A machine vision-based method and system for assisted docking of GIL pipes

Abstract

A machine vision-based method and system for assisted docking of GIL (Gas Insulator) pipes. The method involves acquiring panoramic images of the construction site and simultaneously obtaining spatial attitude data from the image acquisition equipment. Key pipeline coordinates are extracted and their positions are calibrated using equipment calibration parameters. A bird's-eye view is generated from the calibrated images, and a 3D environment model is established to calculate the positional difference between the GIL pipe to be hoisted and the already fixed pipe. The hoisting device moves the pipe to its initial position based on this positional difference, and a robotic arm performs the docking operation based on compensation commands. During the docking process, the positions of the pipe flanges and bolt holes are tracked in real time, and the positional difference compensation value is dynamically adjusted to ensure accurate docking. This invention improves docking accuracy and avoids the risk of equipment damage or insulation leakage by setting operational boundary constraints for the hoisting device and robotic arm, monitoring their operational status in real time, and automatically updating operational commands when boundaries are exceeded.

Description

Technical Field

[0001] This invention belongs to the field of power system equipment installation and intelligent control technology, specifically relating to a GIL (Gas Inertial Isolation) pipe-assisted docking method and system based on machine vision. Background Technology

[0002] Gas-insulated metal-enclosed transmission lines (GILs) are widely used in large-scale power transmission systems due to their transmission capacity and operational stability. However, with the development of power infrastructure towards higher voltage, larger capacity, and more compact designs, the installation and connection of GILs are characterized by limited space, complex lines, and increasingly high-altitude working environments.

[0003] Patent application CN118635798A designs a mechanical docking scheme. Through the synergistic effect of a fixed upper clamp and a movable lower clamp, combined with a guiding mechanism to forcibly constrain coaxiality, it achieves precise positioning and reliable docking of pipelines. Patent application CN114512930A, by setting up three independently controlled connecting ropes with three degrees of freedom of attitude adjustment function, and in conjunction with an optional moving device, enables fine adjustment of the height, inclination angle, and circumference of the pipeline to be docked, allowing for automated and precise docking of the flange face and bolt gaps.

[0004] However, existing technologies still have shortcomings in large-scale power construction scenarios. Firstly, construction space is limited; GIL (Gas Insulated Linear Irrigation) pipes cover a large area, requiring long-distance, high-precision pipe connections within a limited working area, demanding extremely high accuracy in the relative positions of flange holes. Secondly, GIL pipes need to be hoisted and spliced ​​at relatively high altitudes, making them susceptible to wind and the effects of hoisting equipment. Pipe drift and swaying during connection can reduce the accuracy and efficiency of positioning and installation. Finally, if the insulating medium inside the GIL pipe is damaged or leaks due to mishandling, it will not only affect the safety of workers but also compromise the insulation performance of equipment, posing environmental risks. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a machine vision-based method and system for assisted docking of GIL (Gas Inlet and Outer Limit) pipelines. Based on a power operation robot, it utilizes AVM (Ambient Visualization) technology to assist hoisting equipment in achieving precise docking of GIL pipelines. This enables collaborative work between industrial hoisting equipment and robots in large-scale power construction environments.

[0006] The first aspect of this application discloses a machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method, which adopts the following technical solution.

[0007] Panoramic images of the GIL pipeline at the construction site are acquired, and the spatial attitude data of the image acquisition equipment is obtained simultaneously. The pixel coordinates of the pipeline outer contour, flange edge, and bolt hole are extracted from the panoramic images, and the spatial position is calibrated by combining the calibration parameters of the image acquisition equipment and the spatial attitude data. A bird's-eye view of the construction site is generated based on the panoramic image mapping after spatial positioning calibration, and a three-dimensional environment model is established. According to the three-dimensional environment model, the six-degree-of-freedom pose difference of the GIL pipeline to be hoisted relative to the fixed GIL pipeline is calculated. The hoisting device moves the GIL pipeline to be hoisted to the initial position according to the six-degree-of-freedom pose difference. The six-degree-of-freedom pose difference is calculated again at the initial position as the initial compensation pose difference and sent to the robotic arm. Based on the initial compensated pose difference, the robotic arm is controlled to perform the pipeline docking operation. During the execution of the pipeline docking operation, the position of the flange edge and bolt hole of the GIL pipeline to be lifted relative to the fixed GIL pipeline is continuously tracked. The pose drift is predicted using the multi-step historical pose difference data before the current time step, and the compensated pose difference is dynamically updated until the pipeline docking operation is completed. Set operational boundary constraints for the hoisting device and the robotic arm; continuously monitor the operational status of the robotic arm and the hoisting device during the docking operation; and update the docking operation command when the operational status exceeds the operational boundary constraints.

