Intelligent system and method for loading and unloading a pouring tube

Abstract

The application belongs to the field of diaphragm wall pouring, and particularly discloses an intelligent mounting and dismounting system and method for pouring pipes, which comprises a control unit and an execution unit. The execution unit comprises a transfer device, a lifting device and a screwing device, and the screwing device is provided with an axial limiting assembly and a clamping and rotating assembly. The method acquires the slot hole depth, the slot hole cross-sectional area, the cumulative pouring volume, the number of pipe sections to be lowered, the number of pipe sections that have been dismounted and the parameters of a single pipe section, calculates the current theoretical position of the concrete surface, the current theoretical position of the pouring pipe bottom opening and the theoretical burial depth, and generates a single-section pipe dismounting permission instruction when the theoretical burial depth meets the burial depth control threshold value, so that the execution unit completes the pipe section lifting, supporting, screwing disengagement and moving out, thereby realizing continuous and automatic control of the pouring pipe assembly and pipe dismounting.

Description

Technical Field

[0001] This invention belongs to the field of anti-seepage wall casting technology, specifically relating to an intelligent loading and unloading system and method for casting pipes. Background Technology

[0002] A seepage barrier is a commonly used underground seepage prevention structure in water conservancy and hydropower projects. It is usually formed by pouring concrete into a trench. During pouring, the concrete is transported to the bottom of the trench through a pouring pipe and continuously replaces the mud in the trench from bottom to top, thus forming a continuous wall.

[0003] In the existing construction method, before pouring, multiple pipe sections need to be connected one by one and lowered into the trench according to the depth of the trench. During the pouring process, as the concrete surface in the trench rises, the pouring pipe needs to be gradually lifted and the upper pipe section is removed at the opening. Therefore, the connection, lowering, lifting and dismantling of the pouring pipe usually runs through the entire pouring operation and needs to be coordinated with the progress of concrete pouring.

[0004] According to the relevant requirements of the "Construction Specification for Concrete Anti-seepage Wall of Hydropower and Water Conservancy Project" (DL / T 5199-2019), during the pouring process of the tremie pipe method, it is necessary to control the depth of the concrete surface in the trench and control the depth of the bottom of the pouring pipe embedded in the concrete within the safe range of 2m-6m. If the bottom of the pouring pipe is embedded too deeply, mud or sediment may enter the concrete, affecting the quality of the wall.

[0005] In current construction, the burial depth of the cast-in-place pipe is mostly determined by manual depth measurement and calculation. Construction workers usually use a depth sounding hammer to measure the depth of the concrete surface in the trench, and then combine the length of the lowered pipe section, the length of the removed pipe section, and the hoisting height to estimate the current burial depth of the bottom of the cast-in-place pipe, and decide whether to lift the cast-in-place pipe or dismantle the pipe section accordingly. This method requires close coordination between surveyors, hoisting personnel, and pipe unloading personnel.

[0006] In high-altitude areas, the construction of cutoff walls faces challenges such as high altitude, large temperature differences, difficulties in traffic organization, and relatively dispersed construction sites. On the one hand, organizing skilled workers in these areas is difficult, while cutoff wall construction often requires continuous or parallel pouring of multiple trenches. On the other hand, some cutoff wall projects in high-altitude areas are approximately 100m-200m deep, referred to as ultra-deep or extra-deep cutoff walls in the water conservancy and hydropower field. The trench depth is usually large, which also requires a corresponding increase in the number of pipe sections and the number of disassembly and assembly operations. Considering the first point, if the method of adjusting the disassembly rhythm by manually measuring depth, recording data, and making judgments is still relied upon, it is easy to affect the efficiency of pipe section loading and unloading and the accuracy of controlling the burial depth of the poured pipe bottom, thereby affecting the construction quality of the cutoff wall. Summary of the Invention

[0007] To address the technical problems of existing technologies, such as high reliance on manual coordination, reliance on manual judgment for unloading timing, and complex connection and disassembly processes for ultra-long casting pipe sections, this invention provides an intelligent loading and unloading system and method for casting pipes.

[0008] The technical solution adopted in this invention is as follows:

[0009] A smart loading and unloading system for cast-in-place pipes includes an execution unit and a control unit. The control unit is used to control the execution unit to perform loading and unloading operations of cast-in-place pipe sections according to a preset loading and unloading process. The execution unit includes a transfer device for transferring the pipe sections to be loaded and unloaded, a lifting device for lowering or lifting the pipe sections, and a screwing device for loading and unloading the pipe sections.

[0010] The screwing device includes a seat body disposed at the slot, wherein a central hole is provided through the seat body for the pipe section to pass through;

[0011] An axial limiting component and a clamping rotation component are sequentially arranged inside the seat.

[0012] The axial limiting assembly includes a slider arranged around the central hole and capable of radial sliding. A plurality of the sliders together form a support hole with a variable diameter. The support hole has a first diameter that provides axial support to the joint of the pipe section and a second diameter that allows the pipe section to pass through. The diameter of the first diameter is greater than the outer diameter of the pipe body and smaller than the outer diameter of the joint of the pipe section, and the diameter of the second diameter is greater than the outer diameter of the joint of the pipe section.

[0013] The clamping rotation assembly includes a rotary seat that can rotate about the axis of the central hole, multiple clamping units circumferentially spaced on the rotary seat for clamping pipe sections, and a rotary drive mechanism for driving the rotary seat to rotate forward or backward.

[0014] The control unit includes an industrial camera, a pressure sensor, a torque sensor, and a processor for processing information and sending instructions to the execution unit according to a preset loading and unloading process.

[0015] Furthermore, the lifting device includes a vertically arranged frame, and a rotating component hinged within the frame that can be switched between a vertical position and a horizontal position. The rotating component is provided with an open-loop clamp for holding the pipe section. In the vertical position, the axis of the open-loop clamp is coaxial with the central hole.

[0016] Furthermore, the lifting device also includes a sliding guide rail vertically mounted on the frame, a sliding plate slidably mounted on the sliding guide rail, and a clamping head for clamping the end of the pipe section provided on the sliding plate. The clamping head includes a clamping opening, and the center line of the clamping opening coincides with the axis of the central hole.

[0017] The top of the frame is also provided with a winching mechanism, which includes a winch and a winch cable wound on the winch. One end of the winch cable is fixedly connected to a sliding plate.

[0018] Furthermore, the clamping unit includes a clamping seat fixedly mounted on the rotary seat, and the clamping seat is provided with a telescopic clamping mechanism, the output end of which faces the central hole;

[0019] The output end is also provided with a clamping member that contacts the outer peripheral surface of the pipe section. The clamping member has a clamping contact surface facing the outer peripheral surface of the pipe section, and the pressure sensor is embedded in the clamping contact surface.

[0020] A method for intelligent loading and unloading of casting pipes, implemented based on the aforementioned intelligent loading and unloading system.

[0021] Includes the following steps:

[0022] Step STP100: Obtain the basic parameters for this pouring operation; the basic parameters include the trench depth, the trench cross-sectional area, the burial depth control threshold, and the parameters of a single pipe section.

[0023] Step STP200: Based on the slot depth and single pipe section parameters in step STP100, determine the number of pipe sections to be lowered in this pouring operation and generate a pipe section lowering signal.

[0024] In step STP300, based on the pipe section lowering signal in step STP200, the preset assembly process is executed cyclically until the number of pipe sections lowered into the slot meets the required number of pipe sections to be lowered, and a lowering completion signal is generated.

[0025] Step STP400: Based on the lowering completion signal in step STP300, continuously acquire the cumulative pouring volume, and determine the theoretical rising height of the current concrete surface relative to the bottom of the trench according to the cumulative pouring volume and the cross-sectional area of ​​the trench. Determine the theoretical position of the current concrete surface relative to the opening according to the theoretical rising height and the trench depth.

[0026] The number of disassembled pipe sections is obtained. Based on the number of disassembled pipe sections, the number of pipe sections to be lowered, and the parameters of a single pipe section, the current length of the cast-in-place pipe is determined. Based on the current length of the cast-in-place pipe, the theoretical position of the bottom of the current cast-in-place pipe relative to the orifice is determined.

[0027] Step STP500: Based on the theoretical position of the bottom of the current pouring pipe relative to the orifice and the theoretical position of the current concrete surface relative to the orifice in step STP400, determine the theoretical burial depth of the bottom of the current pouring pipe.

[0028] Step STP600, based on the theoretical burial depth of the bottom of the current casting pipe in step STP500, performs a comparison with the burial depth control threshold in the foundation parameters according to the preset time period;

[0029] If the theoretical burial depth does not reach the burial depth control threshold, a waiting-for-pouring instruction will be generated;

[0030] If the theoretical burial depth reaches or exceeds the burial depth control threshold, a single-section unloading permit is generated, the preset unloading process is initiated, and the number of dismantled pipe sections is updated after the preset unloading process is completed.

[0031] Step STP700: Based on the number of dismantled pipe sections in step STP600, continuously determine whether the number of dismantled pipe sections has reached the number of pipe sections that need to be lowered.

[0032] If not achieved, repeat steps STP400-STP600.

[0033] If this condition is met, it is determined that all pipe sections that have been lowered and formed the pouring pipe in this pouring operation have been removed, and the control unit controls the execution unit to reset.

[0034] Furthermore, step STP300 specifically includes the following steps:

[0035] In step STP310, the processor obtains the current number of pipe sections that have been lowered. If the current number of lowered pipe sections is less than the number of pipe sections to be lowered, the processor controls the industrial camera to capture images of the pipe sections to identify the position and orientation of the pipe sections to be assembled. Subsequently, the processor controls the transfer device to grip the pipe sections to be assembled based on their position and orientation, and transfers the pipe sections to be assembled to the rotating component of the lifting device, so that the pipe sections to be assembled enter the holding range of the open-loop clamp, and controls the open-loop clamp to hold the pipe sections to be assembled. Then, the rotating component is switched to a vertical position so that the pipe sections to be assembled are coaxial with the center hole.

[0036] In step STP320, the hoisting mechanism releases the hoisting cable, and the sliding plate slides down along the sliding guide rail. The end of the pipe section to be assembled is clamped by the clamping head. Based on the number of pipe sections that have been lowered in step STP310, it is determined whether there is a lowered pipe column in the center hole. According to the determination result, either step STP330 or step STP340 is executed.

[0037] In step STP330, if there is no lowered pipe string, switch the support hole of the axial limiting component to the first hole diameter, control the open-loop clamp to release the pipe section to be assembled, and the winch mechanism continuously releases the winch cable so that the pipe body of the pipe section to be assembled passes through the support hole until the axial limiting component provides axial support for the joint of the pipe section to be assembled.

