Automatic leveling support system for pipelines and its leveling method

Abstract

This invention relates to an automatic leveling support system and leveling method for pipelines, within the field of pipeline operation monitoring technology. The support system includes: I Each component consists of a support, an information acquisition unit, a compensation calculation unit, and a controller. i Each support includes: a first lifting part and a second lifting part that cooperate to adjust the height and inclination angle of the support. The information acquisition unit is used to collect data from the first... i The position and inclination angle of each support are recorded. The controller is used to calculate and control the vertical movement of the first and second lifting sections according to the compensation amount. The compensation calculation unit is used to calculate the compensation amount of the first and second lifting sections. This invention collects inclination angle and settlement data of the pipeline and supports, and establishes a curvature radius calculation model based on pipeline structural parameters. It determines whether the current curvature radius of the pipeline meets the specifications, and decides whether automatic adjustment of the supports is needed. For supports that need adjustment, the compensation amount is calculated, and the supports are adjusted in real time based on the calculated compensation amount.

Description

Technical Field

[0001] This invention relates to the field of pipeline operation monitoring technology, and in particular to an automatic leveling support system for pipelines and its leveling method. Background Technology

[0002] Integrated utility tunnels typically house various types of pipelines, which differ significantly in diameter, weight, installation elevation, and operating conditions. Existing pipeline supports are mostly fixed or semi-adjustable. For example, the Chinese invention patent CN113623462B, entitled "A Fixing Device and Method for Gas Pipelines in Integrated Utility Tunnels," utilizes spaced fixed supports and a U-shaped compensation mechanism to fix and position gas pipelines within the tunnel, solving the problem of thermal expansion and contraction stress causing damage to pipelines or welds. However, during installation, or when support positions deviate due to ground settlement, height adjustment still relies on manual shims and repeated bolt adjustments, resulting in the following shortcomings: 1. Low leveling efficiency: Multiple manual measurements and adjustments are required during installation, leading to a long construction period. 2. Insufficient leveling accuracy: Manual operation has significant errors, making high-precision automatic leveling difficult to achieve. 3. Poor adaptability: When the pipe gallery floor is uneven or settlement occurs later, traditional supports are difficult to compensate in real time. Summary of the Invention

[0003] To address the technical problem that existing pipeline supports are difficult to compensate for in real time when the pipe gallery ground is uneven or settlement occurs later, this invention provides an automatic leveling support system for pipelines and its leveling method.

[0004] In a first aspect, the present invention provides an automatic leveling support system for pipelines, comprising: I The system includes a support for connecting pipelines, an information acquisition unit, a controller, and a compensation calculation unit. Among these, the first... i Each support includes: a first lifting part and a second lifting part that cooperate with each other to adjust the height and tilt angle of the support. i =1, 2, 3,…, I The information acquisition unit is used to collect the first... i Location information of each support W i ( x i , z i and tilt angle i i . x i Represents the x-coordinate, z i Represents the vertical axis. The controller is used to... IThe position information and inclination angle of each support are used to calculate the deflection curve, which characterizes the relative relationship between the supports. Based on the deflection curve, the deflection curve is calculated for the first support. i radius of curvature at each support R i . judge R i Is it less than the threshold? R 0, if less than, then according to the compensation amount Δ h i,1 Δ h i,2 The movement of the first and second lifting sections is controlled separately to adjust the support height and tilt angle. The compensation calculation unit is used to set the... i Target pipe inclination angle of each support β g and target radius of curvature R g,i : R g,i = mR 0. Coefficient m >1. Based on R g,i Calculate the first segment within the local section i The overall vertical displacement Δ of each support H i According to the support β g The compensation amount Δ of the first lifting section is calculated based on the height constraint. h i,1 The compensation amount Δ of the second lifting section h i,2 : .

[0005] .

[0006] .

[0007] In the formula, L i Indicates the spacing of local sections. L i = x i+1 - x i-1 . S Indicates the first i The distance between the first and second lifting parts of each support.

