Pipe conveying device and method for water supply and drainage pipeline construction

Abstract

The invention belongs to the technical field of drainage pipe construction, and discloses a pipe conveying device and method for water supply and drainage pipeline construction, and the method comprises the steps that a data collection module collects geological data and data of a water supply and drainage pipeline; the route planning module plans an optimal driving route of the automatic control mobile vehicle; the mobile vehicle is automatically controlled to convey the water supply and drainage pipeline; the image acquisition module acquires a high-definition image; the image preprocessing module preprocesses the image, and features extracted by the feature extraction module comprise color, texture and shape; the image analysis module analyzes the preprocessed image; the push monitoring module adjusts the positions, heights and inclination angles of the clamping assembly and the water supply and drainage pipeline. The pipe conveying process is flexible and controllable, pipeline abnormity, position abnormity, height abnormity, inclination angle abnormity, clamping assembly abnormity and construction site environment abnormity can be found in time, and the positions, the heights and the inclination angles of the clamping assembly and the pipeline can be adjusted through the pushing monitoring module.

Description

Technical Field

[0001] This application relates to the field of drainage pipe construction technology, and more specifically, to a pipe delivery device and method for water supply and drainage pipeline construction. Background Technology

[0002] Currently, laying drainage pipes typically requires the combined use of multiple pieces of equipment, including large cranes, excavators, and loaders. These machines are not only expensive to purchase and lease, but also require complex coordination and cooperation during construction. For example, when a crane lifts a drainage pipe, excavators and loaders are needed for auxiliary positioning and adjustment; the operational precision and timing of the equipment require extremely high precision. If any link in this chain fails, the drainage pipe may be placed in an inaccurate position, requiring readjustment and wasting significant time and manpower.

[0003] The prior art publication CN117570264B provides a pipe delivery device for water supply and drainage pipeline construction, including a vehicle body with a pipe storage unit, a limiting unit, and a clamping and transferring unit. The pipe storage unit includes a hopper for storing pipes, with a discharge port on one side of the hopper. The limiting unit includes a pipe pushing assembly and a limiting block, with a receiving cavity for limiting the pipe formed between the pipe pushing assembly and the limiting block, the receiving cavity being located below the discharge port. The clamping and transferring unit includes a clamping assembly and a moving assembly, the moving assembly being used to move the position of the clamping assembly relative to the vehicle body, and the clamping assembly being used to clamp the pipe located in the receiving cavity. In this invention, the clamping and transferring unit can more conveniently, quickly, and stably clamp the pipes in the storage unit into the trench, without the need for the combined use of multiple devices, reducing the complexity of pipeline laying work, improving the efficiency of pipeline laying, and making the pipeline laying more coherent and orderly, further improving the efficiency of pipeline laying.

[0004] While the existing technical solutions described above can achieve the relevant beneficial effects through their structure, they still have the following drawbacks: 1. During actual construction, geological conditions and site conditions may change, such as sudden obstacles or geological collapses. Existing technologies cannot dynamically adjust the travel route in real time according to these changes, relying solely on manual intervention. This not only leads to construction interruptions but also delays the project schedule. 2. Poor adaptability of fixed support methods: Existing technologies typically use fixed numbers and spacing of supports to transport pipelines, making it impossible to flexibly adjust according to different specifications and lengths of pipelines. For longer or heavier pipelines, fixed support spacing may not provide sufficient support, easily causing deformation or even damage to the pipeline during transportation; while for shorter or lighter pipelines, excessive supports increase unnecessary costs and operational complexity. 3. Low degree of automation: Existing construction processes often rely heavily on manual operation, resulting in a low degree of automation. Manual operation is easily affected by subjective factors, such as fatigue and operational errors, leading to instability in the construction process and making it difficult to ensure that the pipeline is accurately moved to the installation position according to the preset steps each time.

[0005] In view of this, we propose a pipe delivery device and method for water supply and drainage pipeline construction. Summary of the Invention

[0006] 1. Technical problems to be solved The purpose of this application is to provide a pipe delivery device and method for water supply and drainage pipeline construction, which solves the technical problems mentioned in the background art, realizes flexible and controllable pipe delivery process, efficiently completes pipeline transportation and placement, and improves construction accuracy and efficiency; it can promptly detect pipeline abnormalities, position abnormalities, height abnormalities, tilt angle abnormalities, clamping component abnormalities, and construction site environment abnormalities, and the push monitoring module can adjust the position, height, and tilt angle of the clamping component and pipeline according to the laying requirement data, and promptly correct deviations that occur during construction.

[0007] 2. Technical Solution This application provides a pipe delivery device for water supply and drainage pipeline construction, including an automatically controlled moving vehicle, a baffle, a drive mechanism, a pushing mechanism, an electric push rod A, a toothed plate, a sliding seat, a clamping assembly, a plugging mechanism, and a monitoring mechanism.

[0008] The automated control mobile vehicle has two storage boxes connected by a partition; the storage boxes are used to hold water supply and drainage pipes; the storage boxes have sliding baffles; the bottom of the storage boxes is sloping and has pipe outlets.

[0009] Two drive mechanisms are fixedly installed on the automatic control mobile vehicle. The drive mechanisms are connected to the baffle through transmission. The drive mechanism 3 can drive the baffle to move and adjust its position.

[0010] A receiving plate is fixedly installed below the automatically controlled mobile vehicle to receive the water supply and drainage pipes released from the storage tank; a rubber buffer pad is fixedly installed above the receiving plate.

[0011] The automatic control mobile vehicle is fixedly equipped with a pushing mechanism, and two electric push rods A are fixedly mounted on the movable rods. Rotary blocks are rotatably mounted on the movable rods, and both rotating blocks are hinged to the toothed plate. The size and shape of the rotating blocks can be adjusted according to actual needs.

[0012] The toothed plate is slidably provided with several sliding seats, each of which is equipped with a clamping component; the water supply and drainage pipes are clamped by the clamping components.

[0013] The sliding seat is a detachable, split structure that can be detachably mounted onto the toothed plate. The sliding seat is designed in two parts, upper and lower, which are fixedly connected by multiple bolts.

[0014] The automated control mobile vehicle is symmetrically equipped with two locking mechanisms. These mechanisms can seal the lower outlet of the storage tank. A monitoring mechanism is also fixedly installed on the automated control mobile vehicle to monitor the pipe delivery process during water supply and drainage pipeline construction.

[0015] Using the above technical solution, water supply and drainage pipes of different specifications can be loaded into the storage box of the automatically controlled mobile vehicle. The automatically controlled mobile vehicle travels along the laying route to the location where the pipe needs to be installed. A locking mechanism releases the required pipe specification. An electric push rod A moves the toothed plate and sliding seat downwards to the appropriate position. Then, a clamping assembly clamps the water supply and drainage pipe, raising the clamping assembly to a certain height. A pushing mechanism then moves the electric push rod A, toothed plate, sliding seat, and clamping assembly outwards to the appropriate position. Finally, the electric push rod A moves the toothed plate, sliding seat, and clamping assembly downwards to the appropriate position. With the water supply and drainage pipe in the correct installation position, installation can begin. Throughout this process, a monitoring device monitors the pipe delivery process to promptly detect any abnormalities.