[0038] In step STP340, if a lowered tubing string already exists, control the open-loop clamp to release the tubing section to be assembled, and control the winch mechanism to release the winch cable, so that the lower end joint of the tubing section to be assembled is connected to the upper end joint of the lowered tubing string to form a connection joint.

[0039] Subsequently, the telescopic clamping mechanism is controlled to clamp the lowered tubing. The pressure sensor embedded in the clamping contact surface continuously detects the current clamping pressure and compares it with the clamping stability threshold to determine whether the clamping is stable.

[0040] If the value is less than the clamping stability threshold, it is judged to be unstable, and the output of the telescopic clamping mechanism (325) is increased until the clamping stability threshold is reached;

[0041] If the value is equal to or greater than the clamping stability threshold, it is determined to be stable, and a clamping stability signal is output.

[0042] According to the clamping stability signal, the rotary drive mechanism is controlled to drive the rotary seat to rotate forward, so that the lowered pipe column rotates relative to the pipe section to be assembled, and the connecting joint begins to be screwed and spliced.

[0043] During the splicing process, the torque sensor continuously monitors the output torque of the rotary drive mechanism. When the output torque reaches the splicing torque threshold, it is determined that the pipe section to be assembled and the lowered pipe column have been spliced, and a splicing completion signal is output.

[0044] According to the splicing completion signal, the telescopic clamping mechanism releases its clamping on the spliced ​​casting pipe as a whole, controls the support hole of the axial limiting component to switch to the second diameter, the winch mechanism releases the winch cable, and lowers the spliced ​​casting pipe as a whole until the top joint of the spliced ​​casting pipe as a whole moves down to above the slider. Then, the support hole of the axial limiting component is controlled to switch to the first diameter to form axial support for the top joint of the spliced ​​casting pipe as a whole.

[0045] In step STP350, the processor controls the clamping head to release the spliced ​​casting pipe and slide it upward to reset, updating the number of pipe sections that have been lowered.

[0046] If the updated number of pipe sections already laid does not reach the number of pipe sections to be laid, return to step STP310 and repeat the process.

[0047] If the updated number of pipe sections already deployed reaches the number of pipe sections to be deployed, a deployment completion signal is generated.

[0048] Furthermore, the STP600 process specifically includes the following steps:

[0049] Step STP610: Compare the theoretical burial depth of the current casting pipe bottom with the burial depth control threshold.

[0050] If the comparison result shows that the theoretical burial depth has not reached the burial depth control threshold, a waiting pouring instruction is generated, and the process returns to step STP400.

[0051] If the comparison result shows that the theoretical burial depth has reached or exceeded the burial depth control threshold, a single-section unloading permit will be generated.

[0052] Step STP620: Based on the single-section unloading permission command, control the sliding plate to slide downwards, clamp the top end of the current casting pipe through the clamping head, and control the support hole of the axial limiting component to switch to the second hole diameter.

[0053] The processor then determines the number of pipe sections in the current casting pipe, and based on the determination result, selects to execute either step STP621 or step STP630.

[0054] Step STP621: If the processor determines that the current casting pipe consists of only one pipe section, it controls the hoisting mechanism to lift the entire pipe section upwards until it is detached from the central hole, and controls the rotating component and the transfer device to remove the pipe section. Then, it updates the number of dismantled pipe sections, and the preset pipe unloading process is completed.

[0055] Step STP630: If the processor determines that the current casting pipe includes two or more pipe sections, it controls the hoisting mechanism to lift the current casting pipe as a whole upwards and monitors the position of the pipe section joints of the current casting pipe in real time through an industrial camera.

[0056] Step STP640: When the industrial camera detects that the second joint of the current casting pipe is pulled up to the axial limiting component from top to bottom, the processor identifies the pipe section above the second joint as the pipe section to be disassembled, identifies the pipe section below the second joint as the remaining pipe column, controls the hoisting mechanism to stop pulling, and switches the support hole of the axial limiting component back to the first hole diameter to form axial support for the second joint.

[0057] Step STP650: Control the clamping rotation assembly to clamp the remaining tubing, and the pressure sensor continuously detects the current clamping pressure until the clamping stability threshold is reached, and outputs a clamping stability signal.

[0058] According to the clamping stability signal, the rotary drive mechanism is controlled to drive the rotary seat to reverse, and the pipe section to be disassembled is screwed off from the remaining pipe column. During the screwing off process, the torque sensor continuously detects the output torque of the rotary drive mechanism. When the output torque drops below the disassembly torque threshold, it is determined that the pipe section to be disassembled has been disassembled from the remaining pipe column, and a disassembly completion signal is output.

[0059] In step STP660, according to the disengagement completion signal, the clamping and rotating assembly releases its grip on the remaining tube column; the hoisting mechanism is controlled to pull the sliding plate upward along the sliding guide rail, lifting the tube section to be disassembled upward until it is completely detached from the center hole, and a lifting completion signal is output.

[0060] Step STP670: According to the lifting completion signal, control the rotating component to switch to the vertical position so that the open-loop clamp holds the disassembled pipe section. Then the clamping head releases the joint of the disassembled pipe section, slides upward to reset, and controls the rotating component to switch to the horizontal position.

[0061] The processor controls the transfer device to clamp the disassembled pipe section. Then the open-loop clamp reopens, and the transfer device moves the disassembled pipe section out of the open-loop clamp. The preset pipe unloading process is completed, and the number of disassembled pipe sections is updated.

[0062] Furthermore, step STP400 specifically includes the following steps:

[0063] In step STP410, the processor establishes a communication connection with the concrete pouring equipment and continuously acquires the cumulative volume of concrete poured in this pouring operation at a preset time period.

[0064] Step STP420: Based on the cross-sectional area of ​​the slot in the foundation parameters and the cumulative pouring volume, calculate the theoretical rise of the current concrete surface relative to the bottom of the slot. The calculation formula is as follows: In the formula, h is the theoretical rising height, S is the cross-sectional area of ​​the slot, and V is the cumulative pouring volume.

[0065] Step STP430: Based on the slot depth in the foundation parameters and the theoretical rise height, calculate the theoretical position of the current concrete surface relative to the hole opening. The calculation formula is as follows: In the formula, H represents the theoretical position of the current concrete surface relative to the hole opening, where H is the depth of the slot and h is the theoretical rising height.

[0066] Step STP440: Obtain the number of disassembled pipe sections. Based on the number of disassembled pipe sections, the number of pipe sections to be lowered, and the parameters of a single pipe section, determine the current pouring pipe length. The calculation formula is as follows: In the formula, N represents the total length of the pipe currently being poured, N represents the number of pipe sections to be lowered, and M represents the number of pipe sections already dismantled. This refers to the length of a single pipe section in the parameters for a single pipe section.

[0067] Step STP450: Using the slot opening as the coordinate reference, determine the theoretical position of the bottom of the current casting pipe relative to the opening based on the current casting pipe length. The calculation formula is: .

[0068] Furthermore, the STP500 process specifically includes the following steps:

[0069] Step STP510, based on the theoretical position of the bottom of the casting pipe relative to the orifice. Based on the theoretical position of the current concrete surface relative to the orifice, the theoretical burial depth of the bottom of the current pouring pipe is determined using the following formula: In the formula, E represents the theoretical burial depth of the bottom of the current casting pipe. This represents the theoretical position of the current concrete surface relative to the orifice. This represents the theoretical position of the bottom of the casting pipe relative to the orifice.

[0070] Furthermore, step STP610 specifically includes the following steps:

[0071] Step STP611: Obtain the theoretical burial depth E of the current casting pipe bottom opening, and compare the theoretical burial depth of the current casting pipe bottom opening with the burial depth control threshold in the foundation parameters. Compare the results and choose to perform either step STP612 or step STP613 based on the comparison results;

[0072] Step STP612, if E < If the burial depth is insufficient, a waiting-for-pouring instruction is generated, and the process returns to step STP400.

[0073] Step STP613, if If the depth is ≤E, it is determined that the burial depth is sufficient, and a single-section unloading permit is generated.

[0074] The beneficial effects of this invention are as follows:

[0075] (1) In the first aspect, the present invention enables the transfer device, lifting device and turning device to perform pipe section transfer, lowering and lifting, axial support, clamping and turning and pipe section removal actions respectively under the scheduling of the control unit through the intelligent loading and unloading system of the casting pipe composed of the control unit and the execution unit. This transforms the operation of manually supporting the pipe, manually aligning and manually turning during the loading and unloading of the casting pipe into intelligent mechanical automation work, reducing the dependence of the loading and unloading operation of the casting pipe on manual coordination.

[0076] (2) In the second aspect, the present invention determines the theoretical position of the current concrete surface and the theoretical position of the bottom of the current poured pipe by obtaining the depth of the slot, the cross-sectional area of ​​the slot, the cumulative volume of pouring, the number of pipe sections to be lowered, the number of pipe sections that have been dismantled, and the parameters of a single pipe section, and further calculates the theoretical burial depth of the bottom of the current poured pipe, so that the permit for unloading a single pipe section can be generated based on the theoretical burial depth, reducing the impact of manual depth measurement, manual recording and manual judgment on the timing of pipe unloading.

[0077] (3) Combining the first and second aspects, the present invention combines the mechanical loading and unloading execution basis formed by the control unit and the execution unit with the unloading judgment logic formed based on the cumulative pouring volume, the current pouring pipe length and the theoretical burial depth, so that the system can automatically call the corresponding loading / unloading execution process after judging that the unloading conditions are met, and update the number of dismantled pipe sections after the unloading is completed, so as to continue the next round of burial depth calculation and unloading judgment, thereby realizing the automated operation of intelligent loading and unloading of ultra-long pouring pipes. Attached Figure Description

[0078] Figure 1 This is a schematic diagram of the overall structure of the screwing device of the present invention;

[0079] Figure 2 This is a top view schematic diagram of the screwing device of the present invention;

[0080] Figure 3 This is a top view of the clamping and rotating assembly of the present invention;

[0081] Figure 4 This is an isometric schematic diagram of the specific structure of the clamping unit of the present invention;

[0082] Figure 5 This is a schematic diagram of the operation of the lifting device clamping and lowering the pipe section when there is no pipe section in the central hole of the present invention;

[0083] Figure 6 This is a schematic diagram of the operation of the rotating assembly after the pipe section is lowered, in preparation for receiving the new pipe section;

[0084] Figure 7 This is a schematic diagram showing the rotating component of the present invention adjusted to a horizontal state, having accepted a new pipe section.

[0085] Figure 8 This is a schematic diagram illustrating the process of preparing to lower a new pipe section according to the present invention.