[0008] Secondly, the present invention provides an automatic leveling method for a pipeline support system, which uses the automatic leveling support system for pipelines described in the first aspect. The automatic leveling method for the support system includes: according to IThe position information and inclination angle of each support are used to calculate the deflection curve, which characterizes the relative relationship between the supports. Based on the deflection curve, the deflection curve is calculated for the first support. i radius of curvature at each support R i . judge R i Is it less than the threshold? R 0, if less than, then according to the compensation amount Δ h i,1 Δ h i,2 The movement of the first and second lifting sections is controlled separately to adjust the support height and tilt angle. The first lifting section is set... i Target pipe inclination angle of each support β and target radius of curvature R g,i : R g,i = mR 0. Coefficient m >1. Based on R g,i Calculate the first segment within the local section i The overall vertical displacement Δ of each support H i The compensation amount Δ of the first lifting section is calculated based on the angle and height constraints of the support. h i,1 The compensation amount Δ of the second lifting section h i,2 : .

[0009] .

[0010] .

[0011] In the formula, L i Indicates the spacing of local sections. L i = x i+1 - x i-1 . S Indicates the first i The distance between the first and second lifting parts of each support.

[0012] Thirdly, the present invention provides a computer program product comprising a computer program / instructions. When executed by a processor, the computer program / instructions implement the steps of the automatic leveling method for the pipe support system in the first aspect.

[0013] The beneficial effects of this invention are as follows: 1. This invention collects inclination and settlement data of pipelines and supports, and establishes a curvature radius calculation model based on pipeline structural parameters. It determines whether the current curvature radius of the pipeline meets the specifications and decides whether automatic adjustment of the supports is required. For supports that need adjustment, the support compensation amount is calculated, and the supports are adjusted in real time based on the calculated compensation amount. This extends the service life of gas pipelines, facilitates disassembly and maintenance, and is beneficial for the replacement and upgrading of gas pipelines.

[0014] 2. When determining whether to trigger support adjustment, if the calculation result is lower than the safety threshold, the present invention only records the status and does not perform support adjustment, thereby avoiding frequent, ineffective or excessive leveling and improving the safety and reliability of the pipe gallery operation.

[0015] 3. The support leveling process of the present invention is fully automatic. The collected data is automatically analyzed and the support height in the corresponding area is adjusted. No manual measurement or operation is required, thereby improving the leveling efficiency and realizing high-precision automatic leveling of the support, which greatly improves the leveling accuracy of the support. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the support structure; Figure 2 This is a flowchart of the automatic leveling method for the pipe support system; Figure 3 This is a schematic diagram of the support distribution in the local coordinate system.

[0018] In the diagram: First lifting part 1, Second lifting part 2, Supporting component 3. Detailed Implementation

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

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] This invention provides an automatic leveling support system based on pipeline inclination and settlement data. It first establishes the pipeline deflection curve, then calculates the pipeline radius of curvature based on the deflection curve, and then calculates the radius of curvature and its threshold based on the pipeline's outer diameter to determine whether the support needs adjustment. For supports requiring adjustment, a compensation amount is calculated, and the support is adjusted based on this calculated compensation amount. Specifically, the automatic leveling support system for pipelines in this embodiment includes: I The system includes a support for connecting pipelines, an information acquisition unit, a controller, a compensation calculation unit, and a parameter storage unit. I The supports are evenly spaced along the direction of the pipe. For example... Figure 1 As shown, each support includes: a first lifting part 1, a second lifting part 2, and a support assembly 3 that cooperate to adjust the height and inclination angle of the support. The support assembly 3 can adopt a clamp structure, which is fixed to the pipeline to provide load-bearing function. Both the first lifting part 1 and the second lifting part 2 can be electric jacks, with their bottoms fixed to the bottom plate of the pipe rack and their lifting ends connected to the support assembly 3. Care should be taken to ensure that the first lifting part 1 and the second lifting part 2 do not interfere with the support assembly 3 during lifting. It is worth mentioning that the present invention uses a two-lifting-part configuration, which, compared with the single-support rod support in the traditional method, not only provides better support strength but also automatically adjusts the inclination angle of the support assembly 3 through the height difference between the two lifting parts. This ensures that the support assembly 3 is completely in contact with the pipeline surface, preventing the pipeline from partially contacting the support assembly 3 due to changes in the settlement angle, thus preventing high contact pressure and pipeline deformation. The information acquisition unit can use a hydrostatic level, inclination sensor, displacement sensor, etc., to collect data. i Location information of each support W i ( x i , z i and tilt angle i i . x i Indicates the first i The x-coordinate of each support z i Indicates the first i The ordinate of each support. i =1, 2, 3,…, I .inclination i i It can be represented as i i = z '( x ), z '( x )for z ( x The first derivative of ).