[0016] As an optional embodiment of the present invention, the drive mechanism includes a motor A, a lead screw, and a slide bar.

[0017] A motor A is fixedly mounted on the automated control mobile vehicle; a lead screw and a slide bar are rotatably mounted on the automated control mobile vehicle; the output end of motor A is coaxially and fixedly connected to the lead screw. The lead screw is threadedly connected to the baffle, and the slide bar is slidably connected to the baffle.

[0018] The above technical solution involves starting motor A to drive the lead screw to rotate, which in turn moves the baffle to adjust its position. The baffle then aligns the water supply and drainage pipes to accommodate different pipe lengths.

[0019] As an optional embodiment of the present invention, the pushing mechanism includes a multi-stage electric telescopic rod and a push plate.

[0020] The automated control mobile vehicle is equipped with two multi-stage electric telescopic masts; the movable rods of both multi-stage electric telescopic masts are fixedly mounted on the push plate. A digital inclinometer is fixedly mounted on the toothed plate.

[0021] As an optional embodiment of the present invention, the clamping assembly includes an electric push rod B, a top block, a connecting plate, and an arc-shaped clamping plate.

[0022] An electric push rod B is fixedly mounted on the sliding seat. A top block is fixedly mounted on the movable rod of the electric push rod B, and the top block is slidably mounted on the sliding seat. Two arc-shaped clamping plates are symmetrically and rotatably mounted on the sliding seat. A connecting plate is rotatably hinged to the arc-shaped clamping plates, and the other end of the connecting plate is rotatably mounted on the top block. A rubber pad is provided on the inner side of the arc-shaped clamping plates, and a pressure sensor is provided on the rubber pad.

[0023] Through the above technical solution, the top block is moved by the electric push rod B, the top block moves the two connecting plates, and the connecting plates 83 drive the corresponding arc-shaped clamps to rotate synchronously in the opposite direction, thereby achieving the clamping or releasing of the water supply and drainage pipes.

[0024] This invention provides a method for constructing and supplying pipes for water supply and drainage pipelines, comprising the following steps: S1, the data collection module collects geological data of the area where water supply and drainage pipelines need to be constructed and piped, including information such as soil type, soil layer thickness, groundwater level, and rock distribution. It also acquires data related to the water supply and drainage pipelines.

[0025] S2. The route planning module plans the optimal route for the automated control mobile vehicle based on geological data and laying requirements.

[0026] S3. The automatically controlled mobile vehicle travels along the planned route to transport water supply and drainage pipes.

[0027] S31. The push monitoring module calculates the number of clamping components and the spacing between each clamping component based on the water supply and drainage pipeline data and length; increases the number of clamping components as needed; and releases the pipeline of the required specifications through the locking mechanism.

[0028] S32. The toothed plate and sliding seat are moved downward to a suitable position by the electric push rod A, and then the water supply and drainage pipe is clamped by the clamping assembly.

[0029] S33, raise the clamping component to a certain height.

[0030] S34. Then, the electric push rod A, toothed plate, sliding seat and clamping assembly are moved to the appropriate position outward by the pushing mechanism.

[0031] S35. The toothed plate, sliding seat and clamping assembly are moved downward to the appropriate position by the electric push rod A, so that the water supply and drainage pipe is in the appropriate installation position.

[0032] S36. Install pipelines and monitor the pipeline construction and delivery process through a monitoring agency to promptly detect any abnormalities.

[0033] S4, the image acquisition module acquires high-definition images of the construction and pipe delivery process of water supply and drainage pipelines.

[0034] S5, the image preprocessing module preprocesses the acquired images, including filtering and denoising, grayscale conversion, and normalization; the feature extraction module extracts features from the preprocessed images, including color, texture, and shape.

[0035] S6. The image analysis module analyzes the preprocessed images to promptly detect anomalies and ensure that the water supply and drainage pipes maintain the correct position, height, and tilt angle during the pipe delivery process to meet the laying requirements.

[0036] S7. The push monitoring module adjusts the position, height, and tilt angle of the clamping components and the water supply and drainage pipes according to the laying requirements data of the water supply and drainage pipes.

[0037] S8. When an abnormal situation is detected, the alarm module will issue an alarm in a timely manner.

[0038] 3. Beneficial effects One or more technical solutions provided in this application have at least the following technical effects or advantages.

[0039] 1. This invention uses a route planning module to plan the optimal travel route for an automatically controlled mobile vehicle based on geological data and laying requirements. This reduces the travel time and distance of the mobile vehicle, improves construction efficiency, and also reduces energy consumption and equipment wear.

[0040] 2. The pipe delivery process is flexible and controllable. The monitoring module accurately calculates the number and spacing of clamping components based on the water supply and drainage pipe data and length, and can increase the number of clamping components as needed. This flexible arrangement ensures that pipes of different specifications and lengths are stably supported and fixed during transportation, reducing the risk of pipe deformation and damage, and improving the quality of pipe transportation.

[0041] 3. Through the coordinated operation of the electric push rod A and the pushing mechanism, the pipeline is accurately moved to the installation position according to the preset steps. This efficiently completes the transportation and placement of the pipeline, improving construction accuracy and efficiency.

[0042] 4. The monitoring agency acquires high-definition images through the image acquisition module, which can promptly detect abnormalities in pipelines, locations, heights, tilt angles, clamping components, and construction site environments. This ensures that water supply and drainage pipelines maintain the correct position, height, and tilt angle during the pipeline installation process, meeting laying requirements and thus guaranteeing construction quality.

[0043] 5. The push monitoring module can adjust the position, height, and tilt angle of the clamping components and pipes according to the laying requirements data, and promptly correct deviations that occur during construction. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of the water supply and drainage pipeline construction and delivery device disclosed in a preferred embodiment of this application.

[0045] Figure 2 This is a schematic diagram of the support component structure of the water supply and drainage pipeline construction and delivery device disclosed in a preferred embodiment of this application.

[0046] Figure 3 This is a schematic diagram of the sub-mechanism structure of the water supply and drainage pipeline construction pipe delivery device disclosed in a preferred embodiment of this application.

[0047] Figure 4 This is a schematic diagram of the rotation drive structure of a pipe delivery device for water supply and drainage pipeline construction disclosed in a preferred embodiment of this application.

[0048] Figure 5 This is a schematic diagram of the adjustment mechanism of the water supply and drainage pipeline construction pipe delivery device disclosed in a preferred embodiment of this application.

[0049] Figure 6 This is a schematic diagram of the rotating suction cup assembly of a pipe delivery device for water supply and drainage pipeline construction disclosed in a preferred embodiment of this application.

[0050] Reference numerals: 1. Automatically controlled moving vehicle; 2. Baffle; 3. Drive mechanism; 4. Pushing mechanism; 5. Electric push rod A; 6. Gear plate; 7. Sliding seat; 8. Clamping assembly; 9. Locking mechanism; 11. Storage box; 12. Receiving plate; 31. Motor A; 32. Lead screw; 33. Slide rod; 41. Multi-stage electric telescopic rod; 42. Push plate; 53. Rotating block; 71. Motor B; 72. Gear; 81. Electric push rod B; 82. Top block; 83. Connecting plate; 84. Arc-shaped clamping plate; 91. Electric push rod C; 92. Support plate. Detailed Implementation

[0051] The present application will be further described in detail below with reference to the accompanying drawings.