[0008] Furthermore, the spatial location calibration step includes: Based on the calibration information of the image acquisition equipment, the pixel coordinates in the two-dimensional image are converted into position coordinates in three-dimensional space to obtain the spatial coordinates of the pipe outline, flange edge, and bolt hole. Based on the spatial attitude data of the imaging equipment, the spatial coordinates of the pipe outline, flange edge, and bolt holes are transformed into the global coordinate system of the construction site.

[0009] Furthermore, the six-degree-of-freedom pose difference includes translational position difference and rotational pose difference; Key feature points of the GIL pipe to be hoisted and the fixed GIL pipe are extracted from the three-dimensional environment model, including the outer contour of the pipe, the edge of the flange, and the bolt holes; each key feature point contains the coordinates and rotation attitude in the global coordinate system. Based on the key feature point clouds of the GIL pipeline to be hoisted and the fixed GIL pipeline, the rotation matrix and translation vector between the two are calculated through point cloud registration.

[0010] Further, the pipe docking operation is performed, including: The six degrees of freedom orientation difference is sent to the hoisting device as a digital signal command. The hoisting device performs the first docking operation and moves the pipeline to be hoisted to the initial position according to the six degrees of freedom orientation difference. At the initial position, the positional difference between the GIL pipe to be hoisted and the fixed pipe is calculated again as the initial compensation positional difference; based on the initial compensation positional difference, the robotic arm is controlled to perform the second docking operation. During the second docking operation, the operation of the robotic arm is updated in real time to compensate for the positional difference and correct the positional difference. Furthermore, the update method for compensating for pose difference includes: In the second docking operation, the real-time pose difference value at the current time step is calculated; using the current time step... forward The historical pose difference data of each step is used to output the predicted pose difference for future time steps using linear modeling. The compensated pose difference for the current time step is updated in real time using the difference between the predicted pose difference and the real-time pose difference.

[0011] Furthermore, the operational boundary constraints include spatial position boundary constraints, contact boundary constraints, and movement speed boundary constraints; The spatial position boundary constraints set the maximum extension range and maximum rotation angle of the hoisting device and the robotic arm. In the contact boundary constraints, the distance between the robotic arm gripping point and the docking surface of the GIL pipe to be lifted is set to be greater than or equal to the gripping distance threshold; the contact pressure applied by the robotic arm gripping point to the GIL pipe to be lifted is set to be less than or equal to the contact pressure threshold. In the moving speed boundary constraint, the maximum moving speed of the lifting equipment is calculated based on the weight of the GIL pipe to be lifted, the load-bearing capacity of the lifting equipment, and the length of the cable, and is used as the moving speed boundary of the lifting equipment.

[0012] Furthermore, during the pipeline docking operation, the operating status of the hoisting device and the robotic arm is collected in real time, including the moving speed, posture changes, and contact pressure; the operating status is analyzed to see if it exceeds the operating boundary constraints, and if it does, the pipeline docking operation is terminated. Based on the spatial attitude data at the moment of abort, the six-degree-of-freedom positional difference between the GIL pipe to be hoisted and the fixed GIL pipe is recalculated.