[0022] The controller and compensation calculation unit automatically control the support to perform real-time compensation adjustments based on the data collected by the information acquisition unit. The real-time compensation adjustment method is as follows: Figure 2 As shown. First, the controller is used to preset a deflection curve to characterize the relative relationship between the supports: .

[0023] In the formula, z ( x () represents the ordinate of the deflection curve. x The x-axis represents the deflection curve; a 1. a 2. a 3. a 4. a 5 represents the coefficients of the equation. Then, according to... I Location information of each support W 1 ( x 1, z 1) ... W i ( x i , z i ), ... W I ( x I , z I and tilt angle i 1, ... i i … i I Calculation yields the first i The observation equations for each support can be expressed as: Displacement: .

[0024] inclination: .

[0025] Next, the least squares method is used for fitting, and the data of all supports are written in matrix form: Xa = Y .

[0026] in, , . .

[0027] Establish the normal equation: X T Xa = X T Y Solving for... a =( X T X ) -1 X T Y .Will a By substituting the preset deflection curve, the specific deflection curve can be obtained. After obtaining the deflection curve, the controller can calculate the first deflection curve based on the deflection curve. i The curvature expression at each support: .

[0028] Next, based on the curvature expression, we obtain the radius of curvature expression: .

[0029] It is worth mentioning that within a calculation cycle, if the pipe deformation is small and the pipe rotation angle is less than the change threshold, T θ ( T θ (The value is much less than 1°), that is ,but If we disregard it, then it is acceptable. k ( x )≈| z ''( x If |, then the expression for the radius of curvature is: .

[0030] In the above formula, k ( x ) represents the curvature in the curvature expression. R ( x () represents the radius of curvature in the expression for the radius of curvature. The first... i Location information of each support W i ( x i , z i Substituting this into the radius of curvature expression yields the first... i radius of curvature at each support R iAfter obtaining the radius of curvature R i Then, make a judgment R i Is it less than the threshold? R 0, if less than, then according to the compensation amount Δ h i,1 Δ h i,2 The movement of the first lifting part 1 and the second lifting part 2 are controlled respectively to adjust the height and tilt angle of the support. If R i Greater than or equal to the threshold R If the value is 0, the controller only records data and does not control the movement of the first lifting section 1 or the second lifting section 2. This threshold value is based on the requirements for the radius of curvature of pipelines in the "Code for Design of Gas Pipeline Engineering GB50251-2015". R 0 satisfies: .

[0031] In the formula, α Indicates the bend in the pipe. D This indicates the outer diameter of the pipe. In other embodiments, to prevent the threshold from being set too low and causing the support adjustment to become insensitive, the threshold can be set to 2* R 0, 3* R 0, 4* R 0, etc., can be set according to the actual situation.

[0032] The motion compensation amount Δ for the first lifting section 1 and the second lifting section 2 h i,1 Δ h i,2 It is calculated through a compensation calculation unit. Specifically, such as... Figure 3 As shown, Figure 3 The one in the middle is the first. i The first support is the second support, and the left side is the third support. i -1 support, the right side is the first i +1 support. For the first one that needs adjustment... i The first support, with itself as the center, is the... i The distance between adjacent supports on the left and right sides of each support is approximately equal. Using a local coordinate system: Left support: x i-1 =﹣ L i / 2. Right support: x i+1 = L i / 2. No. i Support: x i =0. L iIndicates the spacing of local segments, i.e., the first segment. i -1 support to the first i +1 support distance. Next, let the local deflection function be a quadratic polynomial: y ( x )= Axe 2 + Bx + C . No. i Each support can be represented as: y (0)= z i +Δ H i ,Right now C = z i +Δ H i Δ H i Indicates the first i The overall vertical displacement of each support. Assume the first... i The displacement of the left and right adjacent supports of each support is zero: .

