the laser radar; the GPS combined with the IMU realizes the anchoring of the global coordinate, maintains the continuity of positioning in the weak signal area through the track prediction, simultaneously fuses multi-source data through the space-time synchronization and Kalman filtering, unifies the coordinate system and suppresses the noise, and finally constructs a global map containing the bend parameters, track state and steel pipe position, which provides accurate environment and state basis for the control module to generate the rotating angle, height adjustment and speed control instructions of the rotating assembly 2, and ensures the adaptive transportation of the transport vehicle in complex scenes.

[0028] A control module based on the data of the environment perception module, which generates the rotating angle instruction of the rotating assembly 2, the height adjustment instruction of the lifting part and the speed control instruction of the walking assembly 1, the control module comprises: A path planning unit based on the global map and the geometric parameters of the pressure steel pipe 4, which generates the optimal transportation path including the rotating angle curve and the speed curve when passing through the bend, and provides accurate action guidance for the transport vehicle to ensure that it travels according to the most reasonable trajectory and parameters; The synchronous control unit makes the time error of the pair of posture control systems in executing the rotation angle instruction, the height adjustment instruction and the speed control instruction ≤10 ms through the timestamp synchronization mechanism, can ensure that the two sides of the transport vehicle move in high coordination, prevent the imbalance of the steel pipe stress, deviation and other problems caused by different actions, especially when passing the bend, it can accurately adapt to the path difference inside and outside the bend; The adaptive compensation unit compensates the attitude deviation caused by track unevenness and load change in real time, can dynamically correct the slight imbalance in the transportation process, and further improves the stability and safety of the steel pipe 4 transportation The safety monitoring module monitors the clamping state and transportation posture of the steel pipe 4 in real time based on the pressure data of the first sensor assembly 37 and the position data of the second sensor assembly 5, and triggers a warning or emergency braking when an abnormality occurs.

[0029] The safety monitoring module includes: The pressure threshold judgment unit triggers the third driving assembly 32 to increase the clamping force when the contact pressure detected by the first sensor group 37 is less than the preset threshold, and reduces the clamping force when it is greater than the preset threshold, by dynamically adjusting the clamping force, it can not only avoid the steel pipe shaking and falling due to too small pressure, but also prevent the steel pipe surface from being damaged due to too large pressure; The position deviation judgment unit triggers the running assembly 1 to reduce the speed to below 0.5 m / s when the position deviation of the steel pipe 4 detected by the second sensor assembly 5 exceeds ±50 mm, by reducing the speed to reserve time for subsequent posture adjustment, reduce the risk of deviation expansion, and drive the clamping plate 36 at the front end to open, expand the flexible activity space for deflecting the steel pipe 4, actively compensate for the deviation to avoid rigid collision; The emergency braking unit immediately triggers the mechanical locking device when the inclination angle of the steel pipe 4 exceeds ±3° or the relative displacement exceeds ±20 mm, which can quickly lock the steel pipe when a serious posture abnormality occurs, preventing the accident from further deteriorating.

[0030] Embodiment 3 For the control method of the internal posture control system of the transport vehicle, please refer to Embodiment 3, which provides a posture control method for the above transport vehicle, as shown in Figure 5 The steps include: Step 1: Scan the working area through the second sensor assembly 5, construct a global map and identify the bend parameters; The second sensor assembly 5 scans the working area by emitting laser beams from the top front end of the laser radar, generates three-dimensional point cloud data containing the track and the surrounding environment, and captures geometric features such as the track edge and the curve profile. The industrial camera synchronously collects images of the track surface texture, markings, and the pressure steel pipe 4 profile, and supplements semantic information to distinguish between track and non-track areas. The GPS positioning module anchors the local scanning results to the global coordinate system in combination with the point cloud and image data, and constructs a global map covering the working area by splicing multiple frames of data. When identifying the curve parameters, dense feature points of the track center line are extracted from the point cloud, a least squares method is used to fit a curve, and the curve radius of curvature R and the curve angle a are calculated. At the same time, the track markings (such as the curve start / end identifiers) identified by the industrial camera assist in verifying the accuracy of the parameters, and finally realize the precise identification of the global map construction and the curve parameters, providing basic data for subsequent path planning.