[0013] The second aspect of this application provides a machine vision-based GIL (Gas Inertial Link) pipe-assisted docking system, which performs the auxiliary docking method as provided in the first aspect of this application. The system includes: Spatial calibration module; used to acquire panoramic images of GIL pipelines at the construction site and simultaneously acquire spatial attitude data of the image acquisition equipment; extracts the pixel coordinates of the pipeline outer contour, flange edge, and bolt hole from the panoramic image, and performs spatial position calibration by combining the calibration parameters of the image acquisition equipment and the spatial attitude data; The docking instruction generation module generates a bird's-eye view of the construction site based on the panoramic image mapping after spatial positioning calibration, and establishes a three-dimensional environment model. According to the three-dimensional environment model, it calculates the six-degree-of-freedom position and pose difference of the GIL pipeline to be hoisted relative to the fixed GIL pipeline. The hoisting device moves the GIL pipeline to be hoisted to the initial position according to the six-degree-of-freedom position and pose difference. The six-degree-of-freedom position and pose difference is calculated again at the initial position as the initial compensation position and sent to the robotic arm. The docking command execution module controls the robotic arm to perform pipeline docking operations based on the initial compensated pose difference. During the execution of the pipeline docking operation, it continuously tracks the flange edge and bolt hole position of the GIL pipeline to be hoisted relative to the fixed GIL pipeline, uses multi-step historical pose difference data before the current time step to predict pose drift, and dynamically updates the compensated pose difference until the pipeline docking operation is completed. The docking operation safety constraint module is used to set the operating boundary constraints of the hoisting device and the robotic arm. During the execution of the docking operation, it continuously monitors the contact pressure between the end of the robotic arm and the clamping point of the hoisting device on the GIL pipeline to be hoisted. When the contact pressure exceeds the operating boundary constraints, it updates the posture adjustment command.

[0014] The beneficial effects of this invention are that, compared with the prior art, 1. This application ensures higher accuracy and reliability in GIL pipeline docking operations through machine vision-based spatial positioning calibration, 3D environment model construction, and real-time dynamic updating of pose difference compensation values. During the docking process, the flange edge and bolt hole positions are continuously tracked, and pose drift is predicted using historical data, thereby achieving precise pipeline docking, reducing the possibility of human intervention, and lowering the error rate and accident risk during operation. The robotic arm receives updated pose difference compensation values ​​and adjusts its movement trajectory in real time to ensure precise alignment between the gripping point and the pipeline docking surface, avoiding pipeline damage caused by posture errors.

[0015] 2. This application, by setting operational boundary constraints and monitoring the operating status of the lifting device and robotic arm in real time, effectively prevents the robotic arm from applying excessive contact pressure, misoperation, or inertia issues during pipeline docking, thus avoiding leakage and damage to the insulating medium within the GIL pipeline. Especially during docking operations, the system automatically updates docking commands to ensure that the movements of the robotic arm and lifting device remain within safe limits, avoiding excessive clamping or unstable operation of the pipeline, and minimizing risks caused by excessive pressure or inaccurate pipeline posture. By adjusting the position difference compensation value in real time and monitoring contact pressure, the system ensures the integrity of the insulating medium during pipeline docking, protecting the safety of personnel and the insulation performance of equipment, while also reducing environmental risks. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the execution flow of the GIL pipe-assisted docking method provided in the embodiment. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0018] As one embodiment of this application, a deployment method for a visual acquisition device used to assist in GIL (Gas Inlet and Outlet) pipe connection is described. Multiple fisheye cameras or 360° panoramic cameras are configured above an industrial crane (potentially near the electric hoist), on the lifting truss, or on a robotic arm. This ensures coverage of the GIL pipe and its surrounding environment, acquiring a 360° panoramic view.

[0019] As an optional implementation method of this embodiment, the robotic arm can be installed on the lifting truss and move with the lifting device. The installation height can be adjusted according to the actual situation.

[0020] An inertial measurement unit (IMU) or high-precision lidar is configured on the electric hoist of an industrial crane to synchronize with the acquisition of visual images, thereby acquiring spatial attitude data of the visual acquisition device in real time, including position, orientation, and tilt angle. As an optional implementation, if other hoisting equipment is used, the inertial measurement unit is mounted on a corresponding movable component.

[0021] As an alternative implementation, the lifting device and robotic arm can be scheduled and controlled using a PLC control system or other types of unified control systems.

[0022] As an embodiment of this application, a specific implementation of a machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method is described. Please refer to the schematic diagram of the method's execution flow. Figure 1 .

[0023] S1: Acquire panoramic images of the area around the GIL pipeline at the construction site using imaging equipment from multiple angles, including panoramic images of the GIL pipeline to be hoisted and the pipeline that has already been fixed.