[0052] Reference Figure 1 and Figure 2This application provides a pipe delivery device for water supply and drainage pipeline construction, including: an automatically controlled mobile vehicle 1, a baffle 2, a drive mechanism 3, a pushing mechanism 4, an electric push rod A5, a toothed plate 6, a sliding seat 7, a clamping assembly 8, a plugging mechanism 9, and a monitoring mechanism.

[0053] The automated mobile vehicle 1 has two storage boxes 11 connected by a partition. Each storage box 11 has an open top and is used to hold water supply and drainage pipes. A baffle 2 is slidably installed inside each storage box 11. The bottom of each storage box 11 is inclined, and a pipe outlet is located at the bottom. The automated mobile vehicle 1 possesses a high degree of automated driving capability. Following a preset construction route, it can achieve precise driving through a built-in intelligent navigation system and sensors, ensuring it reaches all designated locations on the construction site.

[0054] Two drive mechanisms 3 are fixedly installed on the automatic control mobile vehicle 1. The drive mechanisms 3 are connected to the baffle 2 through transmission. The drive mechanisms 3 can drive the baffle 2 to move and adjust its position.

[0055] A receiving plate 12 is fixedly installed below the automatic control mobile vehicle 1. The receiving plate 12 receives the water supply and drainage pipes released from the storage box 11. A rubber buffer pad is fixedly installed above the receiving plate 12.

[0056] The automatic control mobile vehicle 1 is fixedly equipped with a pushing mechanism 4, and two electric push rods A5 are fixedly equipped with movable rods on which rotating blocks 43 are rotatably mounted. Both rotating blocks 43 are rotatably hinged to the toothed plate 6.

[0057] Several sliding seats 7 are slidably provided on the toothed plate 6, and each sliding seat 7 is provided with a clamping component 8; the water supply and drainage pipe is clamped by the clamping component 8.

[0058] The sliding seat 7 is a detachable, split structure, which can be detachably installed onto the toothed plate 6. The sliding seat 7 is designed as an upper and lower part, which are fixedly connected by multiple bolts. The sliding seat 7 is made of high-strength alloy steel, which has good strength and toughness and can withstand the weight of the clamping component 8 and the clamped water supply and drainage pipe, ensuring that it will not deform or be damaged during construction.

[0059] Two locking mechanisms 9 are symmetrically fixed on the automatic control mobile vehicle 1. The locking mechanisms 9 can block the lower outlet of the storage tank 11. When it is necessary to release the pipe, the locking mechanism 9 quickly opens the lower outlet of the storage tank 11; when it is not necessary to send the pipe, it tightly seals the outlet to prevent the pipe from accidentally slipping out.

[0060] The automatic control mobile vehicle 1 is equipped with a monitoring mechanism that monitors the process of pipe delivery during the construction of water supply and drainage pipelines.

[0061] In this technical solution, water supply and drainage pipes of different specifications are loaded into the storage box 11 of the automated control mobile vehicle 1. The automated control mobile vehicle 1 travels along the laying route to the location where the pipe needs to be installed. The required pipe specification is released by the locking mechanism 9. The electric push rod A5 drives the toothed plate 6 and the sliding seat 7 to move downward to the appropriate position. Then, the clamping assembly 8 clamps the water supply and drainage pipe, raising the clamping assembly 8 to a certain height. Then, the pushing mechanism 4 drives the electric push rod A5, the toothed plate 6, the sliding seat 7, and the clamping assembly 8 to move outward to the appropriate position. The electric push rod A5 drives the toothed plate 6, the sliding seat 7, and the clamping assembly 8 to move downward to the appropriate position. When the water supply and drainage pipe is in the appropriate installation position, the pipe installation can be carried out. During this process, the pipe delivery process is monitored by a monitoring mechanism to detect any abnormalities in a timely manner.

[0062] Furthermore, the drive mechanism 3 includes a motor A31, a lead screw 32, and a slide bar 33.

[0063] A motor A31 is fixedly mounted on the automatic control mobile vehicle 1; a lead screw 32 and a slide rod 33 are rotatably mounted on the automatic control mobile vehicle 1; the output end of the motor A31 is coaxially and fixedly connected to the lead screw 32. The lead screw 32 is threadedly connected to the baffle 2, and the slide rod 33 is slidably connected to the baffle 2.

[0064] In this technical solution, the starter motor A31 drives the lead screw 32 to rotate, and the lead screw 32 drives the baffle 2 to move and adjust its position. The baffle 2 aligns the water supply and drainage pipes to accommodate different pipe lengths.

[0065] Reference Figure 3 The pushing mechanism 4 includes a multi-stage electric telescopic rod 41 and a push plate 42.

[0066] Two multi-stage electric telescopic rods 41 are fixedly installed on the automatic control moving vehicle 1; the movable rods of the two multi-stage electric telescopic rods 41 are both fixedly installed on the push plate 42. A digital inclinometer is fixedly installed on the toothed plate 6.

[0067] In this technical solution, the activation of two multi-stage electric telescopic rods 41 drives the push plate 42 to move, and the push plate 42 drives the electric push rod A5, toothed plate 6, sliding seat 7 and clamping assembly 8 to move, adjusting the horizontal position.

[0068] Reference Figure 4 A motor B71 is fixedly mounted on the sliding seat 7. A gear 72 is coaxially fixedly mounted on the output end of the motor B71. The gear 72 meshes with the gear plate 6 for transmission.

[0069] In this technical solution, the starting motor B71 drives the gear 72 to rotate. Since the gear 72 is meshed with the toothed plate 6, the gear 72 drives the sliding seat 7 to move on the toothed plate 6 when it rotates, thus adjusting its position.

[0070] Reference Figure 5 The clamping assembly 8 includes an electric push rod B81, a top block 82, a connecting plate 83, and an arc-shaped clamping plate 84.

[0071] An electric push rod B81 is fixedly installed on the sliding seat 7. A top block 82 is fixedly installed on the movable rod of the electric push rod B81. The top block 82 is slidably installed on the sliding seat 7.

[0072] Two symmetrically rotatable arc-shaped clamping plates 84 are mounted on the sliding seat 7. A connecting plate 83 is rotatably hinged to each arc-shaped clamping plate 84, and the other end of the connecting plate 83 is rotatably mounted on the top block 82. A rubber pad is provided on the inner side of the arc-shaped clamping plate 84, and a pressure sensor is installed on the rubber pad. The rubber pad not only increases the friction between the rubber pad and the pipe, preventing the pipe from slipping, but also acts as a buffer to avoid damage to the pipe. The pressure sensor on the rubber pad can monitor the clamping force in real time and feed the data back to the control system so that the clamping force can be adjusted in time to ensure reliable clamping of the water supply and drainage pipe during pipe delivery.