[0086] In the diagram: 100-Transfer device, 200-Lifting device, 210-Frame, 211-Sliding guide rail, 220-Rotating component, 221-Open-loop clamp, 230-Sliding plate, 231-Clamping head, 240-Winding mechanism, 300-Twisting device, 310-Axial limiting component, 311-Slider, 320-Clamping rotating component, 321-Rotating seat, 322-Clamping unit, 323-Rotating drive mechanism, 324-Clamping seat, 325-Telescopic clamping mechanism, 326-Clamping component. Detailed Implementation

[0087] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0088] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0089] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0090] In the description of this application, it should be noted that the use of terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These terms are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the use of terms such as "first" and "second" in the description of this application is only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0091] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0092] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0093] Before introducing the embodiments of the present invention, in order for those skilled in the art to better and more accurately understand the technical solution of the present invention, the technical solution of the present invention is explained here. It should be understood that the following description is only used to assist in understanding the overall technical solution of the present invention, and not to impose additional limitations on the scope of protection of the present invention.

[0094] In the construction of cutoff walls, trenches are typically first dug at the designed wall line location, forming slots with a predetermined depth and cross-sectional dimensions, and the trench walls are maintained with slurry. When pouring concrete, a casting pipe, composed of multiple connected sections, is lowered into the trench, with its bottom end close to the bottom of the trench. Concrete then enters from the top of the casting pipe, is transported through it to the bottom of the trench, and gradually fills the trench from the bottom upwards. Because the density of concrete is usually greater than that of the slurry in the trench, the concrete entering the trench bottom gradually pushes up and displaces the slurry, causing the concrete surface to rise gradually as the volume of concrete poured increases.

[0095] In the initial stage of pouring, the bottom of the pouring pipe needs to be inserted into the concrete with the first batch of concrete to form an initial embedded state. During the continuous pouring stage, the bottom of the pouring pipe usually needs to be kept at a certain depth below the concrete surface to reduce the risk of mud or sediment entering the newly poured concrete. As the concrete surface rises, if the pouring pipe remains stationary, the embedment depth of the bottom of the pipe will gradually increase. Therefore, during construction, the pouring pipe needs to be gradually raised according to the rise of the concrete surface, and the upper pipe section needs to be removed at the orifice to keep the embedment depth of the bottom of the pouring pipe within a suitable range.

[0096] In the existing construction methods, the burial depth control mainly relies on manual measurement and scheduling: construction workers usually use a sounding hammer to periodically detect the concrete liquid level in the trench, and then manually estimate the current burial depth based on the length of the lowered pipe section. Based on this, they manually direct the pump truck to stop, and schedule the lifting equipment and pipe unloading personnel to lift and dismantle the pipe section.

[0097] However, in high-altitude areas, traditional construction methods are first and foremost limited by harsh climates and remote geographical locations, making it difficult to organize and maintain a large, skilled workforce on-site.

[0098] Secondly, the seepage barriers in this area are mostly ultra-deep and extra-deep trenches with depths of 100m-200m, resulting in extremely long pipe columns after splicing and a dramatic increase in the frequency of pipe section assembly and disassembly. In the context of multiple trenches operating in parallel with a shortage of personnel, it is difficult to accurately control the dynamic burial depth, which increases the construction quality risk of pipe jamming or detachment.

[0099] To solve the above-mentioned technical problems, the specific logical link of the present invention is as follows:

[0100] This invention first provides a hardware-level intelligent loading and unloading system for casting pipes;

[0101] Specifically, it is divided into execution units and control units;

[0102] The execution unit includes a transfer device 100 for lateral adjustment of pipe sections, a lifting device 200 for vertical lifting and lowering of the pipe column, and a screwing device 300 independently installed at the slot opening.

[0103] The screwing device 300 consists of an axial limiting component 310 and a clamping rotation component 320. The axial limiting component 310 uses the size difference between the pipe body and the joint through a support hole with a variable diameter to achieve axial support or release. The clamping rotation component 320 clamps the pipe body radially and applies screwing torque by a rotary drive mechanism 323, so that the two pipe sections can be spliced.

[0104] Meanwhile, the control unit, as the system's perception and decision-making module, consists of a processor and multi-dimensional sensing hardware. Thus, this invention achieves safe, stable, and unmanned continuous loading and unloading operations of ultra-long casting pipes under extreme working conditions through top-level scheduling of the control algorithm and bottom-level decoupling of the hardware unit.

[0105] Based on the intelligent loading and unloading system for casting pipes, this invention further proposes a software-level intelligent loading and unloading method for casting pipes.

[0106] Specifically, the system continuously obtains the cumulative volume of concrete poured by communicating with the pouring equipment, and, in conjunction with the parameters of the trench foundation and the number of dismantled / to-be-lowered pipe sections, calculates in real time the theoretical position of the current concrete surface and the theoretical burial depth of the bottom of the pouring pipe, thus solving the problem of needing manual measurement.

[0107] Based on the calculated theoretical location and theoretical burial depth, this invention constructs an automated master control and loading / unloading execution architecture based on a burial depth threshold trigger to control the intelligent loading / unloading system of the casting pipe at the hardware level.

[0108] Specifically, when the theoretical burial depth does not reach the burial depth control threshold, the system will not trigger the preset pipe unloading process; when the theoretical burial depth reaches or exceeds the burial depth control threshold, the system generates a single-section pipe unloading permission instruction to eliminate the time difference of manual decision-making. Based on this instruction, the present invention realizes unmanned linkage of installation and dismantling actions through the execution unit.

[0109] Upon receiving the instruction, the control unit dispatches the lifting device 200 to lift the tube column and uses an industrial camera to monitor the position of the tube joint in real time for precise alignment. Subsequently, the axial limiting component in the screwing device switches between different apertures to achieve reliable axial support and release of the tube joint. At the same time, the control unit controls the clamping rotation component 320 to clamp the remaining tube column and forms a mechanical feedback closed loop based on the embedded pressure sensor and torque sensor. Under the premise of ensuring clamping stability, the control unit drives the rotary seat 321 to complete the automated screwing connection or disconnection of the tube section.

[0110] Thus, this invention achieves full automation of the entire process from burial depth monitoring and early warning to mechanical assembly and disassembly of pipe sections, improving the loading and unloading efficiency and control accuracy of ultra-deep trench operations.

[0111] The present invention will be further explained below with reference to the accompanying drawings and an embodiment.

[0112] Example 1:

[0113] like Figures 5-8 As shown, this embodiment provides an intelligent loading and unloading system for cast-in-place pipes, including an execution unit and a control unit. The control unit is used to control the execution unit to perform loading and unloading operations of cast-in-place pipe sections according to a preset loading and unloading process. Its features are as follows:

[0114] The execution unit includes a transfer device 100 for transferring the pipe sections to be loaded or unloaded, a lifting device 200 for lowering or lifting the pipe sections, and a screwing device 300 for loading and unloading the pipe sections.

[0115] The screwing device 300 includes a seat body disposed at the slot, wherein a central hole is provided through the seat body for the pipe section to pass through;

[0116] An axial limiting component 310 and a clamping rotation component 320 are sequentially arranged inside the seat.

[0117] The axial limiting assembly 310 includes a slider 311 arranged around the central hole and capable of radial sliding. A plurality of sliders 311 together form a support hole with a variable diameter. The support hole has a first diameter that can provide axial support for the joint of the pipe section and a second diameter that allows the pipe section to pass through. The diameter of the first diameter is larger than the outer diameter of the pipe body and smaller than the outer diameter of the joint of the pipe section, and the diameter of the second diameter is larger than the outer diameter of the joint of the pipe section.

[0118] The clamping rotation assembly 320 includes a rotary seat 321 that can rotate around the axis of the central hole, a plurality of clamping units 322 that are circumferentially spaced on the rotary seat 321 for clamping pipe sections, and a rotary drive mechanism 323 that drives the rotary seat 321 to rotate forward or in reverse.

[0119] The control unit includes an industrial camera, a pressure sensor, a torque sensor, and a processor for processing information and sending instructions to the execution unit according to a preset loading and unloading process.

[0120] Working principle and technical effects:

[0121] In this embodiment, the "groove area" refers to the area near the opening of the groove in the anti-seepage wall to be poured, and the "central hole" corresponds to the lowering path of the pipe section. The "axial direction" refers to the direction extending along the length of the pipe section, the "radial direction" refers to the direction toward or away from the axis of the central hole, and the "circumferential direction" refers to the direction distributed around the axis of the central hole.

[0122] The first aperture and the second aperture are effective passage apertures formed by the support hole in different opening and closing positions. The first aperture is used to allow the pipe body to pass through but the joint cannot pass through, and the second aperture is used to allow the pipe joint to pass through. Thus, the axial limiting component 310 can switch between the support state and the release state.

[0123] During operation, the control unit controls the actions of the execution unit according to the preset loading and unloading process.

[0124] An industrial camera detects the position of the pipe section to be loaded or unloaded. Based on the detection information, the processor controls the transfer device 100 to transfer the pipe section to the corresponding position on the lifting device 200. The lifting device 200 holds the pipe section and lowers or lifts it along the direction of the central hole.

[0125] like Figure 1 , Figure 2 As shown, during the lowering of the pipe section, the axial limiting component 310 defines the support hole through multiple sliders 311. When the support hole is in the first aperture, the pipe body of the pipe section can pass through the support hole, while the joint of the pipe section is restricted above the support hole by the support structure formed by the sliders 311, thereby providing axial support for the pipe section. When the support hole is in the second aperture, the joint of the pipe section can pass through the support hole, thereby allowing the pipe section to continue to be lowered or raised.

[0126] When pipe section splicing or disassembly is required, the clamping and rotating assembly 320 clamps and rotates the pipe section located in the central hole. Multiple clamping units 322 are arranged circumferentially around the rotary seat 321. The clamping units 322 can apply clamping action to the outer circumferential surface of the pipe section from multiple circumferential positions, so that a torque transmission relationship is formed between the pipe section and the rotary seat 321. When the rotary drive mechanism 323 drives the rotary seat 321 to rotate clockwise or counterclockwise around the central hole axis, the rotary seat 321 drives the clamped pipe section to rotate relative to the adjacent pipe section through the clamping units 322, thereby realizing the screw splicing or screw disassembly of adjacent pipe sections. Since the screwing action is performed by the screwing device 300 set at the slot, the lifting device 200 mainly undertakes the functions of lowering, lifting and holding the pipe section, realizing functional decoupling. Thus, the lifting and holding of the pipe section and the screwing action can be performed separately.