[0033] Substituting the above equation into the quadratic polynomial, we get: .

[0034] Therefore, the local deflection function can be obtained as follows: .

[0035] Within the support spacing section (i.e., the first) i -1 support to the first i (The distance between +1 supports), the local curvature and the vertical displacement of the supports can be approximated as follows: .

[0036] Substitute the first i Location information of each support W i ( x i , z i ), which yields the first i Local curvature of each support k ( x i ): .

[0037] The compensation calculation unit is also used to set the first i Target pipe inclination angle of each support β and target radius of curvatureR g,i : R g,i = mR 0. Coefficient m >1, that is: .

[0038] Subsequently based on R g,i Calculate the first segment within the local section i The overall vertical displacement Δ of each support H i : .

[0039] The rotation angle of the support can be determined from geometric relationships. β and the midpoint of the support h m : Due to the corner β Generally, with smaller adjustments, under small angle conditions: Midpoint height h m : . h 1 indicates the height of the first lifting part 1. h 2 indicates the height of the second lifting section 2. i In each support, the compensation amount Δ of the first lifting part 1 h i,1 The compensation amount Δ of the second lifting part 2 h i,2 Subject to the inclination angle of the target pipeline β g and change in height Δ H With constraints, we can obtain: .

[0040] S This indicates the distance between the first lifting part 1 and the second lifting part 2 in the support. For the first... i Each support is determined by the aforementioned target pipe inclination angle. β g and change in height Δ H The constraint formula can be used to calculate: .

[0041] The calculated motion compensation amount Δ h i,1 Δ h i,2Ultimately, this is used to adjust the support height and inclination angle. The parameter storage unit stores relevant parameters for the pipeline and supports. Pipeline parameters include pipe diameter, wall thickness, material, span, inclination angle, and location. Support parameters include inclination angle and location information. After the first lifting section 1 and the second lifting section 2 have completed their automatic adjustments, the controller refits the deflection curve based on the data feedback from the parameter storage unit and the real-time acquired data, and uses this to calculate the compensation amount for the first lifting section 1 and the second lifting section 2 in the next stage.

[0042] In another embodiment, to more clearly illustrate the working principle and adjustment process of the present invention, the automatic leveling support system in the above embodiment is described using data from an engineering example. In a specific working condition, seven supports are set, with a support spacing of 5m, and the corner... β =0°, distance between lifting parts S =0.5m. The outer diameter of the pipe supported by the support. D The length is 500mm. The support action trigger threshold is set to 2* R 0. Coefficient m Displacement data for 3.7 supports are: 0, -0.001, -0.004, -0.028, -0.008, -0.002, 0 (unit: meters). Inclination angle data are: 0°, -0.001°, -0.04°, -0.31°, 0.08°, 0.02°, 0°. For ease of calculation, inclination angles are converted to radians: 0, -1.745 × 10⁻⁶. -4 -6.981×10 -4 -5.411×10 -3 1.369×10 -3 3.491×10 -4 , 0 (unit: rad). The matrix form of the support data can then be represented as: .

[0043] According to the normal equation: X T Xa = X T Y The solution a =( X T X ) -1 X T Y Find: a 1 = 1.6 × 10 -6 , a 2 = -9.8 × 10 -5 , a 3 = 1.82 × 10 -3, a 4 = -1.09 × 10 -2 , a 5 = 0. This leads to the deflection curve: Its second derivative is: .

[0044] According to the expression for radius of curvature: .

[0045] The radii of curvature of the seven supports were obtained as follows: R 1 = 2750m R 2 = 1540m R 3 = 1120m R 4 = 684m R 5 = 1260m R 6 = 1710m R 1 = 3100m. Then, based on the threshold... R 0 satisfies the formula: .