[0024] 1.1: Spatial attitude data acquired synchronously with panoramic images, recording the spatial position, angle, and rotation attitude (such as pitch angle) of the image acquisition device.

[0025] Distortion correction is performed on the panoramic image, especially the geometric distortion caused by the fisheye lens. Multi-angle images are then stitched and registered to obtain a complete, distortion-free panoramic image. As an optional implementation, AVM technology can be used to obtain a complete, distortion-free GIL pipeline panoramic image.

[0026] 1.2: For the preprocessed panoramic image, an edge detection algorithm is used to identify the outer contour of the pipe, the edge of the flange, and the bolt holes in the image. Then, the pixel coordinates of these key points in the two-dimensional panoramic image are converted into coordinates in three-dimensional space using the calibration parameters of the image acquisition equipment.

[0027] The current 3D spatial coordinates are in the coordinate system of the imaging equipment and need to be converted to the global coordinate system of the construction site. Using the spatial attitude data of the imaging equipment, the 3D spatial coordinates of the pipe outline, flange edge, and bolt holes are converted to the global coordinate system of the construction site.

[0028] S2: Generate a bird's-eye view of the construction site by mapping panoramic images with spatial location calibration, establish a three-dimensional environment model, and calculate the six-degree-of-freedom positional difference between the GIL pipeline to be hoisted and the fixed GIL pipeline.

[0029] 2.1: A bird's-eye view of the construction site is generated using panoramic images that have been spatially calibrated. This bird's-eye view reflects the spatial layout of the entire construction area and provides an intuitive visual reference for subsequent calculations.

[0030] Using computer vision and 3D modeling techniques, a 3D environment model was created based on a bird's-eye view and extracted key feature point information (the 3D coordinates of the pipe outline, flange edge, and bolt holes in the global coordinate system). This 3D environment model reflects the spatial distribution of the construction site, including the position, orientation, and relative positional relationship of the GIL pipes to be hoisted and the fixed GIL pipes.

[0031] 2.2: Extract the coordinates of key feature points of the GIL to be hoisted and the fixed pipeline from the 3D environment model, and represent them as a key feature point cloud. and ;in, , and These represent subsets of key feature points representing the outer contour of the pipe, the edge of the flange, and the bolt holes, respectively.

[0032] As one implementation method of this embodiment, the SVD point cloud registration algorithm is used to calculate from arrive Optimal rigid body transformation Optimal rigid body transformation This refers to the positional difference between the GIL to be hoisted and the already fixed pipeline, where, Let be a rotation matrix. It is a translation vector.

[0033] Using the SVD point cloud registration algorithm, the precise positional and directional differences between the pipe to be lifted and the already fixed pipe can be calculated. This accurate alignment difference ensures that the lifting equipment and robotic arm can work more coordinatedly, reducing errors and operational problems, and optimizing the pipe alignment process.

[0034] The control system sends the rotation matrix and translation vector as control commands to the hoisting device, performing a coarse-tuning docking operation and driving the hoisting device to move the GIL pipeline to be hoisted to its initial position. This initial position is a pre-set location, which can be understood as a point near the already fixed pipeline.

[0035] At the initial position, the pose difference between the GIL to be hoisted and the fixed pipeline is calculated again based on the key feature point cloud of the GIL to be hoisted and the fixed pipeline. This value is then sent to the robotic arm as the initial pose difference compensation value for further docking operations.

[0036] S3: During the execution of the pipeline docking operation, the position and orientation difference compensation value is dynamically updated until the pipeline docking operation is completed.

[0037] As an example of the application, during the further docking process, a time window step is set to continuously track the point cloud of the key points of the GIL pipeline to be hoisted and the fixed GIL pipeline.

[0038] Assuming the initial moment of further docking operations The robotic arm receives the initial compensation pose difference. The compensated pose difference serves as the initial target for the robotic arm's movement; the robotic arm moves from the initial position to the target position based on this compensated pose difference. During this process, the robotic arm's image acquisition equipment captures real-time images of the docking area between the two pipes, including high-precision point clouds of features such as flange edges and bolt holes on the two docking surfaces. As the robotic arm moves, the real-time pose difference between the pipe to be lifted and the already fixed pipe is calculated. .