[0127] A pressure sensor is used to detect the clamping pressure applied to the pipe section by the clamping unit 322, and a torque sensor is used to detect the output torque of the rotary drive mechanism 323. The processor can determine whether the clamping unit 322 has formed a stable clamp on the pipe section based on the clamping pressure feedback from the pressure sensor, and determine the pipe section splicing or disassembly status based on the output torque feedback from the torque sensor. When the clamping pressure does not meet the preset requirements, the processor can control the clamping unit 322 to adjust the clamping output; when the output torque meets the judgment conditions corresponding to splicing or disassembly, the processor can control the rotary drive mechanism 323 to stop or switch subsequent actions. Thus, the control unit can coordinate the pipe section clamping, tightening, and supporting actions according to a preset loading and unloading process.

[0128] With the above structure, the transfer device 100 is used to complete the transfer of pipe sections, the lifting device 200 is used to complete the lowering or lifting of pipe sections, the axial limiting component 310 is used to provide axial support or release for the pipe section joint at the slot, the clamping and rotating component 320 is used to clamp the pipe section and input the turning torque, and the control unit is used to control the above actions according to the position of the pipe section, the clamping pressure and the output torque.

[0129] By combining the control unit and the execution unit, the system can reduce the reliance on manual pipe support, manual alignment, and manual judgment during the loading and unloading of pipe sections, thus providing a basis for continuous control of the pipe section transfer, lowering, support, tightening, and lifting processes. It also provides execution conditions for subsequent pipe unloading control based on the cumulative pouring volume and the theoretical burial depth of the bottom of the poured pipe. Of course, the specific structural form proposed in this embodiment for realizing pipe section transfer, lowering, lifting, axial support, clamping and tightening, and information processing control is only an example. Those skilled in the art can still seek other existing and suitable solutions under the concept disclosed in this invention.

[0130] Example 2: In order to achieve better technical results, this example further limits the first example.

[0131] In one embodiment of the present invention, the lifting device 200 includes a vertically arranged frame 210. A rotating assembly 220, which can be switched between a vertical and a horizontal position, is hinged within the frame 210. The rotating assembly 220 is equipped with an open-loop clamp 221 for holding pipe sections. In the vertical position, the axis of the open-loop clamp 221 is coaxial with the central hole. By providing a rotating assembly 220 that can switch between horizontal and vertical positions, the pipe section can enter the open-loop clamp 221 in a more convenient placement posture during the transfer or receiving stage, and can be switched to a vertical position when lowering or splicing is required. When the open-loop clamp 221 is in the vertical position and coaxial with the central hole, the held pipe section can maintain correspondence with the central hole of the screwing device 300, facilitating subsequent lowering or lifting by the sliding plate 230, the clamping head 231, and the hoisting mechanism 240. This reduces the need for manual straightening of pipe sections when switching from transport to lowering position, and improves the positioning consistency of pipe sections before they enter the central hole.

[0132] In one embodiment of the present invention, the lifting device 200 further includes a sliding guide rail 211 vertically arranged on the frame 210, a sliding plate 230 slidably mounted on the sliding guide rail 211, and a clamping head 231 for clamping the end of the pipe section provided on the sliding plate 230. The clamping head 231 includes a clamping opening, and the center line of the clamping opening coincides with the axis of the center hole.

[0133] The top of the frame 210 is also provided with a winch mechanism 240, which includes a winch and a winch cable wound on the winch. One end of the winch cable is fixedly connected to the sliding plate 230.

[0134] By setting a sliding guide rail 211 on the frame 210 and allowing the sliding plate 230 to slide up and down along the sliding guide rail 211, vertical guidance can be provided for the lowering and lifting of the pipe section. The clamping head 231 is set on the sliding plate 230 to clamp the end of the pipe section. When the hoisting mechanism 240 moves the sliding plate 230 through the hoisting cable, it can simultaneously move the clamped pipe section along the axis of the central hole. Since the center line of the clamping opening coincides with the axis of the central hole, after the pipe section is held by the clamping head 231, the axis can correspond to the central hole, thereby facilitating the pipe section to pass through the axial limiting component 310 and enter the effective range of the clamping rotation component 320.

[0135] The clamping head 231 can be implemented in different forms depending on the structure of the pipe section end. For example, the clamping head 231 can be a split-type clamping jaw with an arc-shaped clamping surface, where the two jaws open and close relative to each other to clamp the outer circumference of the pipe section; it can also be a ring-type clamping structure, which achieves clamping by circumferentially covering the pipe section end; or it can be a plug-in or snap-fit ​​clamping structure, which achieves clamping by forming a limiting fit with the joint, flange, or connecting part of the pipe section end. The clamping opening can be circular, semi-circular, arc-shaped notch, or an irregularly shaped opening adapted to the outer contour of the pipe section end, as long as it can reliably hold the pipe section end during the movement of the sliding plate 230 and keep the pipe section axis corresponding to the central hole axis. However, regardless of the form, in order to keep the pipe section and the central hole coaxial or substantially coaxial, this clamping should be rigid.

[0136] like Figure 3 , Figure 4 As shown, in one embodiment of the present invention, the clamping unit 322 includes a clamping seat 324 fixedly disposed on the rotary seat 321, and a telescopic clamping mechanism 325 is disposed on the clamping seat 324, with the output end of the telescopic clamping mechanism 325 facing the central hole.

[0137] The output end is also provided with a clamping member 326 that contacts the outer peripheral surface of the pipe section. The clamping member 326 has a clamping contact surface facing the outer peripheral surface of the pipe section, and the pressure sensor is embedded in the clamping contact surface.

[0138] By setting the clamping unit 322 on the rotary seat 321, multiple clamping units 322 can rotate together with the rotary seat 321 around the axis of the central hole. During operation, the telescopic clamping mechanism 325 drives the clamping member 326 to extend toward the central hole, so that the clamping contact surface of the clamping member 326 abuts against the outer peripheral surface of the pipe section, thereby forming radial clamping on the pipe section.

[0139] When the rotary drive mechanism 323 drives the rotary base 321 to rotate forward or backward, the clamped pipe section can rotate synchronously with the rotary base 321, thereby inputting a screwing torque to the pipe section to complete the screwing splicing or screwing disassembly between adjacent pipe sections. The pressure sensor embedded in the clamping contact surface can directly detect the contact pressure between the clamping member 326 and the outer peripheral surface of the pipe section. The processor can determine whether the clamping meets the preset requirements based on the contact pressure, thereby reducing the situation of slippage due to insufficient clamping force and local deformation of the pipe section due to excessive clamping force.

[0140] The telescopic clamping mechanism 325 can be a hydraulic cylinder, electric push rod, pneumatic cylinder, lead screw slide, or other actuator capable of outputting linear telescopic movements. In this embodiment, a hydraulic clamping mechanism is preferred. The hydraulic clamping mechanism may include a hydraulic cylinder and a hydraulic control pipeline connected to the hydraulic cylinder. By adjusting the oil inlet or pressure of the hydraulic cylinder, the clamping member 326 is made to move radially closer to or further away from the outer circumference of the pipe section. Since the cast-in-place pipe sections typically have a large length and weight, the hydraulic clamping mechanism can provide a more stable clamping output and is suitable for scenarios involving pipe section bearing, centering, and torque transmission during turning.

[0141] The pressure sensor can be a thin-film pressure sensor, a piezoresistive pressure sensor, a strain gauge pressure sensor, a piezoelectric pressure sensor, or a pressure sensing plate. Its sensing end face is set towards the outer peripheral surface of the pipe section, as long as it can obtain the contact pressure between the clamping member 326 and the pipe section.

[0142] Example 3: The present invention also provides an intelligent loading and unloading method for casting pipes. Based on any of the above embodiments, the intelligent loading and unloading system for casting pipes is implemented by including the following steps:

[0143] Step STP100: Obtain the basic parameters for this pouring operation; the basic parameters include the trench depth, the trench cross-sectional area, the burial depth control threshold, and the parameters of a single pipe section.

[0144] Step STP200: Based on the slot depth and single pipe section parameters in step STP100, determine the number of pipe sections to be lowered in this pouring operation and generate a pipe section lowering signal.

[0145] In step STP300, based on the pipe section lowering signal in step STP200, the preset assembly process is executed cyclically until the number of pipe sections lowered into the slot meets the required number of pipe sections to be lowered, and a lowering completion signal is generated.

[0146] Step STP400: Based on the lowering completion signal in step STP300, continuously acquire the cumulative pouring volume, and determine the theoretical rising height of the current concrete surface relative to the bottom of the trench according to the cumulative pouring volume and the cross-sectional area of ​​the trench. Determine the theoretical position of the current concrete surface relative to the opening according to the theoretical rising height and the trench depth.

[0147] The number of disassembled pipe sections is obtained. Based on the number of disassembled pipe sections, the number of pipe sections to be lowered, and the parameters of a single pipe section, the current length of the cast-in-place pipe is determined. Based on the current length of the cast-in-place pipe, the theoretical position of the bottom of the current cast-in-place pipe relative to the orifice is determined.

[0148] Step STP500: Based on the theoretical position of the bottom of the current pouring pipe relative to the orifice and the theoretical position of the current concrete surface relative to the orifice in step STP400, determine the theoretical burial depth of the bottom of the current pouring pipe.

[0149] Step STP600, based on the theoretical burial depth of the bottom of the current casting pipe in step STP500, performs a comparison with the burial depth control threshold in the foundation parameters according to the preset time period;

[0150] If the theoretical burial depth does not reach the burial depth control threshold, a waiting-for-pouring instruction will be generated;

[0151] If the theoretical burial depth reaches or exceeds the burial depth control threshold, a single-section unloading permit is generated, the preset unloading process is initiated, and the number of dismantled pipe sections is updated after the preset unloading process is completed.

[0152] Step STP700: Based on the number of dismantled pipe sections in step STP600, continuously determine whether the number of dismantled pipe sections has reached the number of pipe sections that need to be lowered.

[0153] If not achieved, repeat steps STP400-STP600.

[0154] If this condition is met, it is determined that all pipe sections that have been lowered and formed the pouring pipe in this pouring operation have been removed, and the control unit controls the execution unit to reset.

[0155] In the method described in this embodiment, the slot depth refers to the depth parameter between the slot opening and the bottom of the slot, the single pipe section parameter refers to the length of a single pipe section, and the burial depth control threshold is used to determine whether the bottom of the currently poured pipe has reached the burial depth condition that allows the removal of the upper pipe section. These parameters can all be set according to construction specifications, design requirements, or on-site pouring control requirements. It can be understood that the slot mentioned in this embodiment refers to the slot to be poured within the appropriate definition range of the scenario.

[0156] The theoretical positions of the concrete surface and the bottom of the pouring pipe relative to the orifice are both positional parameters calculated using the orifice as a positional reference. These parameters reflect the relative relationship between the concrete surface and the bottom of the pouring pipe in the depth direction of the trench. As a schematic calibration, in this embodiment, the positional parameter of the orifice is calibrated as 0, the positional parameter downward along the depth direction of the trench is calibrated as a negative value, and the positional parameter upward along the orifice is calibrated as a positive value.