[0031] Step 2: Based on the global map and the parameters of the pressure steel pipe, the transportation path is planned, and the target rotation angle θ of the rotating assembly 2 and the differential ratio v1 / v2 of the walking assembly are calculated. Based on the information such as the curve radius of curvature R, the curve angle a, the track flatness, and the path obstacles contained in the global map, in combination with the length L, diameter, and other parameters of the pressure steel pipe, the path planning unit first plans an optimal transportation path that avoids obstacles and adapts to the track curvature through an algorithm, and clearly defines the boundaries of straight sections and curve sections and the driving parameters of each section. For the target rotation angle θ of the rotating assembly 2, it is calculated according to the formula θ = arcsin (L・sinα / (2R))+θ0 (where θ0 is a compensation angle of 1°-5°, used to offset installation errors or steel pipe deformation), to ensure that the axis of the steel pipe is consistent with the tangent direction of the track curvature at the curve, avoiding collision with the track or surrounding structures. For the differential ratio v1 / v2 of the walking assembly, according to the pair distance d between the transportation vehicles and the curve radius of curvature R, it is calculated through the formula v1 / v2 = (R+d / 2) / (R-d / 2), so that the inner transportation vehicle speed v2 is less than the outer transportation vehicle speed v1, adapting to the length difference between the inner and outer paths of the curve, ensuring that the pair of transportation vehicles pass the curve synchronously and the steel pipe is stressed evenly. At the same time, the path planning unit will also combine the track flatness data to preset a speed buffer section on the concave-convex road section, to ensure that the calculated angle and differential ratio can adapt to complex road conditions.

[0032] Step 3: The control unit synchronously controls the pair of transportation vehicles, rotates the rotating assembly 2 to the target angle θ, and the walking assembly 1 advances at the differential ratio v1 / v2, and the lifting part is adjusted to the preset height. For the rotating assembly 2, the control unit sends a target angle θ command to the second drive assembly on both sides, the drive gear meshes with the support disc gear ring to drive, the encoder feeds back the rotation angle to the control unit in real time, forming a closed-loop control, through the timestamp synchronization mechanism to ensure that the rotation angle error of both sides is ≤0.1°, and the time difference of completing rotation is ≤10ms; for the walking assembly 1, according to the differential ratio v1 / v2, the control unit adjusts the output speed of the servo motor on both sides, so that the inside transport vehicle speed v2 and the outside transport vehicle speed v1 match the inside and outside path length of the curve in proportion, and at the same time, through the rolling contact of the limiting wheel 10 with the side of the track, the lateral deviation is suppressed, ensuring that the running track is consistent with the planned path. During the running, the flexible activity space of the bearing part 39 allows the steel pipe to produce slight lateral deviation (≤50mm) due to centrifugal force, avoiding rigid collision with the clamping plate 36; for the lifting part, the control unit drives the third drive assembly 32 to drive the adjusting block 31 to slide along the adjusting frame 30 according to the pressure steel pipe diameter and the track flatness data in the global map, so that the lifting frame is adjusted to the preset height (error ≤1mm), and the lifting actions on both sides are kept synchronous through the meshing transmission of the straight rack 34 and the gear, avoiding the inclination of the steel pipe due to height difference; During the whole process, the control unit fuses the real-time data of the second sensor assembly through the Kalman filter (optimization frequency ≥100Hz), dynamically corrects the deviation of rotation angle, running speed and lifting height, ensures the cooperative execution of the three actions, and realizes the posture stability and force balance of the pressure steel pipe when passing the curve.

[0033] Step 4: The posture and position of the pressure steel pipe 4 are monitored in real time by the first sensor assembly 37 and the second sensor assembly 5, and when an abnormality occurs, the corresponding safety strategy is executed, which can timely find and handle problems such as too loose / too tight clamping, too large position deviation, etc., forming a complete closed loop from environmental perception, path planning to safety monitoring, realizing the automation, precision and safety of pressure steel pipe transportation, and greatly improving the transportation efficiency and reducing the safety hidden danger of manual intervention.