[0073] In this technical solution, the top block 82 is moved by the electric push rod B81, the top block 82 moves the two connecting plates 83, and the connecting plates 83 drive the corresponding arc-shaped clamping plates 84 to rotate synchronously in opposite directions, thereby clamping or releasing the water supply and drainage pipes.

[0074] Reference Figure 6 The stop mechanism 9 includes an electric push rod C91 and a tray 92.

[0075] Two sets of electric push rods C91 are fixedly installed on the automatic control mobile vehicle 1. There are two sets of electric push rods C91, and the movable ends of the electric push rods C91 are fixedly installed on the tray 92. The tray 92 is slidably installed at the pipe outlet at the bottom of the storage box 11.

[0076] In this technical solution, when the pipe needs to be released, the electric push rod C91 is activated, and its movable rod extends, causing the pallet 92 to slide outward along the track at the bottom of the storage box 11 at the pipe outlet, opening the outlet and allowing the pipe to slide down naturally under gravity; when the pipe does not need to be sent, the movable rod of the electric push rod C91 retracts, causing the pallet 92 to slide inward, tightly sealing the outlet and preventing the pipe from accidentally slipping down.

[0077] Furthermore, monitoring agencies monitor the construction and pipe delivery process of water supply and drainage pipelines, including...

[0078] Data Collection Module: Utilizing specialized geological exploration equipment, such as ground-penetrating radar, this module collects geological data from the areas where water supply and drainage pipelines will be laid, including soil type, soil layer thickness, groundwater level, and rock distribution. This data is crucial for assessing the stability of the construction site and determining the depth and method of pipeline laying. Through data exchange with pipeline suppliers and on-site measurements, data on the water supply and drainage pipelines, including parameters such as length, diameter, and materials, is obtained. Simultaneously, detailed laying requirement data, such as pipeline slope requirements, interface types, and burial depth standards, are collected to ensure that subsequent construction complies with design specifications.

[0079] Route planning module: Based on geological data and laying requirements, the optimal route for the automated control mobile vehicle 1 is planned.

[0080] Image acquisition module: Includes high-definition cameras. Multiple high-definition cameras are installed on the automated control mobile vehicle 1, distributed at different angles to ensure comprehensive coverage of the water supply and drainage pipeline construction and delivery process. It acquires high-definition images of the water supply and drainage pipeline construction and delivery process.

[0081] Image preprocessing module: This module preprocesses the acquired images, including denoising, grayscale conversion, and normalization. Denoising is performed using algorithms such as Gaussian filtering and median filtering to remove interference from salt-and-pepper noise and Gaussian noise, improving image clarity and quality. Grayscale conversion transforms the color image into a grayscale image, simplifying the data and facilitating subsequent feature extraction and analysis. During grayscale conversion, an appropriate weighting algorithm is used based on the image's color space model to preserve important image information. Normalization maps the pixel values ​​of the grayscale image to a fixed range, eliminating differences between images caused by factors such as lighting and shooting angle, making the images comparable.

[0082] Feature extraction module: Extracts features from the preprocessed image, including color, texture, and shape.

[0083] Image analysis module: Analyzes preprocessed images to promptly detect anomalies (including pipe anomalies, pipe position anomalies, pipe height anomalies, pipe tilt angle anomalies, clamping component anomalies, and construction site environment anomalies, etc.), ensuring that water supply and drainage pipes maintain the correct position, height, and tilt angle during pipe delivery to meet laying requirements.

[0084] Push monitoring module: Adjust the position, height and tilt angle of clamping component 8 and water supply and drainage pipes according to the laying requirements data of water supply and drainage pipes.

[0085] Alarm module: Includes an alarm that promptly issues an alert when an abnormal situation is detected.

[0086] Control Center: Connected to the data collection module, route planning module, image acquisition module, feature extraction module, image analysis module, push monitoring module, and alarm module via network.

[0087] Furthermore, the route planning module, based on geological data and laying requirements, plans the optimal route for the automatically controlled mobile vehicle 1; including the following steps: 1. Data Processing and Analysis: Collected geological data, such as soil type, soil layer thickness, groundwater level, and rock distribution, are categorized and organized. The boundaries and characteristics of different geological regions are clearly defined, for example, distinguishing between soft soil foundations, rock foundations, and areas with high groundwater levels. Laying requirements data, including pipe slope requirements, joint types, and burial depth standards, are carefully studied. Specific parameters that need to be achieved in different sections during pipeline laying are determined, such as maintaining a pipe slope between 0.3% and 0.5% in a certain area.

[0088] 2. Establish a Geographic Information Model (GIS): 2.1 Digital Map Construction: The geographical information of the construction area, including topography, roads, buildings, etc., is transformed into a digital map. A base layer containing detailed geographical information is created using satellite imagery, topographic maps, and other data.

[0089] 2.2 Overlay of Geological and Laying Information: The compiled geological data and laying requirements data are overlaid on the digital map as layers. For example, the extent and characteristics of different geological areas are marked on the map, and the laying requirements for each section of pipeline, such as slope requirements and burial depth, are also marked.

[0090] 3. Determine the preliminary route: Based on topographic information, plan several pipeline delivery routes. Prioritize areas with relatively flat terrain and minimal slope changes to reduce energy consumption and equipment wear during the automated mobile vehicle's operation. Avoid routes passing through steep slopes, low-lying waterlogged areas, or complex terrain.

[0091] Based on geological data, preliminary routes are screened. Soft soil foundation areas are avoided, as they may cause the vehicle to sink, affecting driving safety and stability. For rock foundation areas, if avoidance is not possible, the rock hardness and excavation difficulty must be assessed, and a route with lower excavation costs and less construction difficulty should be selected.

[0092] The pipeline route is adjusted according to laying requirements, such as slope requirements. This ensures the route can accommodate different slope settings in different areas, guaranteeing proper drainage or water supply after installation. For example, in areas requiring a certain slope, the planned route should accommodate the corresponding slope changes.

[0093] 4. Route Evaluation and Optimization: Using Dijkstra's algorithm, the construction cost of each preliminary route is calculated, including land acquisition costs (if applicable), road repair costs (if temporary roads need to be built), and equipment depreciation costs. Routes with lower costs are prioritized. The safety of the route is assessed, considering whether there are obstacles such as buildings or high-voltage power lines in the vicinity, and whether there are risks of geological disasters such as landslides and mudslides. Routes with potential safety hazards are avoided to ensure the safety of personnel and equipment during pipeline delivery.

[0094] Analyze the route's convenience for construction operations, such as whether it facilitates vehicle turning around and making turns, and whether it is conducive to pipeline loading, unloading, and installation. Select a route that is more convenient for construction operations to improve construction efficiency.

[0095] Taking into account factors such as cost, safety, and ease of construction, the initial route will be optimized. Some local adjustments may be necessary, such as changing the route's direction or adding or removing turning points, to achieve the best possible outcome.

[0096] 5. Route Verification and Determination: Verify the optimized route using simulation software or by conducting small-scale simulated driving at the actual site. Check whether the mobile vehicle can smoothly traverse each section and whether it meets all pipeline laying requirements. Compare the simulated driving results with the actual construction site conditions to ensure the route plan matches the actual situation. If necessary, make minor adjustments to the route based on the actual conditions. After simulation verification and actual site verification, determine the optimal route for the automated mobile vehicle 1 and input the route information into the navigation system of the automated mobile vehicle to guide its movement during construction.