[0157] In this embodiment, the basic parameters for the current pouring operation are first obtained at the start of the operation, and the number of pipe sections to be lowered is determined based on the trench depth and single pipe section parameters. The specific calculation formula is as follows:

[0158]

[0159] In the formula, This specifies the number of pipe sections that need to be lowered for this pouring operation. For slot depth, This refers to the length of a single pipe section in the single pipe section parameters. This is for rounding up.

[0160] Therefore, before assembling the cast pipe, the processor can first determine the total number of pipe sections required for this operation and generate a pipe section lowering signal, so that the transfer device 100, lifting device 200 and screwing device 300 can perform pipe section transfer, lowering and splicing according to the preset assembly process, forming an intelligent assembly process.

[0161] After pouring begins, the processor continuously acquires the cumulative pouring volume. This acquisition method can be understood as the processor acquiring the total amount of concrete that has entered the trench since the start of the current pouring operation according to a preset time period. The cumulative pouring volume can be directly output by the concrete pouring equipment, such as a concrete pump, mixing plant metering system, pipeline metering device, or on-site pouring control system, which sends the current cumulative volume data to the processor via communication connection. Alternatively, the processor can accumulate the data from each pouring operation. For example, after each concrete pumping, hopper unloading, or truck unloading, the processor acquires the corresponding single-pour volume and adds it to the previous cumulative pouring volume to obtain the current cumulative pouring volume. The cumulative pouring volume can also be entered by on-site operators through a human-machine interface and sent to the processor, as long as it reflects the amount of concrete that has entered the trench during the current pouring operation.

[0162] The processor calculates the theoretical rise of the current concrete surface relative to the bottom of the trench by combining the cumulative pouring volume with the cross-sectional area of ​​the trench. Since there is a corresponding relationship between the cumulative pouring volume and the theoretical rise of the concrete surface under the condition that the cross-sectional area of ​​the trench is determined, the processor can estimate the theoretical position of the concrete surface in the trench by the cumulative pouring volume. Then, the processor converts the theoretical rise of the concrete surface into the theoretical position of the current concrete surface relative to the opening of the trench according to the trench depth, so that the change of the concrete surface can be used for subsequent burial depth calculation.

[0163] At the same time, the processor obtains the number of disassembled pipe sections and determines the current pouring pipe length based on the number of pipe sections to be lowered, the number of disassembled pipe sections, and the parameters of a single pipe section.

[0164] That is, if the pipe section is not disassembled, the current length of the cast pipe corresponds to the length of the complete pipe section that has been lowered; after each single pipe section is unloaded, the number of disassembled pipe sections is updated, the current length of the cast pipe is recalculated, and the processor then determines the theoretical position of the bottom of the cast pipe relative to the opening based on the current length of the cast pipe, thereby obtaining the position of the bottom of the cast pipe in the depth direction of the slot.

[0165] After obtaining the theoretical position of the current concrete surface relative to the orifice and the theoretical position of the current bottom of the pouring pipe relative to the orifice, the processor calculates the theoretical burial depth of the current bottom of the pouring pipe. The theoretical burial depth is used to characterize the degree to which the bottom of the pouring pipe is below the concrete surface. By incorporating the cumulative pouring volume, the cross-sectional area of ​​the slot, the depth of the slot, the number of pipe sections to be lowered, the number of pipe sections already dismantled, and the parameters of a single pipe section into the calculation, the current burial depth can be updated with the pouring and unloading process, thereby controlling the unloading process.

[0166] The processor compares the current theoretical burial depth with the burial depth control threshold according to a preset time period. When the theoretical burial depth does not reach the burial depth control threshold, it means that the current depth of the bottom of the pouring pipe buried in the concrete has not met the conditions for unloading the pipe, and the control unit generates a waiting pouring command.

[0167] It should be noted that waiting for the pouring instruction is not the same as stopping the concrete pouring operation; this method does not involve the control of the concrete pouring operation itself, but is used to indicate that the current theoretical burial depth has not yet reached the judgment condition that allows the single-section unloading of the pipe, and the control unit does not trigger the preset unloading process for the time being.

[0168] At this time, the execution unit can maintain the current working state of the pouring pipe, and the processor continues to obtain the cumulative pouring volume according to the preset time cycle, and calculate the theoretical position of the current concrete surface relative to the orifice, the theoretical position of the bottom of the pouring pipe relative to the orifice, and the current theoretical burial depth until the theoretical burial depth reaches or exceeds the burial depth control threshold. In this way, it can avoid prematurely removing the pipe section when the burial depth is insufficient, and make the pipe unloading action match the process of the concrete surface rising.

[0169] When the theoretical burial depth reaches or exceeds the burial depth control threshold, the control unit generates a single-section unloading permission command, causing the system to enter the preset unloading process. Through this control logic, the unloading action can be made to correspond with the current theoretical burial depth state, reducing the situation where the timing of unloading is inconsistent due to the lag in manual judgment or the error in manual recording.

[0170] After the preset pipe unloading process is completed, the processor updates the number of disassembled pipe sections and determines whether the required number of pipe sections to be lowered is met based on the updated number of disassembled pipe sections.

[0171] It should be noted that the number of pipe sections to be lowered in this step refers to the total number of pipe sections that need to be lowered into the trench to form the cast pipe at the beginning of this pouring operation, as determined in step STP200 based on the trench depth and individual pipe section parameters. It does not refer to the number of pipe sections that still need to be lowered at the current moment. This number of pipe sections to be lowered is used as a benchmark for comparing the number of dismantled pipe sections in the subsequent pipe unloading judgment.

[0172] That is, after each single pipe section is unloaded, the processor updates the number of disassembled pipe sections and compares the updated number of disassembled pipe sections with the predetermined total number of pipe sections.

[0173] If the number of dismantled pipe sections has not yet reached the number of pipe sections to be lowered, it indicates that there are still pipe sections to be removed in this pouring operation, and the system continues to perform burial depth calculation and pipe removal permission judgment.

[0174] When the number of disassembled pipe sections reaches the number of pipe sections to be lowered, it indicates that all the pipe sections corresponding to this pouring operation have been removed. The processor determines that this pouring operation is complete and controls the execution unit to reset.

[0175] The reason why the technical term "number of pipe sections to be lowered" is still used in step STP700 to compare with the number of pipe sections already disassembled, instead of using the number of pipe sections already lowered or redefining a technical term, is to keep the technical terminology system consistent with the mathematical modeling and to avoid introducing new concepts that may cause confusion for those skilled in the art.

[0176] Therefore, the system can form a closed-loop control process during the pouring process, including updating the pouring volume, calculating the burial depth, judging the pipe unloading, executing the pipe unloading, and updating the quantity, thus forming an intelligent operation for loading and unloading the pouring pipe.

[0177] The preset assembly process and preset tube unloading process will be further described in subsequent embodiments.

[0178] In one embodiment of the present invention, the aforementioned preset assembly process is specifically disclosed;

[0179] The STP300 process specifically includes the following steps:

[0180] In step STP310, the processor obtains the current number of pipe sections that have been lowered. When the current number of lowered pipe sections is less than the number of pipe sections to be lowered, the processor controls the industrial camera to capture images of the pipe sections to identify the position and orientation of the pipe sections to be assembled. Subsequently, the processor controls the transfer device 100 to clamp the pipe sections to be assembled according to the position and orientation of the pipe sections to be assembled, and transfers the pipe sections to be assembled to the rotating component 220 of the lifting device 200, so that the pipe sections to be assembled enter the holding range of the open-loop clamp 221, and controls the open-loop clamp 221 to hold the pipe sections to be assembled. Then, the rotating component 220 is switched to a vertical position so that the pipe sections to be assembled are coaxial with the center hole.

[0181] In step STP320, the hoisting mechanism 240 releases the hoisting cable, and the sliding plate 230 slides down along the sliding guide rail 211. The end of the pipe section to be assembled is clamped by the clamping head 231. Based on the number of pipe sections that have been lowered in step STP310, it is determined whether there is a lowered pipe column in the center hole. According to the determination result, either step STP330 or step STP340 is executed.

[0182] In step STP330, if there is no lowered pipe column, the support hole of the axial limiting component 310 is switched to the first hole diameter, the open-loop clamp 221 is controlled to release the pipe section to be assembled, and the winch mechanism 240 continuously releases the winch cable so that the pipe body of the pipe section to be assembled passes through the support hole until the axial limiting component 310 provides axial support for the joint of the pipe section to be assembled.

[0183] In step STP340, if there is a lowered tubing string, control the open-loop clamp 221 to release the tubing section to be assembled, and control the winch mechanism 240 to release the winch cable, so that the lower end joint of the tubing section to be assembled is connected to the upper end joint of the lowered tubing string to form a connection joint.

[0184] Subsequently, the telescopic clamping mechanism 325 is controlled to clamp the lowered tube column. The pressure sensor embedded in the clamping contact surface continuously detects the current clamping pressure and compares it with the clamping stability threshold to determine whether the clamping is stable.

[0185] If the value is less than the clamping stability threshold, it is judged to be unstable, and the output of the telescopic clamping mechanism 325 is increased until the clamping stability threshold is reached.

[0186] If the value is equal to or greater than the clamping stability threshold, it is determined to be stable, and a clamping stability signal is output.

[0187] According to the clamping stability signal, the rotary drive mechanism 323 is controlled to drive the rotary seat 321 to rotate forward, so that the lowered pipe column rotates relative to the pipe section to be assembled, so that the connecting joint begins to be screwed and spliced.

[0188] During the splicing process, the torque sensor continuously monitors the output torque of the rotary drive mechanism 323. When the output torque reaches the splicing torque threshold, it is determined that the pipe section to be assembled and the lowered pipe column have been spliced, and a splicing completion signal is output.

[0189] According to the splicing completion signal, the telescopic clamping mechanism 325 releases the clamp on the spliced ​​casting pipe as a whole, controls the support hole of the axial limiting component 310 to switch to the second diameter, the winch mechanism 240 releases the winch cable, and lowers the spliced ​​casting pipe as a whole until the top joint of the spliced ​​casting pipe as a whole moves down to above the slider 311. Then, the support hole of the axial limiting component 310 is controlled to switch to the first diameter to form axial support for the top joint of the spliced ​​casting pipe as a whole.

[0190] In step STP350, the processor controls the clamping head 231 to release the spliced ​​casting pipe and slide it upward to reset, updating the number of pipe sections that have been lowered.

[0191] If the updated number of pipe sections already laid does not reach the number of pipe sections to be laid, return to step STP310 and repeat the process.