[0034] The first sensor assembly 37 collects the contact pressure data of the pressure steel pipe 4 in real time through the pressure sensor inside the clamp plate 36, and the displacement sensor monitors the opening and closing distance of the clamp plate 36, and transmits the data to the control unit in real time to determine whether the clamping is too loose (pressure < preset threshold) or too tight (pressure > preset threshold); The laser radar and industrial camera of the second sensor assembly 5 continuously scan the steel pipe position, combine with the GPS and IMU data, calculate the position deviation, inclination angle and relative displacement of the steel pipe from the center line of the track, and synchronously feedback to the control unit; The control unit compares the received monitoring data with the safety threshold (such as position deviation ± 50mm, inclination angle ± 3°, relative displacement ± 20mm), when the pressure is abnormal, the third drive assembly 32 is triggered to adjust the clamping force; When the position deviation is out of limit, the walking assembly 1 is reduced to 0.5m / s or less, and the flexible active space of the bearing part 39 is expanded or utilized to compensate for the defects of rigid constraints that cannot cope with dynamic deviation; If the inclination angle or displacement is out of limit, the emergency brake unit of the safety monitoring module triggers the mechanical locking device to lock the walking wheel and the rotating assembly 2, and the pair of transport vehicles ensure the cooperative execution of the safety strategies on both sides through the synchronous control mechanism, forming a closed-loop protection from real-time monitoring to abnormal response, and ensuring the safety of steel pipe transportation.

[0035] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A transport car for transporting a pressure pipe, said transport car being arranged in pairs on a track in a tunnel and travelling synchronously, characterized in that The transport vehicle comprises: a walking assembly (1) connected to an in-hole track, comprising a second sensor assembly (5) arranged on the top of the walking assembly (1) and located on the advancing end, the second sensor assembly (5) being used for scanning a working area and constructing a global map in combination with GPS positioning; a rotating assembly (2) connected to the upper end of the walking assembly (1) and driving a clamping assembly (3) to rotate according to the constructed global map; the clamping assembly (3) comprising a clamping part for clamping a pressure steel pipe (4), a bearing part (39) for bearing the pressure steel pipe (4), and a lifting part connected below the clamping part and electrically connected with the second sensor assembly (5), wherein the bearing part (39) is a component made of flexible material, both ends of which are connected to the clamping part and move with the clamping part, forming a flexible moving space for the pressure steel pipe (4); a control unit communicatively connected with the walking assembly (1), the rotating assembly (2), the clamping assembly (3) and the second sensor assembly (5), respectively.

2. A transport cart for transporting a pressure steel pipe according to claim 1, wherein The walking assembly (1) further comprises a limiting wheel (10) and a support frame (13), the limiting wheels (10) are arranged in pairs on both sides of the support frame (13) and in rolling contact with the side surface of the in-hole track.

3. A transport cart for transporting a pressure steel pipe according to claim 2, wherein The rotating assembly (2) comprises a second driving assembly (20), a driving gear (21) and a support disc (22); the support disc (22) is rotationally connected with the walking assembly (1) through a bearing, the edge of the support disc (22) is provided with a gear ring engaged with the driving gear (21), the second driving assembly (20) drives the driving gear (21) to rotate according to the constructed global map information, for driving the support disc (22) to rotate around a vertical axis and rotating the clamping assembly (3), and the encoder feeds back the rotation angle to the control unit in real time during the rotation.

4. A transport cart for transporting a pressure steel pipe according to claim 3, wherein The clamping part of the clamping assembly (3) comprises a rotating seat (35), a clamping plate (36) and a first sensor assembly (37), the rotating seat (35) is rotationally connected with a lifting frame (33) of the lifting part, the clamping plates (36) are arranged in pairs on the rotating seat (35) and driven to relatively approach or move away by a fourth driving assembly (38), the first sensor assembly (37) is arranged at the bottom of the bearing part (39) and used for detecting the contact pressure between the pressure steel pipe (4) and the bearing part (39).