[0046] Seeking R If 0 = 500m, then the trigger threshold is 2* R 0 = 1000m. It can be seen that only the radius of curvature of the fourth support is... R 4. This is satisfied. Now, calculate the compensation for the fourth support: Target radius of curvature R g,4 : R g,4 = mR 0 = 3 × 500 = 1500m. Spacing of local sections. L 4 = 10m.

[0047] Based on the overall vertical displacement Δ H i Calculation formulas and formulas for calculating the motion compensation of the lifting part: .

[0048] .

[0049] Given displacement data: z 3 = -0.004m z 4 = -0.028m z 5 = -0.008m. The overall compensation Δ of the fourth support can be calculated. H 4: Δ H 4 = 0.022 - 0.00833 = 0.01367m. Therefore, the compensation amount Δ for the first lifting section of the fourth support is... h4,1 Δ h 4,1 =0.01367 + 0.000436 = 0.014106m. Compensation amount Δ for the second lifting section. h 4,2 Δ h 4,2 =0.01367-0.000436=0.013234m. Therefore, based on the calculation, Δ... h 4,1 Δ h 4,2 Adjust the position of the fourth support.

[0050] In another embodiment, the present invention also proposes an automatic leveling method for a pipe support system, which uses the automatic leveling support system for pipes described in the above embodiments. This automatic leveling method for the support system includes: First according to I The position information and inclination angle of each support are used to calculate the deflection curve, which characterizes the relative relationship between the supports. Based on the deflection curve, the deflection curve is calculated for the first support. i radius of curvature at each support R i . judge R i Is it less than the threshold? R 0, if less than, then according to the compensation amount Δ h i,1 Δ h i,2 The movement of the first lifting part 1 and the second lifting part 2 are controlled respectively to adjust the height and tilt angle of the support. If R i Greater than or equal to the threshold R If the value is 0, then only data is recorded without controlling the movement of the first lifting unit 1 and the second lifting unit 2. Here, the setting of the first... i Target pipe inclination angle of each support β and target radius of curvature R g,i : R g,i = mR 0. Coefficient m >1. Based on R g,i Calculate the first segment within the local section i The overall vertical displacement Δ of each support H i The compensation amount Δ of the first lifting section 1 is calculated based on the angle and height constraints of the support. h i,1 The compensation amount Δ of the second lifting part 2 h i,2 : .

[0051] .

[0052] .

[0053] In the formula, L i Indicates the spacing of local sections. L i = x i+1 - x i-1 . S Indicates the first i The distance between the first lifting part 1 and the second lifting part 2 in each support.

[0054] In another embodiment, a computer-readable storage medium storing a computer program is also provided. When the computer program is executed by a processor, it implements the steps of the automatic leveling method for the pipe support system described in the above embodiments. The computer-readable storage medium may include, but is not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0055] In another embodiment, a computer program product is also provided, which includes computer instructions. These computer instructions are used to cause a computer to perform the steps of the automatic leveling method for the pipe support system described in the above embodiments. The computer program instructions may exist in a computer-readable medium in forms including, but not limited to, source files, executable files, and installation package files. Accordingly, the computer program instructions may be executed by a computer in ways including, but not limited to: the computer directly executing the instructions; the computer compiling the instructions and then executing the corresponding compiled program; the computer reading and executing the instructions; or the computer reading and installing the instructions and then executing the corresponding installed program.