[0192] If the updated number of pipe sections already deployed reaches the number of pipe sections to be deployed, a deployment completion signal is generated.

[0193] Specifically, in the preset assembly process, the processor first obtains the number of pipe sections that have been deployed, which represents the number of pipe sections that have been spliced ​​and deployed into the slot.

[0194] When the number of pipe sections already deployed is less than the number of pipe sections to be deployed, the system assumes that new pipe sections still need to be inserted into the slot. At this time, the processor controls the industrial camera to acquire images of the pipe sections to be assembled and determines the position and orientation of the pipe sections to be assembled based on the image recognition results.

[0195] The position can be understood as the spatial position of the pipe section to be assembled relative to the transfer device 100 and the lifting device 200. The posture can be understood as the axial direction of the pipe section to be assembled, the orientation of its end, and whether it can enter the holding range of the open-loop clamp 221. As for the specific identification algorithm used, it is not limited here.

[0196] The processor controls the transfer device 100 to grip the pipe section to be assembled based on its position and attitude, and transfers the pipe section to be assembled to the rotating component 220, so that the pipe section to be assembled enters the holding range of the open-loop clamp 221. After the open-loop clamp 221 holds the pipe section to be assembled, the rotating component 220 switches from a horizontal position to a vertical position, so that the pipe section to be assembled is coaxial with the center hole of the screwing device 300, providing a positional basis for subsequent lowering, docking and splicing.

[0197] In this embodiment, the open-ring clamp 221 refers to an openable and closable ring clamp. The specific opening and closing can be achieved by hydraulic or pneumatic means. The rotation of the rotating component 220 can be achieved by hydraulic means, sprockets, or other means. As prior art, it will not be described in detail here. Those skilled in the art can determine the accessories that can achieve the corresponding technical effects according to their needs.

[0198] After the pipe section to be assembled is adjusted to a vertical position, the processor controls the hoisting mechanism 240 to release the hoisting cable, causing the sliding plate 230 to slide down along the sliding guide rail 211.

[0199] Since the clamping head 231 is mounted on the sliding plate 230, when the sliding plate 230 moves downward, it can drive the clamping head 231 closer to the end of the pipe section to be assembled, and clamp the end of the pipe section to be assembled through the clamping head 231. At this time, the clamping head 231 is used to provide traction and hold for the pipe section to be assembled during the subsequent lowering process, so that the pipe section to be assembled can move along the direction of the central hole as the sliding plate 230 moves. Subsequently, the processor determines whether there is a lowered pipe column in the central hole based on the number of pipe sections that have been lowered.

[0200] It should be noted that the term "deployed tubing" refers to an integral tubing formed by splicing one or more tubing sections and located below the central bore. This technical term is different from the number of deployed tubing sections; the former refers to the physical structure, while the latter refers to the counting result.

[0201] If the current number of lowered pipe sections indicates that there are no lowered pipe columns in the center hole, the pipe section to be assembled is the first pipe section to be lowered in this operation. At this time, the processor controls the axial limiting component 310 to switch the support hole to the first diameter and controls the open-loop clamp 221 to release the pipe section to be assembled. The winch mechanism 240 continues to release the winch cable, causing the clamping head 231 to move the pipe section to be assembled downwards, and the pipe body of the pipe section to be assembled passes through the support hole in the first diameter state.

[0202] Since the first aperture is larger than the outer diameter of the pipe body and smaller than the outer diameter of the joint, the pipe body of the pipe section to be assembled can pass through the support hole, while its joint cannot continue to pass through the support hole. When the pipe section to be assembled moves down to the point where its joint corresponds to the support area formed by the slider 311, the axial limiting component 310 forms axial support for the joint of the pipe section to be assembled, thereby keeping the pipe section to be assembled at the slot opening.

[0203] When the current number of lowered pipe sections indicates that there is a lowered pipe column in the center hole, the pipe section to be assembled needs to be spliced ​​with the lowered pipe column. At this time, the processor controls the open-loop clamp 221 to release the pipe section to be assembled and controls the hoisting mechanism 240 to release the hoisting cable, so that the pipe section to be assembled moves down until the lower end joint of the pipe section to be assembled is connected to the upper end joint of the lowered pipe column to form a connection joint.

[0204] Subsequently, the processor controls the telescopic clamping mechanism 325 to clamp the lowered tubing, and the pressure sensor continuously monitors the current clamping pressure between the clamping member 326 and the lowered tubing.

[0205] If the current clamping pressure does not reach the clamping stability threshold, the processor increases the output of the telescopic clamping mechanism 325, so that the clamping member 326 continues to apply clamping action to the lowered tubing; if the current clamping pressure reaches the clamping stability threshold, the processor outputs a clamping stability signal.

[0206] After outputting a clamping stability signal, the processor controls the rotary drive mechanism 323 to drive the rotary seat 321 to rotate forward. Since the clamping unit 322 is set on the rotary seat 321 and the clamping unit 322 has clamped the lowered pipe column, the rotary seat 321 can drive the lowered pipe column to rotate around its own axis when it rotates, so that the lowered pipe column rotates relative to the pipe section to be assembled, thereby enabling the connection joint to start to be screwed and spliced.

[0207] During the splicing process, the torque sensor continuously monitors the output torque of the rotary drive mechanism 323. When the output torque reaches the splicing torque threshold, it indicates that the connection joint between the pipe section to be assembled and the lowered pipe column has reached the preset splicing state. The processor determines that the pipe section to be assembled and the lowered pipe column have completed the splicing and outputs a splicing completion signal.

[0208] In this embodiment, the splicing torque threshold is a fixed torque judgment value. The splicing torque threshold can be preset according to the pipe section specifications, joint structure, threaded connection requirements, or on-site calibration results.

[0209] When the pipe section to be assembled begins to be screwed and spliced ​​with the lowered pipe column, the connection joint is in a gradually engaging state. The output torque of the rotary drive mechanism 323 usually increases gradually with the increase of the thread insertion depth. When the joints of adjacent pipe sections are gradually engaged, the contact resistance and end abutment resistance between the thread pairs increase, and the output torque will reach the preset splicing torque threshold.

[0210] At this point, the processor can determine that the connection joint has reached the preset splicing state and control the rotary drive mechanism 323 to stop rotating forward, so as to reduce the situation where the threads are too tight, the joint is subjected to excessive force, or subsequent disassembly is difficult due to continued tightening.

[0211] After the splicing completion signal is output, the pipe section to be assembled and the lowered pipe column have formed the spliced ​​cast pipe as a whole. At this time, the processor controls the telescopic clamping mechanism 325 to release the clamping of the spliced ​​cast pipe as a whole, and controls the support hole of the axial limiting component 310 to switch to the second diameter, so that the spliced ​​cast pipe as a whole can continue to be lowered.

[0212] Subsequently, the processor controls the hoisting mechanism 240 to release the hoisting cable, moving the assembled casting pipe downwards until the top joint of the assembled casting pipe is moved above the slider 311.

[0213] It should be noted that, in order to avoid the sudden drop of the pipe column causing damage to the underlying structure, before the clamping head 231 releases the spliced ​​casting pipe, the processor can use an industrial camera to confirm that the top joint of the spliced ​​casting pipe has moved down to the support position corresponding to the slider 311. Then, the processor controls the clamping head 231 to release the spliced ​​casting pipe, and controls the sliding plate 230 to slide upward along the sliding guide rail 211 to reset.

[0214] Subsequently, the processor updated the number of deployed pipe sections.

[0215] If the updated number of deployed pipe sections does not reach the required number of deployed pipe sections, it means that it is still necessary to connect the next pipe section. The processor returns to step STP310 and repeats the process of identifying, transporting, holding, deploying, docking, clamping, twisting and splicing, and supporting the pipe section to be assembled.

[0216] If the updated number of pipe sections already lowered reaches the number of pipe sections to be lowered, it means that the number of pipe sections to be lowered for this pouring operation has been met. The processor generates a lowering completion signal so that the subsequent processes of obtaining the cumulative pouring volume, calculating the theoretical burial depth, and determining the pipe unloading permit can proceed.

[0217] In one embodiment of the present invention, the preset pipe unloading process is specifically disclosed;

[0218] The STP600 process specifically includes the following steps:

[0219] Step STP610: Compare the theoretical burial depth of the current casting pipe bottom with the burial depth control threshold.

[0220] If the comparison result shows that the theoretical burial depth has not reached the burial depth control threshold, a waiting pouring instruction is generated, and the process returns to step STP400.

[0221] If the comparison result shows that the theoretical burial depth has reached or exceeded the burial depth control threshold, a single-section unloading permit will be generated.

[0222] Step STP620: Based on the single-section unloading permission command, control the sliding plate 230 to slide downwards, clamp the top end of the current casting pipe through the clamping head 231, and control the support hole of the axial limiting component 310 to switch to the second hole diameter.

[0223] The processor then determines the number of pipe sections in the current casting pipe, and based on the determination result, selects to execute either step STP621 or step STP630.

[0224] Step STP621: If the processor determines that the current casting pipe consists of only one pipe section, it controls the hoisting mechanism 240 to lift the entire pipe section upwards until it is detached from the central hole, and controls the rotating component 220 and the transfer device 100 to remove the pipe section. Then, it updates the number of dismantled pipe sections, and the preset pipe unloading process is completed.

[0225] In step STP630, if the processor determines that the current casting pipe includes two or more pipe sections, it controls the hoisting mechanism 240 to lift the current casting pipe as a whole upwards, and monitors the position of the pipe section joint of the current casting pipe in real time through an industrial camera.

[0226] In step STP640, when the industrial camera detects that the second joint of the current casting pipe is lifted from top to bottom above the axial limiting component 310, the processor identifies the pipe section above the second joint as the pipe section to be disassembled, and the pipe section below the second joint as the remaining pipe column. It controls the hoisting mechanism 240 to stop lifting and switches the support hole of the axial limiting component 310 back to the first hole diameter to form axial support for the second joint.

[0227] In step STP650, the clamping rotation assembly 320 is controlled to clamp the remaining tubing, and the pressure sensor continuously detects the current clamping pressure until the clamping stability threshold is reached, and outputs a clamping stability signal.

[0228] According to the clamping stability signal, the rotary drive mechanism 323 is controlled to drive the rotary seat 321 to reverse, and the pipe section to be disassembled is screwed off from the remaining pipe column. During the screwing off process, the torque sensor continuously detects the output torque of the rotary drive mechanism 323. When the output torque drops below the disassembly torque threshold, it is determined that the pipe section to be disassembled has been disassembled from the remaining pipe column, and a disassembly completion signal is output.