[0097] Furthermore, the image analysis module analyzes the preprocessed image to promptly detect anomalies, including the following steps: 1. Pipeline anomaly analysis: 1.1 Pipeline integrity inspection.

[0098] 1.1.1 Edge Detection: Using algorithms such as Canny or Sobel, edge information of pipes in the image is obtained. The edge location is determined by calculating the gradient of pixels in the image.

[0099] 1.1.2 Morphological Operations: Morphological closing operations (dilation followed by erosion) are performed on the edge image to connect potentially broken edges, fill small holes, and make the pipe edges more continuous and complete. This helps to detect anomalies such as cracks or breaks in the pipe. If discontinuous or abnormally broken edges are found in the edge image after morphological operations, it is marked as a possible integrity problem with the pipe.

[0100] 1.2 Material Anomaly Identification: 1.2.1 Color Feature Analysis: Using the grayscale information or color space information (such as color components in the HSV space) of the preprocessed image, the color distribution within the pipe area is statistically analyzed. For pipes made of known normal materials, their color features should be within a certain range. If the detected color features deviate significantly from the normal range, it may indicate an anomaly in the pipe material, such as rust or corrosion on the pipe surface causing color changes.

[0101] 1.2.2 Texture Feature Analysis: Texture features of the pipeline region, such as contrast, correlation, and entropy, are extracted using methods such as Gray-Level Co-occurrence Matrix (GLCM). Normal pipeline textures exhibit certain regularity and consistency. If the texture features differ significantly from normal conditions, such as becoming chaotic or overly smooth, it may indicate an anomaly in the pipeline material.

[0102] 2. Analysis of abnormal pipeline location: 2.1 Define a reference coordinate system: Select a fixed reference point or region in the image, such as a corner of the image or a known fixed landmark, and establish a coordinate system with this as the origin. This coordinate system will serve as the benchmark for subsequent determination of the pipe's location.

[0103] 2.2 Determine the location of the pipeline: Contour extraction: The contour of the pipe is obtained using a contour detection algorithm (such as the findContours function in OpenCV). The position of the pipe in the image coordinate system is determined based on the geometric information of the contour (such as centroid, circumscribed rectangle, etc.).

[0104] Centroid Calculation: Calculate the position of the centroid.

[0105] Position deviation calculation: The currently detected pipeline position is compared with a pre-set ideal position (based on a reference coordinate system). The position deviation is calculated, such as the difference between the horizontal and vertical coordinates. If the deviation exceeds a set threshold, the pipeline position is determined to be abnormal.

[0106] 3. Pipe Height Anomaly Analysis: Based on imaging principles, and given camera parameters (such as focal length and camera height) and the ratio between the actual size of objects in the image and the image size, a height measurement model is established. For example, using the principle of similar triangles, the actual height of the pipe is calculated using the vertical dimension of the pipe in the image, the known height of a reference object, and the image size. The calculated actual pipe height is then compared with the standard height required by the design. If the height difference exceeds the allowable error range, the pipe height is judged to be abnormal.

[0107] 4. Analysis of Abnormal Pipe Inclination Angle: By analyzing the image, a straight line is fitted to the pipe edge using the least squares straight line fitting algorithm. The fitted line equation representing the pipe direction is obtained. The angle between the pipe and the horizontal direction is calculated based on the straight line equation. This angle is compared with the standard inclination angle required by the design. If the angle deviation exceeds the specified range, the pipe inclination angle is determined to be abnormal. The angle A between the pipe and the horizontal direction is calculated using the following formula: A = arctan(a); [Σ n i=1 (x i 2 +λ)]*a+[Σ n i=1 (x i )]*b=Σ n i=1 (x i y i ).

[0108] [Σ n i=1 (x i )]*a+n*b=Σ n i=1 (y i By solving the above system of linear equations, the values ​​of a and b can be obtained, and then the angle A between the pipe and the horizontal direction can be calculated. In the formula, n represents the set of points on the pipe edge {(x...} i ,y i )\} n i=1 The number of data points in the middle. i and y i ...

[0109] 5. Clamping component anomaly analysis: 5.1 Template Matching: Create a template image for the clamping component. Use a template matching algorithm (such as the matchTemplate function in OpenCV) to find the clamping component in the preprocessed image. By calculating the similarity between the template and various regions in the image, determine the position and orientation of the clamping component.

[0110] 5.2 Feature Matching: Extract the features of the clamping component (such as key points, local feature descriptors, etc.), and use feature matching algorithms (such as SIFT, SURF or ORB, etc.) to find matching feature points in the image, thereby determining the position and state of the clamping component.

[0111] 5.3 Anomaly detection.

[0112] Abnormal Position: Check if the clamping assembly is located in the expected clamping pipe position. If the deviation is too large, the clamping assembly is considered to be in an abnormal position.

[0113] Abnormal Status: Observe whether the shape of the clamping component is normal, such as whether there is any damage or deformation of the parts. By analyzing the contour shape, key point distribution and other features of the clamping component, compare it with the features in the normal state. If the difference is obvious, mark the clamping component as abnormal.

[0114] The average distance D between corresponding key points is calculated using the following formula. avg To measure the difference in keypoint distribution: D avg =(1 / N)Σ N k=1 [w xx △x k 2 +(w xy +w yx )△x k △y k +w yy △y k 2 ].

[0115] △x k =P ck (x)-P nk (x); △y k =P ck (y)-P nk (y); where N represents the number of keypoint pairs involved in the calculation. P nk This is the k-th key point of the clamping component under normal conditions, where k=1,2,...,N n This key point has two-dimensional coordinates, P. nk (x) and P nk (y) represents its coordinates on the x-axis and y-axis, respectively. P ck It is the kth key point of the currently detected clamping component, where k=1,2,...,N c P ck (x) and P ck (y) represents its coordinates on the x-axis and y-axis, respectively. △x k Δy represents the displacement of the k-th keypoint in the x-direction, reflecting the change in the position of the currently detected keypoint relative to its normal state on the x-axis. k It represents the displacement of the k-th key point in the y-direction, reflecting its positional change on the y-axis. xxThis represents the weight of the displacement in the x-direction, which measures the contribution of the keypoint's displacement in the x-direction to the overall difference metric. xy This represents the weighting of the influence of the coupling effect between x-direction and y-direction displacement on the overall difference measure. yx The weights reflecting the coupling effect of displacement in the x and y directions can be adjusted according to specific circumstances in practical applications. yy The weight of the displacement in the y-direction reflects the contribution of the keypoint's displacement in the y-direction to the overall difference metric.

[0116] 6. Analysis of anomalies in the construction site environment: 6.1 Clutter Detection: Using a background subtraction algorithm (such as Gaussian mixture model background subtraction), the current image is subtracted from the background image to obtain the foreground image, which may contain clutter. The foreground image is binarized, setting pixels with values ​​greater than a certain threshold to 1 (representing clutter) and those less than the threshold to 0 (representing background). Morphological operations are performed on the binarized foreground image to remove small noise points and interference. Area thresholding is used to retain larger object areas, which may be clutter. If the area of ​​the detected clutter region exceeds a set threshold, an abnormal situation of excessive clutter is considered to exist at the construction site.