[0056] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automatic leveling support system for pipelines, characterized in that, It includes: I The first support is used to connect pipes; the second... i Each support includes: a first lifting part and a second lifting part that cooperate with each other to adjust the height and tilt angle of the support; i =1, 2, 3,…, I ; Information acquisition unit, which is used to collect the first... i Location information of each support W i ( x i , z i and tilt angle θ i ; x i Represents the x-coordinate, z i Represents the ordinate; Controller, which is used to determine the appropriate parameters based on the given information. I The position information and inclination angle of each support are used to calculate the deflection curve, which characterizes the relative relationship between the supports; based on the deflection curve, the deflection curve is calculated. i radius of curvature at each support R i ;judge R i Is it less than the threshold? R 0, if less than, then according to the compensation amount Δ h i,1 Δ h i,2 The movement of the first and second lifting parts is controlled separately to adjust the height and tilt angle of the support; The compensation calculation unit is used to set the first i Target pipe inclination angle of each support β g and target radius of curvature R g,i : R g,i = mR 0; coefficient m >1; based on R g,i Calculate the first segment within the local section i The overall vertical displacement Δ of each support H i According to the support β g The compensation amount Δ of the first lifting section is calculated based on the height constraint. h i,1 The compensation amount Δ of the second lifting section h i,2 : ； ； ； In the formula, L i Indicates the spacing of local sections. L i = x i+1 - x i-1 ; S Indicates the first i The distance between the first and second lifting parts of each support.

2. The automatic leveling support system for pipelines according to claim 1, characterized in that, The deflection curve is as follows: ； In the formula, z ( x () represents the ordinate of the deflection curve. x The x-axis represents the deflection curve; a 1. a 2. a 3. a 4. a 5 represents the coefficients of the equation; inclination θ i Represented as θ i = z '( x ), z '( x )for z ( x The first derivative of ); I Substituting the location information and tilt angle of each support into the deflection curve, we can solve the equation coefficients. a 1. a 2. a 3. a 4. a The value of 5.

3. The automatic leveling support system for pipelines according to claim 2, characterized in that, First, obtain the curvature expression based on the deflection curve: ； Then, based on the curvature expression, we obtain the radius of curvature expression: ； In the formula, κ ( x () represents the curvature in the curvature expression; R ( x () represents the radius of curvature in the expression for the radius of curvature; The first i Location information of each support W i ( x i , z i Substituting this into the radius of curvature expression yields the first... i radius of curvature at each support R i .

4. The automatic leveling support system for pipelines according to claim 3, characterized in that, Within a calculation cycle, if the first i The change in inclination angle of each support is less than the change threshold. T θ Then take .

5. The automatic leveling support system for pipelines according to claim 1, characterized in that, threshold R 0 satisfies: ； In the formula, α Indicates the bend in the pipe. D Indicates the outer diameter of the pipe.

6. The automatic leveling support system for pipelines according to claim 1, characterized in that, like R i Greater than or equal to the threshold R If the value is 0, the controller will only record data and will not control the movement of the first and second lifting parts.

7. The automatic leveling support system for pipelines according to claim 1, characterized in that, The controller is also used to refit the deflection curve based on the position information and tilt angle of the adjusted support after controlling the movement of the first and second lifting parts, so as to calculate the compensation amount of the first and second lifting parts in the next stage.

8. The automatic leveling support system for pipelines according to claim 1, characterized in that, The support also includes: a support assembly for supporting and securing the pipe; Both the first and second lifting sections use electric jacks and are connected to the bottom of the supporting components.

9. An automatic leveling method for a pipe support system, characterized in that, It uses an automatic leveling support system for pipelines as described in any one of claims 1 to 8; the automatic leveling method includes: according to I The position information and inclination angle of each support are used to calculate the deflection curve, which characterizes the relative relationship between the supports; based on the deflection curve, the deflection curve is calculated. i radius of curvature at each support R i ;judge R i Is it less than the threshold? R 0, if less than, then according to the compensation amount Δ h i,1 Δ h i,2 The movement of the first and second lifting parts is controlled separately to adjust the height and tilt angle of the support; Setting the first i Target pipe inclination angle of each support β and target radius of curvature R g,i : R g,i = mR 0; coefficient m >1; based on R g,i Calculate the first segment within the local section i The overall vertical displacement Δ of each support H i : Calculate the compensation amount Δ of the first lifting section based on the angle and height constraints of the support. h i,1 The compensation amount Δ of the second lifting section h i,2 : ； ； ； In the formula, L i Indicates the spacing of local sections. L i = x i+1 - x i-1 ; S Indicates the first i The distance between the first and second lifting parts of each support.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the automatic leveling method for the pipe support system as described in claim 9.

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