[0039] Based on real-time pose difference While adjusting the robotic arm's movement commands, the pose difference is calculated based on the current time step. forward The real-time pose difference sequence of the step is used to independently perform linear regression on the six components of the six-degree-of-freedom pose difference (three components each of translation position difference and rotation attitude difference) to fit the changing trend and output the predicted pose difference for future time, including the rotation matrix and translation vector.

[0040] Calculate the prediction error between the predicted pose difference and the real-time pose difference. , is represented as: ; in, To predict pose difference, It is the inverse matrix of the real-time pose difference.

[0041] Based on the prediction error, the compensated pose difference sent to the robotic arm is dynamically updated, expressed as: ; in, For the current time step Compensation for pose difference, This is to compensate for the pose difference before the update.

[0042] By updating the pipeline's position and orientation difference compensation in real time, the robotic arm can adjust its movements based on real-time data, avoiding pipeline misalignment or equipment damage caused by accumulated errors or inaccurate operation. This greatly improves safety during construction and avoids unnecessary equipment damage and collisions.

[0043] S4: As an embodiment of this application, to prevent docking failure or leakage of insulating medium due to inertia, misoperation, or other reasons during the docking process, the operating status of the robotic arm and lifting device is continuously monitored during the execution of the docking operation. When the operating status exceeds the operating boundary constraints, the docking operation command is updated. Specifically: 4.1: Set the operating boundary constraints for the hoisting device and the robotic arm.

[0044] (1) Spatial location boundary constraints; The maximum reach of the lifting equipment is determined based on its structure, load-bearing capacity, and the construction environment. For example, the maximum operable distance of the lifting equipment in the horizontal and vertical directions is defined to ensure that it does not exceed the safe operating range.

[0045] Maximum rotation angle of the robotic arm: Based on the design of the robotic arm, the maximum rotation angle range of the robotic arm is set to prevent it from exceeding physical limits or causing dangerous operations during rotation.

[0046] (2) Contact boundary constraints; Clamping distance threshold: This sets the minimum distance between the robotic arm's clamping point and the mating surface of the pipe to be lifted, ensuring that the clamping position is not lower than the safety threshold. This distance is typically determined based on the precision requirements of the docking operation and the pipe's dimensions.

[0047] Contact pressure threshold: To protect the GIL pipeline to be lifted, the maximum contact pressure applied by the robotic arm gripping point is set to prevent excessive pressure on the pipeline and avoid damage to the pipeline or impact on the insulation medium.

[0048] (3) Boundary constraints on movement speed; Maximum moving speed of the lifting equipment: Based on the weight of the GIL pipe to be lifted, the load-bearing capacity of the lifting equipment, and the length of the cables, the maximum movable speed of the lifting equipment is calculated. Calculations may include the effects of factors such as gravity, cable length, and the load-bearing capacity of the lifting equipment to ensure safety and stability during the lifting process. Maximum moving speed The calculation method is expressed as follows: ; in, The adjustment coefficient is usually set according to the material properties; The weight of the GIL pipe to be hoisted. This represents the maximum load-bearing capacity of the hoisting device. This refers to the hoisting length of the cable. This is the maximum working length of the cable.

[0049] 4.2: Continuously monitor the operating status of the hoisting device and the robotic arm.

[0050] The system monitors the movement speed, position, and attitude changes of the hoisting device in real time, including horizontal and vertical movements. It also collects motion data of the robotic arm in real time, including rotation angle, clamping force, position, speed, and contact pressure applied to the pipe to be hoisted. The collected data is then constrained and compared through the control system.

[0051] When any operating parameter exceeds the preset boundary constraints, the system triggers an alarm and initiates an emergency shutdown or operation abort mechanism. If certain operating parameters are close to the boundary, the system will issue a warning signal in advance, prompting the operator to adjust the operating method.

[0052] As one implementation of this embodiment, if the operating state exceeds the set operating boundary constraints (e.g., the contact pressure applied by the robotic arm is too large, or the lifting device exceeds its maximum extension range), the current pipeline docking operation will be automatically terminated. A termination command will be immediately sent to the lifting device and the robotic arm to stop all docking operations.

[0053] The spatial attitude data, robotic arm status, and hoisting device status at the time of termination are saved to the operation log for subsequent analysis and debugging.