[0229] In step STP660, according to the disengagement completion signal, the clamping rotation assembly 320 releases the clamp on the remaining tube column; the hoisting mechanism 240 is controlled to pull the sliding plate 230 to slide upward along the sliding guide rail 211, lifting the tube section to be disassembled upward until it is completely disengaged from the center hole, and outputs a lifting completion signal.

[0230] In step STP670, according to the lifting completion signal, the rotating component 220 is controlled to switch to the vertical position, so that the open-loop clamp 221 holds the disassembled pipe section. Then the clamping head 231 releases the connector of the disassembled pipe section, slides upward to reset, and controls the rotating component 220 to switch to the horizontal position.

[0231] The processor controls the transfer device 100 to clamp the disassembled pipe section. Then the open-loop clamp 221 reopens, and the transfer device 100 moves the disassembled pipe section out of the open-loop clamp 221. The preset pipe unloading process is completed, and the number of disassembled pipe sections is updated.

[0232] Specifically, the processor first compares the theoretical burial depth of the bottom of the current casting pipe with the burial depth control threshold.

[0233] If the theoretical burial depth does not reach the burial depth control threshold, it means that the current degree to which the bottom of the pipe is buried in the concrete has not met the single-section unloading condition. The processor generates a waiting pouring instruction and returns to the execution step STP400 to continue to obtain the cumulative pouring volume and update the current theoretical burial depth.

[0234] If the theoretical burial depth reaches or exceeds the burial depth control threshold, it means that the current burial depth of the bottom of the cast pipe has met the judgment condition for executing a single section unloading. The processor generates a single section unloading permission instruction, which enables the execution unit to enter the subsequent unloading action.

[0235] The term "currently cast pipe" here is a specially defined technical term, referring to the integral pipe column assembled after the assembly process is completed.

[0236] After generating a single-section unloading permit command, the processor controls the sliding plate 230 to slide down along the sliding guide rail 211, so that the clamping head 231 set on the sliding plate 230 approaches the top of the current casting pipe and clamps the top of the current casting pipe through the clamping head 231.

[0237] At this time, the clamping head 231 pulls and holds the current casting pipe, and the processor controls the axial limiting component 310 to switch the support hole to the second diameter. Since the diameter of the second diameter is larger than the outer diameter of the pipe joint, the joint of the current casting pipe can pass through the support hole. The processor then controls the hoisting mechanism 240 to move the sliding plate 230 upward or tighten the hoisting cable, thereby lifting the current casting pipe upward as a whole.

[0238] As the entire casting pipe is being lifted upwards, an industrial camera continuously monitors the position of the pipe joint.

[0239] The second joint from top to bottom of the current casting pipe refers to the joint position located at the lower end of the uppermost pipe section of the current casting pipe and connected to the pipe section below it.

[0240] The pipe section above the second joint is the pipe section to be disassembled in this pipe unloading process, and the pipe section below the second joint is the remaining pipe string.

[0241] When the industrial camera detects that the second connector has been pulled above the axial limiting assembly 310, the processor controls the hoisting mechanism 240 to stop pulling and controls the support hole of the axial limiting assembly 310 to switch from the second diameter back to the first diameter, so that the slider 311 can provide axial support for the second connector. Thus, the remaining tubing can be held at the slot opening by the axial limiting assembly 310 through the second connector, while the section to be disassembled is positioned above the second connector for subsequent screwing and detachment.

[0242] Subsequently, the processor controls the clamping rotation assembly 320 to clamp the remaining tubing, and confirms through the pressure sensor that the clamping pressure has reached the clamping stability threshold. After the clamping is stable, the rotary drive mechanism 323 drives the rotary seat 321 to reverse, causing the remaining tubing to rotate relative to the section to be disassembled, thereby causing the connection joint between the section to be disassembled and the remaining tubing to be screwed off.

[0243] During the unscrewing process, the torque sensor continuously monitors the output torque of the rotary drive mechanism 323. When the output torque drops below the unscrewing torque threshold, it indicates that the threaded connection resistance of the connector has been released or reduced to a preset state. The processor then determines that the pipe section to be disassembled has been successfully detached from the remaining pipe column.

[0244] The output torque here, in actual working scenarios, should be a non-linear torque-force curve.

[0245] When the reversal begins, the pipe section to be disassembled and the remaining pipe column are still in the threaded engagement state. The rotary drive mechanism 323 needs to overcome the preload, friction and joint engagement resistance between the threaded pairs, and the output torque should be maintained at a high level.

[0246] When the connector is screwed to the critical disengagement state, the effective connection resistance between the threaded pairs decreases, and the output torque drops sharply. When the torque sensor detects that the output torque of the rotary drive mechanism 323 drops below the disengagement torque threshold, the processor can determine that the pipe section to be disassembled has been disengaged from the remaining pipe column and output a disengagement completion signal.

[0247] The disengagement torque threshold can be preset according to the pipe section specifications, joint thread type, connection pre-tightening degree, or on-site calibration results. Its function is not to limit a certain fixed torque value, but to identify the judgment condition of the connection joint changing from the screw-in state to the disengagement state. By using the output torque dropping below the disengagement torque threshold as the basis for disengagement judgment, the uncertainty caused by relying solely on rotation time or manual observation to judge the disengagement state can be avoided, and a control basis can be provided for the subsequent hoisting mechanism 240 to lift the pipe section to be disassembled.

[0248] After disassembly, the clamping and rotating assembly 320 releases its grip on the remaining pipe string. The hoisting mechanism 240, via the sliding plate 230 and the clamping head 231, lifts the pipe section to be disassembled upwards, disengaging it from the central hole. Then, the rotating assembly 220 switches to a vertical position, and the open-loop clamp 221 holds the disassembled pipe section. The clamping head 231 releases the joint of the pipe section and resets. The rotating assembly 220 then switches to a horizontal position so that the transfer device 100 can clamp and remove the disassembled pipe section. Through this process, the system can complete the unloading of a single pipe section once the burial depth meets the requirements, and update the number of disassembled pipe sections after unloading, providing a counting basis for the next round of theoretical burial depth calculation and unloading judgment.

[0249] Furthermore, if the processor determines that the current casting pipe consists of only one pipe section, it controls the clamping head 231 to clamp the top of the current casting pipe based on the single-section unloading permission command, controls the axial limiting component 310 to switch the support hole to the second diameter, and controls the hoisting mechanism 240 to lift the pipe section as a whole to detach it from the center hole; then it controls the rotating component 220 and the transfer device 100 to remove the pipe section and update the number of dismantled pipe sections.

[0250] In one embodiment of the present invention, step STP400 specifically includes the following steps:

[0251] In step STP410, the processor establishes a communication connection with the concrete pouring equipment and continuously acquires the cumulative volume of concrete poured in this pouring operation at a preset time period.

[0252] Step STP420: Based on the cross-sectional area of ​​the slot in the foundation parameters and the cumulative pouring volume, calculate the theoretical rise of the current concrete surface relative to the bottom of the slot. The calculation formula is as follows: In the formula, h is the theoretical rising height, S is the cross-sectional area of ​​the slot, and V is the cumulative pouring volume.

[0253] Step STP430: Based on the slot depth in the foundation parameters and the theoretical rise height, calculate the theoretical position of the current concrete surface relative to the hole opening. The calculation formula is as follows: In the formula, H represents the theoretical position of the current concrete surface relative to the hole opening, where H is the depth of the slot and h is the theoretical rising height.

[0254] Step STP440: Obtain the number of disassembled pipe sections. Based on the number of disassembled pipe sections, the number of pipe sections to be lowered, and the parameters of a single pipe section, determine the current pouring pipe length. The calculation formula is as follows: In the formula, N represents the total length of the pipe currently being poured, N represents the number of pipe sections to be lowered, and M represents the number of pipe sections already dismantled. This refers to the length of a single pipe section in the parameters for a single pipe section.

[0255] Step STP450: Using the slot opening as the coordinate reference, determine the theoretical position of the bottom of the current casting pipe relative to the opening based on the current casting pipe length. The calculation formula is: .

[0256] The formula calculation in this embodiment can accurately determine the theoretical position of the current concrete surface relative to the orifice, and the theoretical position of the bottom of the current pouring pipe relative to the orifice based on the current pouring pipe length, providing a basis for subsequent burial depth calculation.

[0257] In one embodiment of the present invention, step STP500 specifically includes the following steps:

[0258] Step STP510, based on the theoretical position of the bottom of the casting pipe relative to the orifice. Based on the theoretical position of the current concrete surface relative to the orifice, the theoretical burial depth of the bottom of the current pouring pipe is determined using the following formula: In the formula, E represents the theoretical burial depth of the bottom of the current casting pipe. This represents the theoretical position of the current concrete surface relative to the orifice. This represents the theoretical position of the bottom of the casting pipe relative to the orifice.

[0259] To better understand the burial depth calculation, this embodiment presents a field example;

[0260] Using the orifice as the position reference, the orifice position is calibrated as 0, and the position along the downward direction of the slot is calibrated as a negative value. Assuming the slot depth is 200m, the slot bottom position is -200m, and the pipe section parameter is 2m.

[0261] If the theoretical rise height of the concrete surface corresponding to the current cumulative pouring volume is h=5m, then the theoretical position of the current concrete surface relative to the orifice is: =-H+h=-200+5=-195m.

[0262] Without executing the pipe unloading procedure, if the bottom of the current casting pipe is still near the bottom of the slot, then the theoretical position of the bottom of the current casting pipe relative to the slot opening is: =-200m.

[0263] Based on the calculation formula, the theoretical burial depth of the bottom of the current casting pipe is E= - =-195-(-200)=5m.

[0264] That is, in this example, the concrete surface has risen 5m from the bottom of the trench, while the bottom of the pouring pipe is located at -200m. Therefore, the bottom of the pouring pipe is 5m below the concrete surface, with a theoretical burial depth of 5m. Based on the aforementioned pre-defined pipe unloading process, if a subsequent single-section pipe unloading is completed, causing the current bottom of the pouring pipe to move upwards to -198m, while the theoretical position of the current concrete surface remains at -195m, then the theoretical burial depth is E = - =-195-(-198)=3m.

[0265] Through the above calculations, the processor can determine the theoretical burial depth based on the theoretical position of the current concrete surface and the theoretical position of the bottom of the current pouring pipe, and determine whether the subsequent pipe unloading control conditions are met.

[0266] In one embodiment of the present invention, step STP610 specifically includes the following steps:

[0267] Step STP611: Obtain the theoretical burial depth E of the current casting pipe bottom opening, and compare the theoretical burial depth of the current casting pipe bottom opening with the burial depth control threshold in the foundation parameters. Compare the results and choose to perform either step STP612 or step STP613 based on the comparison results;

[0268] Step STP612, if E < If the burial depth is insufficient, a waiting-for-pouring instruction is generated, and the process returns to step STP400.