[0117] 6.2 Detection of intrusion by personnel or other abnormal objects: Object detection algorithms: These use deep learning-based object detection algorithms (such as YOLO, Faster R-CNN, etc.) to detect objects in images. These algorithms are pre-trained on large datasets of images containing people, equipment, and other objects, and are able to identify different object categories and their locations in images.

[0118] Anomaly detection: If personnel or abnormal objects not required for construction are detected in the construction site area, it is marked as an anomaly in the construction site environment.

[0119] Furthermore, the monitoring module adjusts the position, height, and tilt angle of the clamping component 8 and the water supply and drainage pipes based on the laying requirements data; this includes the following steps: 1. Obtaining Laying Requirements Data: The control center obtains laying requirements data for water supply and drainage pipelines from the data collection module, including but not limited to information such as pipeline slope requirements, interface types, and burial depth standards. Simultaneously, it obtains data on the water supply and drainage pipelines themselves, such as length, diameter, and material parameters.

[0120] 2. Analyze current status data: The image acquisition module continuously acquires high-definition images of the construction and delivery process of the water supply and drainage pipeline. After the image preprocessing module performs filtering, noise reduction, grayscale conversion, and normalization, the feature extraction module extracts the color, texture, and shape features of the clamping component 8 and the water supply and drainage pipeline in the image. Then, the image analysis module obtains the current status data such as the position, height, and tilt angle of the clamping component 8 and the water supply and drainage pipeline.

[0121] 3. Determine the spacing and position of clamping components based on pipe length: Based on the obtained pipe length data, combined with the material properties of the pipe (such as rigidity and flexibility) and construction experience, determine a reasonable spacing between the various clamping components 8. For longer and more rigid pipes, the spacing between the clamping components 8 can be appropriately increased, but the maximum spacing must ensure that the pipe will not deform excessively due to its own weight during installation. For shorter or more flexible pipes, the spacing between the clamping components 8 should be appropriately reduced to provide better support and fixation. Simultaneously, the positions of the clamping components 8 should be rationally arranged according to the pipe's placement and laying direction to ensure they are evenly distributed on the pipe and avoid uneven local stress. For example, if the pipe is horizontally placed, the clamping components 8 can be evenly spaced in the horizontal direction of the pipe; if the pipe has a certain angle of inclination, the position of the clamping components 8 needs to be adjusted according to the angle of inclination and the position of the pipe's center of gravity to better support the pipe.

[0122] The spacing d between each clamping component 8 is calculated using the following formula: d = L / (M-1+△M); △M ≥ (L / L max )-(M-1); L 3 max =240EIδ max u / (7kqa T Solve for L max , △M and d, where L max E is the maximum distance between the two clamping components, expressed in units of length (e.g., meters). E is the elastic modulus of the pipe material, expressed in Pascals, reflecting the material's resistance to elastic deformation. I is the moment of inertia of the pipe section, expressed in the fourth power of length (m). 4 δ is related to the cross-sectional shape and size of the pipe and reflects the pipe's ability to resist bending deformation. max This is the maximum allowable deformation of the pipeline, expressed in length (e.g., meters), determined by engineering design and actual usage requirements. k is the comprehensive influence coefficient (0 < k < k). 4. Comparative Analysis of Deviations: Compare and analyze the acquired laying requirement data with the current status data. Determine the deviations between the actual position, height, and tilt angle of the clamping components 8 and the water supply and drainage pipes and the laying requirements. For example, calculate the difference between the actual tilt angle and the required slope, and the difference between the actual height and the standard burial depth. Simultaneously, check whether the current spacing and position of each clamping component 8 conform to the determined reasonable arrangement scheme. If deviations exist, record the deviation data.

[0123] 5. Generate Adjustment Commands: Based on the deviation data obtained from comparative analysis, the control center generates corresponding adjustment commands. If the positional deviation is large, a command is generated to control the movement of the pushing mechanism 4, adjusting the horizontal position of the clamping assembly 8 and the water supply and drainage pipes; if a height deviation exists, a command is generated to control the extension and retraction of the electric push rod A5, changing the height of the clamping assembly 8 and the water supply and drainage pipes; if the tilt angle does not meet the requirements, a command is generated to control the rotation of the clamping assembly 8, adjusting the tilt angle of the water supply and drainage pipes. If the spacing and position between the clamping assemblies 8 do not meet the requirements, a command is generated to control the sliding seat 7 to slide on the toothed plate 6, adjusting the spacing and position between each clamping assembly 8 to conform to a reasonable arrangement.

[0124] 6. Execute adjustment operation: The push monitoring module sends the adjustment command generated by the control center to the corresponding actuator. The electric push rod A5 extends and retracts according to the command, driving the toothed plate 6, sliding seat 7 and clamping assembly 8 to move, thereby adjusting the height of the water supply and drainage pipe; the push mechanism 4 moves outward or inward according to the command, changing the horizontal position of the clamping assembly 8 and the water supply and drainage pipe; the electric push rod A5 and clamping assembly 8 rotate according to the command to adjust the tilt angle of the water supply and drainage pipe; the sliding seat 7 slides on the toothed plate 6 according to the command to adjust the spacing and position between the various clamping assemblies 8.

[0125] Real-time feedback and readjustment: During the adjustment process, the image acquisition module acquires images in real time, repeats the adjustment process, and provides real-time feedback on the adjusted status data. If the adjusted status still does not meet the laying requirements, the control center generates another adjustment command until the position, height, and tilt angle of the clamping components 8 and the water supply and drainage pipes meet the laying requirements of the water supply and drainage pipes. Simultaneously, the spacing and position between the clamping components 8 are checked to ensure they conform to a reasonable layout plan; if not, adjustments continue.

[0126] Recording and saving data: Throughout the adjustment process, the control center records all adjustment operation data, deviation data, and final status data that meets the requirements, and saves them to the system database for subsequent construction quality traceability and analysis.

[0127] This invention provides a method for constructing and supplying pipes for water supply and drainage pipelines, comprising the following steps: S1. The data collection module collects geological data for the area where water supply and drainage pipelines will be constructed, including soil type, soil layer thickness, groundwater level, and rock distribution. It also acquires data on the water supply and drainage pipelines, including parameters such as length, diameter, and material. Finally, it collects detailed data on laying requirements.

[0128] S2. The route planning module plans the optimal route for the automated control mobile vehicle 1 based on geological data and laying requirements.

[0129] S3. Automatically controlled mobile vehicle 1 travels along a planned route to transport water supply and drainage pipes.

[0130] S31. The push monitoring module calculates the number of clamping components 8 and the spacing between each clamping component 8 based on the water supply and drainage pipe data and length; releases the pipe of the required specifications through the locking mechanism 9; and increases the number of clamping components 8 as needed.

[0131] S32. The toothed plate 6 and the sliding seat 7 are moved downward to a suitable position by the electric push rod A5, and then the water supply and drainage pipe is clamped by the clamping assembly 8.

[0132] S33, raise the clamping component 8 to a certain height.