[0054] In a further implementation, based on the spatial attitude data at the time of abort, the positional difference between the GIL pipe to be hoisted and the fixed GIL pipe is recalculated, and the initial compensation value of the docking operation is adjusted.

[0055] The hoisting device and robotic arm continue to perform subsequent docking operations based on the new positional difference compensation value to ensure that the next operation does not exceed the boundary.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method, characterized in that, include: Capture panoramic images of the GIL pipeline at the construction site and simultaneously acquire spatial attitude data of the image acquisition equipment; Extract the pixel coordinates of the pipe outer contour, flange edge, and bolt hole from the panoramic image, and perform spatial position calibration by combining the calibration parameters of the image acquisition equipment and spatial attitude data. Multiple fisheye or panoramic cameras are installed above the industrial crane, on the lifting truss, and on the robotic arm to collect panoramic views; an inertial measurement unit or lidar is installed on the electric hoist of the industrial crane to keep synchronized with the acquisition of visual images and obtain spatial attitude data of the visual acquisition device. A bird's-eye view of the construction site is generated based on the panoramic image mapping after spatial positioning calibration, and a three-dimensional environment model is established. According to the three-dimensional environment model, the six-degree-of-freedom pose difference of the GIL pipeline to be hoisted relative to the fixed GIL pipeline is calculated. The hoisting device moves the GIL pipeline to be hoisted to the initial position according to the six-degree-of-freedom pose difference. The six-degree-of-freedom pose difference is calculated again at the initial position as the initial compensation pose difference and sent to the robotic arm. Based on the initial compensated pose difference, the robotic arm is controlled to perform the pipeline docking operation. During the execution of the pipeline docking operation, the position of the flange edge and bolt hole of the GIL pipeline to be lifted relative to the fixed GIL pipeline is continuously tracked. The pose drift is predicted using the multi-step historical pose difference data before the current time step, and the compensated pose difference is dynamically updated until the pipeline docking operation is completed. Assuming the initial moment of further docking operations The robotic arm receives the initial compensation pose difference. The robot arm moves from its initial position to the target position based on the compensated pose difference. During this process, high-precision point cloud images of the docking area of ​​the two pipes are captured in real time by the image acquisition equipment on the robot arm. The robot arm also calculates the real-time pose difference between the pipe to be lifted and the fixed pipe during its movement. ; Based on real-time pose difference While adjusting the robotic arm's movement commands, the pose difference is calculated based on the current time step. forward The real-time value sequence of pose difference of the step is used to independently perform linear regression on the six components of the pose difference of the six degrees of freedom, fit the trend of change, and output the predicted pose difference of the future time. Calculate the prediction error between the predicted pose difference and the real-time pose difference. , is represented as: ； in, To predict pose difference, This is the inverse matrix of the real-time pose difference; Based on the prediction error, the compensated pose difference sent to the robotic arm is dynamically updated, expressed as: ； in, For the current time step Compensation for pose difference, This is to compensate for the pose difference before the update; Set operational boundary constraints for the hoisting device and the robotic arm; continuously monitor the operational status of the robotic arm and the hoisting device during the docking operation; and update the docking operation command when the operational status exceeds the operational boundary constraints.

2. The machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method according to claim 1, characterized in that, The steps for spatial location calibration include: Based on the calibration information of the image acquisition equipment, the pixel coordinates in the two-dimensional image are converted into position coordinates in three-dimensional space to obtain the spatial coordinates of the pipe outline, flange edge, and bolt hole. Based on the spatial attitude data of the imaging equipment, the spatial coordinates of the pipe outline, flange edge, and bolt holes are transformed into the global coordinate system of the construction site.

3. The machine vision-based GIL (Gas Inlet Channel) pipe-assisted docking method according to claim 1, characterized in that, The six degrees of freedom pose difference includes translational position difference and rotational pose difference; Key feature points of the GIL pipe to be hoisted and the fixed GIL pipe are extracted from the three-dimensional environment model, including the outer contour of the pipe, the edge of the flange, and the bolt holes; each key feature point contains the coordinates and rotation attitude in the global coordinate system. Based on the key feature point clouds of the GIL pipeline to be hoisted and the fixed GIL pipeline, the rotation matrix and translation vector between the two are calculated through point cloud registration.