5. A transport cart for transporting a pressure steel pipe according to claim 4, wherein The lifting part comprises an adjusting frame (30), an adjusting block (31) and a straight rack (34), the adjusting frame (30) is fixed on the support disc (22), the adjusting block (31) is in sliding connection with the adjusting frame (30), the adjusting block (31) is driven by the third driving assembly (32) to drive the lifting frame (33) to ascend and descend along the vertical direction, the upper side of the adjusting block (31) is fixedly connected with the lifting frame (33), the other side of the lifting frame (33) is fixedly connected with the straight rack (34), the output end of the fourth driving assembly (38) is provided with a gear in meshing connection with the straight rack (34), and the clamping plate (36) is driven to realize relative approaching or moving away through the fourth driving assembly (38).

6. An attitude control system for the transport of a pressure pipe, characterized in that For the transport vehicle as claimed in any one of claims 1-5, comprising: An environment perception module, based on the laser radar and industrial camera of the second sensor assembly (5), obtains the curvature of the curve, the track flatness and the position deviation of the pressure steel pipe (4) in the work area in real time, and constructs a global map in combination with GPS positioning; A control module, based on the data of the environment perception module, generates the rotation angle instruction of the rotating assembly (2), the height adjustment instruction of the lifting part and the speed control instruction of the walking assembly (1); A safety monitoring module, based on the pressure data of the first sensor assembly (37) and the position data of the second sensor assembly (5), monitors the clamping state and the transportation posture of the pressure steel pipe (4) in real time, and triggers a warning or emergency braking when an abnormality occurs.

7. A posture control system for the transport of a pressure pipe according to claim 6, characterized in that The control module comprises: A path planning unit, based on the global map and the geometric parameters of the pressure steel pipe (4), generates an optimal transportation path, including a rotation angle curve and a speed curve when passing through a curve; A synchronous control unit, through a timestamp synchronization mechanism, makes the time error of the posture control system arranged in pairs when executing the rotation angle instruction, the height adjustment instruction and the speed control instruction ≤10ms; An adaptive compensation unit, which compensates the posture deviation caused by track unevenness and load change in real time.

8. A posture control system for the transport of penstocks according to claim 6, characterized in that, The safety monitoring module comprises: A pressure threshold judgment unit, when the contact pressure detected by the first sensor assembly (37) is less than a preset threshold, the third driving assembly (32) is triggered to increase the clamping force; when it is greater than the preset threshold, the clamping force is reduced; A position deviation judgment unit, when the position deviation of the pressure steel pipe (4) detected by the second sensor assembly (5) exceeds ±50mm, the walking assembly (1) is triggered to slow down to below 0.5m / s, and the clamping part located at the front end is driven to open, thereby expanding the flexible activity space for deflecting the pressure steel pipe (4); An emergency braking unit, when the inclination angle of the pressure steel pipe (4) is detected to exceed ±3° or the relative displacement exceeds ±20mm, the mechanical locking device is immediately triggered.

9. A method of transporting a penstock based on the attitude control system of claim 6, characterized by, The method comprises the following steps: Step 1: scanning the work area by the second sensor assembly (5) to construct a global map and identify curve parameters; Step 2: Based on the global map and parameters of the penstock (4), a transport path is planned, and the target rotation angle θ of the rotating assembly (2) and the differential ratio v1 / v2 of the walking assembly (1) are calculated; Step 3: The control unit synchronously controls the pair of transport vehicles, rotates the rotating assembly (2) to the target angle θ, and makes the walking assembly (1) travel at the differential ratio v1 / v2, and adjusts the lifting part to the preset height; Step 4: The first sensor assembly (37) and the second sensor assembly (5) are used to monitor the posture and position of the penstock (4) in real time, and corresponding safety strategies are executed when abnormalities occur.

10. A method for transporting a pressure steel pipe according to claim 9, wherein The calculation formula of the target rotation angle θ is: wherein L is the length of the penstock (4), a is the bend angle, R is the bend radius, and Θ0 is the compensation angle, which is in the range of 1°-5°. The calculation formula of the differential ratio v1 / v2 is: where d is the distance between pairs of transport vehicles; In step 3, the Kalman filter is used to fuse the multi-source data of the second sensor assembly (5), and the dynamic optimization of posture control is realized, with an optimization frequency of ≥100Hz.

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