[0133] S34. Then, the electric push rod A5, toothed plate 6, sliding seat 7 and clamping assembly 8 are moved to the appropriate position by the pushing mechanism 4.

[0134] S35. The toothed plate 6, sliding seat 7 and clamping assembly 8 are moved downward to the appropriate position by the electric push rod A5, so that the water supply and drainage pipe is in the appropriate installation position.

[0135] S36. Install pipelines and monitor the pipeline construction and delivery process through a monitoring agency to promptly detect any abnormalities.

[0136] S4, the image acquisition module acquires high-definition images of the construction and pipe delivery process of water supply and drainage pipelines.

[0137] S5, the image preprocessing module preprocesses the acquired images, including filtering and denoising, grayscale conversion, and normalization; the feature extraction module extracts features from the preprocessed images, including color, texture, and shape.

[0138] S6. The image analysis module analyzes the preprocessed images to promptly detect anomalies (including pipe anomalies, pipe position anomalies, pipe height anomalies, pipe tilt angle anomalies, clamping component anomalies, and construction site environment anomalies, etc.), ensuring that the water supply and drainage pipes maintain the correct position, height, and tilt angle during the pipe delivery process to meet the laying requirements.

[0139] S7. The push monitoring module adjusts the position, height, and tilt angle of the clamping component 8 and the water supply and drainage pipeline according to the laying requirements data of the water supply and drainage pipeline.

[0140] S8. When an abnormal situation is detected, the alarm module will issue an alarm in a timely manner.

[0141] This invention uses a route planning module to plan the optimal travel route for an automatically controlled mobile vehicle based on geological data and laying requirements. This not only reduces the travel time and distance of the mobile vehicle, improving construction efficiency, but also reduces energy consumption and equipment wear. Precise route planning can avoid geologically complex areas or obstacles, ensuring the safety of the mobile vehicle and reducing potential risks during construction. The pipe delivery process is flexible and controllable. The push monitoring module accurately calculates the number and spacing of clamping components based on the water supply and drainage pipe data and length, and can increase the number of clamping components as needed. This flexible arrangement ensures that pipes of different specifications and lengths are stably supported and fixed during transportation, reducing the risk of pipe deformation and damage, and improving the quality of pipe transportation. Through the cooperation of electric push rod A, pushing mechanism, etc., the pipe is accurately moved to the installation position according to preset steps. It can efficiently complete the transportation and placement of pipes, improving the accuracy and efficiency of construction. The monitoring agency acquires high-definition images through the image acquisition module, enabling timely detection of various issues such as pipeline anomalies, location anomalies, height anomalies, tilt angle anomalies, clamping component anomalies, and construction site environmental anomalies. This ensures that the water supply and drainage pipelines maintain the correct position, height, and tilt angle throughout the installation process, meeting laying requirements and thus guaranteeing construction quality. The push monitoring module can adjust the position, height, and tilt angle of the clamping components and pipelines based on laying requirement data, promptly correcting deviations that occur during construction.

[0142] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing and delivering pipes for water supply and drainage pipelines, characterized in that, Includes the following steps: S1, the data collection module collects geological data, water supply and drainage pipeline data, and laying requirement data; S2. The route planning module plans the optimal route for the automated control mobile vehicle based on geological data and laying requirements. S3. The automated mobile vehicle travels along a planned route to transport water supply and drainage pipes. S4. The image acquisition module acquires high-definition images of the pipe delivery process during the construction of water supply and drainage pipelines. S5. The image preprocessing module preprocesses the acquired image, and the feature extraction module extracts features from the preprocessed image. The extracted features include color, texture, and shape. S6. The image analysis module analyzes the preprocessed images to detect anomalies in a timely manner, ensuring that the water supply and drainage pipes maintain the correct position, height, and tilt angle during the pipe delivery process to meet the laying requirements. S7. The push monitoring module adjusts the position, height, and tilt angle of the clamping component and the water supply and drainage pipeline according to the laying requirements data of the water supply and drainage pipeline; S8. When an abnormal situation is detected, the alarm module will issue an alarm in a timely manner.

2. The method for constructing and supplying water supply and drainage pipelines according to claim 1, characterized in that: Step S3 includes the following steps: S31. The push monitoring module calculates the number of clamping components and the spacing between each clamping component based on the water supply and drainage pipeline data and length; increases the number of clamping components as needed; and releases the pipeline of the required specifications through the plug mechanism. S32. The toothed plate and sliding seat are moved downward to a suitable position by the electric push rod A, and then the water supply and drainage pipe is clamped by the clamping assembly. S33, Raise the clamping assembly to a certain height; S34. The electric push rod A, toothed plate, sliding seat and clamping assembly are moved to the appropriate position outward by the pushing mechanism. S35. The toothed plate, sliding seat and clamping assembly are moved downward to the appropriate position by the electric push rod A, so that the water supply and drainage pipe is in the appropriate installation position. S36. Install pipelines and monitor the pipeline construction and delivery process through a monitoring agency to promptly detect any abnormalities.

3. The method for constructing and supplying water supply and drainage pipelines according to claim 1, characterized in that: Step S2 includes the following steps: S21. Data processing and analysis: Classify and organize the collected geological data, clarify the boundaries and characteristics of different geological regions, and carefully study the laying requirements data; S22. Establish a Geographic Information Model (GIS): S22.1 Digital Map Construction: Transforming the geographic information of the construction area into a digital map; S22.2 Overlay of geological and laying information: Overlay the organized geological data and laying requirements data onto the digital map in the form of layers; S23. Determine the preliminary route: Based on topographic information, plan multiple pipeline routes in advance, and select the preliminary routes based on geological data; adjust the routes according to pipeline laying requirements. S24. Route Evaluation and Optimization: Using Dijkstra's algorithm, the construction cost of each preliminary route is calculated, and the route with the lower cost is selected as the priority. Taking into account factors such as cost, safety, and ease of construction, the preliminary routes are optimized. S25. Route Verification and Determination: The optimized route is verified by simulating driving using simulation software. After verification through simulated driving and checking against the actual situation, the optimal route for the automatically controlled mobile vehicle is determined.