4. The machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method according to claim 1, characterized in that, Performing pipe connection operations includes: The six degrees of freedom orientation difference is sent to the hoisting device as a digital signal command. The hoisting device performs the first docking operation and moves the pipeline to be hoisted to the initial position according to the six degrees of freedom orientation difference. At the initial position, the positional difference between the GIL pipe to be hoisted and the fixed pipe is calculated again as the initial compensation positional difference; based on the initial compensation positional difference, the robotic arm performs the second docking operation. During the second docking operation, the operation of the robotic arm is updated in real time to compensate for the positional difference and correct the positional difference.

5. A machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method according to any one of claims 1 or 4, characterized in that, The update method for compensating for pose difference includes: In the second docking operation, the real-time pose difference value at the current time step is calculated; using the current time step... forward The historical pose difference data of each step is used to output the predicted pose difference for future time steps using linear modeling. The compensated pose difference for the current time step is updated in real time using the difference between the predicted pose difference and the real-time pose difference.

6. The machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method according to claim 1, characterized in that, The operational boundary constraints include spatial location boundary constraints, contact boundary constraints, and movement speed boundary constraints; The spatial position boundary constraints set the maximum extension range and maximum rotation angle of the hoisting device and the robotic arm. In the contact boundary constraints, the distance between the robotic arm gripping point and the docking surface of the GIL pipe to be lifted is set to be greater than or equal to the gripping distance threshold; the contact pressure applied by the robotic arm gripping point to the GIL pipe to be lifted is set to be less than or equal to the contact pressure threshold. In the moving speed boundary constraint, the maximum moving speed of the lifting equipment is calculated based on the weight of the GIL pipe to be lifted, the load-bearing capacity of the lifting equipment, and the length of the cable, and is used as the moving speed boundary of the lifting equipment.

7. A machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking method according to any one of claims 1 or 6, characterized in that, During the pipeline docking operation, the operating status of the hoisting device and the robotic arm is collected in real time, including the moving speed, posture changes, and contact pressure; the operating status is analyzed to see if it exceeds the operating boundary constraints. If it does, the pipeline docking operation is terminated. Based on the spatial attitude data at the moment of abort, the six-degree-of-freedom positional difference between the GIL pipe to be hoisted and the fixed GIL pipe is recalculated.

8. A machine vision-based GIL (Gas Inertial Isolation) pipe-assisted docking system, performing the assisted docking method as described in any one of claims 1-7, characterized in that, The system includes: Spatial calibration module; used to acquire panoramic images of GIL pipelines at the construction site and simultaneously acquire spatial attitude data of the image acquisition equipment; extracts the pixel coordinates of the pipeline outer contour, flange edge, and bolt hole from the panoramic image, and performs spatial position calibration by combining the calibration parameters of the image acquisition equipment and the spatial attitude data; The docking instruction generation module generates a bird's-eye view of the construction site based on the panoramic image mapping after spatial positioning calibration, and establishes a three-dimensional environment model. According to the three-dimensional environment model, it calculates the six-degree-of-freedom position and pose difference of the GIL pipeline to be hoisted relative to the fixed GIL pipeline. The hoisting device moves the GIL pipeline to be hoisted to the initial position according to the six-degree-of-freedom position and pose difference. The six-degree-of-freedom position and pose difference is calculated again at the initial position as the initial compensation position and sent to the robotic arm. The docking command execution module controls the robotic arm to perform pipeline docking operations based on the initial compensated pose difference. During the execution of the pipeline docking operation, it continuously tracks the flange edge and bolt hole position of the GIL pipeline to be hoisted relative to the fixed GIL pipeline, uses multi-step historical pose difference data before the current time step to predict pose drift, and dynamically updates the compensated pose difference until the pipeline docking operation is completed. The docking operation safety constraint module is used to set the operating boundary constraints of the hoisting device and the robotic arm. During the execution of the docking operation, it continuously monitors the contact pressure between the end of the robotic arm and the clamping point of the hoisting device on the GIL pipeline to be hoisted. When the contact pressure exceeds the operating boundary constraints, it updates the posture adjustment command.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is loaded into the processor, it implements the auxiliary docking method according to any one of claims 1-7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the auxiliary docking method according to any one of claims 1-7.

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