4. The method for constructing and supplying water supply and drainage pipelines according to claim 1, characterized in that: Step S6 includes the following steps: S61. Pipeline Anomaly Analysis: Pipeline edge information is obtained through the Canny edge detection algorithm. Morphological closing operations are performed on the edge images. The color distribution of the pipeline region is statistically analyzed by combining the grayscale or color space information of the preprocessed image to evaluate pipeline material anomalies. The grayscale co-occurrence matrix method is used to extract the texture features of the pipeline region to evaluate pipeline material anomalies. S62. Pipeline position anomaly analysis: Select a fixed reference point or region in the image to establish a coordinate system, use a contour detection algorithm to obtain the pipeline contour and determine its position in the coordinate system, compare the position with the preset ideal position, calculate the deviation, and if the deviation exceeds the threshold, the position is determined to be abnormal. S63. Pipeline Height Anomaly Analysis: Based on imaging principles, establish a height measurement model; calculate the actual height of the pipeline; compare the calculated actual pipeline height with the standard height required by the design; if the height difference exceeds the allowable error range, it is judged as a pipeline height anomaly. S64. Analysis of abnormal pipe tilt angle: Analyze the image, use the least squares method to fit the straight line of the pipe edge to obtain the straight line equation, calculate the angle between the pipe and the horizontal direction, and compare it with the design standard tilt angle. If the deviation exceeds the specified range, the tilt angle is judged to be abnormal. S65. Clamping component anomaly analysis: S65.1 Template matching: The matchTemplate template matching algorithm is used to find the clamping component in the preprocessed image. By calculating the similarity between the template and each region in the image, the position and orientation of the clamping component are determined. S65.2 Feature Matching: Use the SIFT feature matching algorithm to find matching feature points in the image to determine the position and state of the clamping component; S65.3 Anomaly Detection: Check whether the clamping assembly is located in the expected clamping pipe position; observe whether the shape of the clamping assembly is normal; S66. Analysis of Anomalies in the Construction Site Environment: S66.1, Debris Detection: The foreground image is obtained by subtracting the background image from the current image using the background subtraction algorithm. It is then binarized and subjected to morphological operations. The larger object area is retained after area threshold filtering. If the area of ​​the debris area exceeds the set threshold, it is determined that there is too much debris at the construction site. S66.2 Detection of Personnel or Other Abnormal Objects: Use the YOLO object detection algorithm to detect intrusions in the image; if personnel or abnormal objects not required for construction are detected in the construction site area, they are marked as abnormal construction site environment.

5. The method for constructing and supplying water supply and drainage pipelines according to claim 1, characterized in that: Step S7 includes the following steps: S71. Obtain laying requirement data: Obtain laying requirement data for water supply and drainage pipelines and data of the water supply and drainage pipelines themselves; S72. Analyze current status data: The image acquisition module continuously acquires high-definition images of the construction and delivery process of the water supply and drainage pipeline. After preprocessing by the image preprocessing module, the feature extraction module extracts the color, texture and shape features of the clamping components and water supply and drainage pipeline in the image. The image analysis module obtains the current position, height and tilt angle status data of the clamping components and water supply and drainage pipeline. S73. Determine the spacing and position of clamping components based on the pipe length: Based on the obtained water supply and drainage pipe length data, combined with the material properties of the water supply and drainage pipe and construction experience, determine a reasonable spacing between each clamping component; arrange the position of each clamping component reasonably according to the placement position and laying direction of the pipe. S74. Comparative Analysis of Deviations: Compare and analyze the acquired laying requirement data with the obtained current status data; determine the deviations between the actual position, height, and tilt angle of the clamping components and water supply and drainage pipes and the laying requirements; S75. Generate adjustment instructions: Based on the deviation data obtained from the comparative analysis, the control center generates corresponding adjustment instructions; S76. Perform adjustment operation: The push monitoring module sends the adjustment instructions generated by the control center to the corresponding actuators to adjust the spacing and position between each clamping component.

6. The method for constructing and supplying water supply and drainage pipelines according to claim 2, characterized in that: The drive mechanism includes a motor A, a lead screw, and a slide bar; motor A is fixedly mounted on the automatic control moving vehicle; the lead screw and slide bar are rotatably mounted on the automatic control moving vehicle; the output end of motor A is coaxially and fixedly connected to the lead screw, the lead screw is threadedly connected to the baffle, and the slide bar is slidably connected to the baffle; the pushing mechanism includes multi-stage electric telescopic rods and a push plate; two multi-stage electric telescopic rods are fixedly mounted on the automatic control moving vehicle; the movable rods of the two multi-stage electric telescopic rods are both fixedly mounted on the push plate.

7. The method for constructing and supplying water supply and drainage pipelines according to claim 2, characterized in that: A motor B is fixedly mounted on the sliding seat. A gear is coaxially fixedly mounted on the output end of the motor B. The gear meshes with the gear plate for transmission. The clamping assembly includes an electric push rod B, a top block, a connecting plate, and an arc-shaped clamping plate; An electric push rod B is fixedly mounted on the sliding seat. A top block is fixedly mounted on the movable rod of the electric push rod B. The top block is slidably mounted on the sliding seat. Two arc-shaped clamps are symmetrically and rotatably mounted on the sliding seat. A connecting plate is rotatably hinged on the arc-shaped clamps. The other end of the connecting plate is rotatably mounted on the top block.

8. The method for constructing and supplying water supply and drainage pipelines according to claim 2, characterized in that: The locking mechanism includes an electric push rod C and a support plate; two sets of electric push rods C are fixedly installed on the automatic control moving vehicle, and the movable rod end of the electric push rod C is fixedly installed on the support plate; a digital inclinometer is fixedly installed on the toothed plate.

9. The method for constructing and supplying water supply and drainage pipelines according to claim 1, characterized in that: Monitoring agencies monitor the construction and pipe-laying process of water supply and drainage pipelines, including: Data collection module: Collects geological data of the area where water supply and drainage pipelines need to be constructed and piped, obtains data on water supply and drainage pipelines, and collects data on laying requirements; Route planning module: Based on geological data and laying requirements, it plans the optimal route for the automatically controlled mobile vehicle. Image acquisition module: includes a high-definition camera to capture high-definition images of the construction and pipe delivery process of water supply and drainage pipelines; Image preprocessing module: preprocesses the acquired images, including filtering and denoising, grayscale conversion, and normalization; Feature extraction module: Extracts features from the preprocessed image, including color, texture, and shape; Image analysis module: Analyzes preprocessed images to promptly detect anomalies; Push monitoring module: Based on the laying requirements data of water supply and drainage pipelines, adjust the position, height and tilt angle of the clamping components and water supply and drainage pipelines; Alarm module: Includes an alarm that promptly issues an alert when an abnormal situation is detected; Control Center: Connected to the data collection module, route planning module, image acquisition module, feature extraction module, image analysis module, push monitoring module, and alarm module via network.

10. A pipe delivery device for water supply and drainage pipeline construction, comprising: The automatic control system comprises a moving vehicle, a baffle, a drive mechanism, a pushing mechanism, an electric push rod A, a toothed plate, a sliding seat, a clamping assembly, a locking mechanism, and a monitoring mechanism; characterized in that: The automated control mobile vehicle has two storage boxes connected by a partition, and the storage boxes are equipped with sliding baffles; the bottom of the storage boxes is sloping, and the bottom of the storage boxes is equipped with pipe outlets. The automated control mobile vehicle is equipped with two fixed drive mechanisms, which are connected to the baffle transmission. A receiving plate is fixedly installed under the automatic control mobile vehicle; The automatic control mobile vehicle is fixedly equipped with a pushing mechanism, which is equipped with two electric push rods A. Rotary blocks are rotatably mounted on the movable rods, and both rotating blocks are rotatably hinged to the toothed plate. Several sliding seats are slidably arranged on the toothed plate, and each sliding seat is equipped with a clamping component; the sliding seats are detachable split structures and can be detachably installed on the toothed plate. The automatic control mobile vehicle is equipped with two symmetrically fixed locking mechanisms and a fixed monitoring mechanism to monitor the pipe delivery process during the construction of water supply and drainage pipelines.

Images