[0269] Step STP613, if If the depth is ≤E, it is determined that the burial depth is sufficient, and a single-section unloading permit is generated.

[0270] Based on the above judgment, the single-section unloading action is triggered by the current theoretical burial depth, rather than relying solely on manual judgment or fixed time intervals.

[0271] This invention is not limited to the optional embodiments described above, and anyone can derive other various forms of products based on the teachings of this invention. The specific embodiments described above should not be construed as limiting the scope of protection of this invention; the scope of protection of this invention should be determined by the claims, and the specification can be used to interpret the claims.

Claims

1. A smart loading and unloading system for cast-in-place pipes, comprising an execution unit and a control unit, wherein the control unit is used to control the execution unit to perform loading and unloading operations of cast-in-place pipe sections according to a preset loading and unloading process, characterized in that: The execution unit includes a transfer device (100) for transferring the pipe section to be loaded or unloaded, a lifting device (200) for lowering or lifting the pipe section, and a screwing device (300) for loading and unloading the pipe section. The screwing device (300) includes a seat provided at the slot, the seat having a through central hole for the pipe section to pass through; An axial limiting component (310) and a clamping rotation component (320) are sequentially arranged inside the seat. The axial limiting assembly (310) includes a slider (311) arranged around the central hole and radially slidable. A plurality of the sliders (311) together form a support hole with a variable diameter. The support hole has a first diameter that provides axial support to the joint of the pipe section and a second diameter that allows the pipe section to pass through. The diameter of the first diameter is greater than the outer diameter of the pipe body and smaller than the outer diameter of the joint of the pipe section, and the diameter of the second diameter is greater than the outer diameter of the joint of the pipe section. The clamping rotation assembly (320) includes a rotary seat (321) that can rotate about the axis of the central hole, a plurality of clamping units (322) arranged circumferentially spaced on the rotary seat (321) for clamping pipe sections, and a rotary drive mechanism (323) that drives the rotary seat (321) to rotate forward or in reverse. The control unit includes an industrial camera, a pressure sensor, a torque sensor, and a processor for processing information and sending instructions to the execution unit according to a preset loading and unloading process.

2. The intelligent loading and unloading system for casting pipes according to claim 1, characterized in that: The lifting device (200) includes a vertically arranged frame (210), and a rotating component (220) is hinged inside the frame (210) and can be switched between a vertical position and a horizontal position. The rotating component (220) is provided with an open-loop clamp (221) for holding the pipe section. In the vertical position, the axis of the open-loop clamp (221) is coaxial with the center hole.

3. The intelligent loading and unloading system for casting pipes according to claim 2, characterized in that: The lifting device (200) further includes a sliding guide rail (211) vertically mounted on the frame (210), a sliding plate (230) slidably mounted on the sliding guide rail (211), and a clamping head (231) for clamping the end of the pipe section on the sliding plate (230). The clamping head (231) includes a clamping opening, and the center line of the clamping opening coincides with the axis of the central hole. The top of the frame (210) is also provided with a winch mechanism (240), which includes a winch and a winch cable wound on the winch. One end of the winch cable is fixedly connected to the sliding plate (230).

4. The intelligent loading and unloading system for casting pipes according to claim 1, characterized in that: The clamping unit (322) includes a clamping seat (324) fixedly mounted on the rotary seat (321), and a telescopic clamping mechanism (325) is provided on the clamping seat (324), with the output end of the telescopic clamping mechanism (325) facing the central hole; The output end is also provided with a clamping member (326) that contacts the outer peripheral surface of the pipe section. The clamping member (326) has a clamping contact surface facing the outer peripheral surface of the pipe section, and the pressure sensor is embedded in the clamping contact surface.

5. A method for intelligent loading and unloading of casting pipes, implemented based on the intelligent loading and unloading system described in any one of claims 1-4, characterized in that: Includes the following steps: Step STP100: Obtain the basic parameters for this pouring operation; the basic parameters include the trench depth, the trench cross-sectional area, the burial depth control threshold, and the parameters of a single pipe section. Step STP200: Based on the slot depth and single pipe section parameters in step STP100, determine the number of pipe sections to be lowered in this pouring operation and generate a pipe section lowering signal. In step STP300, based on the pipe section lowering signal in step STP200, the preset assembly process is executed cyclically until the number of pipe sections lowered into the slot meets the required number of pipe sections to be lowered, and a lowering completion signal is generated. Step STP400: Based on the lowering completion signal in step STP300, continuously acquire the cumulative pouring volume, and determine the theoretical rising height of the current concrete surface relative to the bottom of the trench according to the cumulative pouring volume and the cross-sectional area of ​​the trench. Determine the theoretical position of the current concrete surface relative to the opening according to the theoretical rising height and the trench depth. The number of disassembled pipe sections is obtained. Based on the number of disassembled pipe sections, the number of pipe sections to be lowered, and the parameters of a single pipe section, the current length of the cast-in-place pipe is determined. Based on the current length of the cast-in-place pipe, the theoretical position of the bottom of the current cast-in-place pipe relative to the orifice is determined. Step STP500: Based on the theoretical position of the bottom of the current pouring pipe relative to the orifice and the theoretical position of the current concrete surface relative to the orifice in step STP400, determine the theoretical burial depth of the bottom of the current pouring pipe. Step STP600, based on the theoretical burial depth of the bottom of the current casting pipe in step STP500, performs a comparison with the burial depth control threshold in the foundation parameters according to the preset time period; If the theoretical burial depth does not reach the burial depth control threshold, a waiting-for-pouring instruction will be generated; If the theoretical burial depth reaches or exceeds the burial depth control threshold, a single-section unloading permit is generated, the preset unloading process is initiated, and the number of dismantled pipe sections is updated after the preset unloading process is completed. Step STP700: Based on the number of dismantled pipe sections in step STP600, continuously determine whether the number of dismantled pipe sections has reached the number of pipe sections that need to be lowered. If not achieved, repeat steps STP400-STP600. If this condition is met, it is determined that all pipe sections that have been lowered and formed the pouring pipe in this pouring operation have been removed, and the control unit controls the execution unit to reset.

6. The intelligent loading and unloading method for casting pipes according to claim 5, characterized in that: The STP300 process specifically includes the following steps: In step STP310, the processor obtains the current number of pipe sections that have been lowered. When the current number of pipe sections that have been lowered is less than the number of pipe sections that need to be lowered, the processor controls the industrial camera to collect images of the pipe sections to identify the position and orientation of the pipe sections to be assembled. Then, the processor controls the transfer device (100) to clamp the pipe sections to be assembled according to the position and orientation of the pipe sections to be assembled, and transfers the pipe sections to be assembled to the rotating component (220) of the lifting device (200) so that the pipe sections to be assembled enter the holding range of the open-loop clamp (221), and controls the open-loop clamp (221) to hold the pipe sections to be assembled. Then, the rotating component (220) is switched to the vertical position so that the pipe sections to be assembled are coaxial with the center hole. In step STP320, the hoisting mechanism (240) releases the hoisting cable, and the sliding plate (230) slides down along the sliding guide rail (211) to clamp the end of the pipe section to be assembled through the clamping head (231). Based on the number of pipe sections that have been lowered in step STP310, it is determined whether there is a lowered pipe column in the center hole. According to the determination result, either step STP330 or step STP340 is executed. In step STP330, if there is no lowered pipe column, the support hole of the axial limiting component (310) is switched to the first diameter, the open-loop clamp (221) is controlled to release the pipe section to be assembled, and the winch mechanism (240) continuously releases the winch cable so that the pipe body of the pipe section to be assembled passes through the support hole until the axial limiting component (310) provides axial support for the joint of the pipe section to be assembled. In step STP340, if there is a lowered pipe string, control the open-loop clamp (221) to release the pipe section to be assembled, and control the winch mechanism (240) to release the winch cable so that the lower end joint of the pipe section to be assembled is connected to the upper end joint of the lowered pipe string to form a connection joint. Then, the telescopic clamping mechanism (325) is controlled to clamp the lowered tube column. The pressure sensor embedded in the clamping contact surface continuously detects the current clamping pressure and compares it with the clamping stability threshold to determine whether the clamping is stable. If the value is less than the clamping stability threshold, it is judged to be unstable, and the output of the telescopic clamping mechanism (325) is increased until the clamping stability threshold is reached; If the value is equal to or greater than the clamping stability threshold, it is determined to be stable, and a clamping stability signal is output. According to the clamping stability signal, the rotary drive mechanism (323) is controlled to drive the rotary seat (321) to rotate forward, so that the lowered pipe column rotates relative to the pipe section to be assembled, and the connecting joint begins to be screwed and spliced. During the splicing process, the torque sensor continuously detects the output torque of the rotary drive mechanism (323). When the output torque reaches the splicing torque threshold, it is determined that the pipe section to be assembled and the lowered pipe column have been spliced, and a splicing completion signal is output. According to the splicing completion signal, the telescopic clamping mechanism (325) releases the clamp on the spliced ​​casting pipe as a whole, controls the support hole of the axial limiting component (310) to switch to the second diameter, the winch mechanism (240) releases the winch cable, and lowers the spliced ​​casting pipe as a whole until the top joint of the spliced ​​casting pipe as a whole moves down to above the slider (311), and then controls the support hole of the axial limiting component (310) to switch to the first diameter, forming axial support for the top joint of the spliced ​​casting pipe as a whole; In step STP350, the processor controls the clamping head (231) to release the spliced ​​casting pipe and slide it upward to reset, updating the number of pipe sections that have been lowered. If the updated number of pipe sections already laid does not reach the number of pipe sections to be laid, return to step STP310 and repeat the process. If the updated number of pipe sections already deployed reaches the number of pipe sections to be deployed, a deployment completion signal is generated.

7. The intelligent loading and unloading method for casting pipes according to claim 5, characterized in that: The STP600 process specifically includes the following steps: Step STP610: Compare the theoretical burial depth of the current casting pipe bottom with the burial depth control threshold. If the comparison result shows that the theoretical burial depth has not reached the burial depth control threshold, a waiting pouring instruction is generated, and the process returns to step STP400. If the comparison result shows that the theoretical burial depth has reached or exceeded the burial depth control threshold, a single-section unloading permit will be generated. In step STP620, based on the single-section unloading permit instruction, the sliding plate (230) is controlled to slide downward, the top end of the current casting pipe is clamped by the clamping head (231), and the support hole of the axial limiting component (310) is controlled to switch to the second hole diameter. The processor then determines the number of pipe sections in the current casting pipe, and based on the determination result, selects to execute either step STP621 or step STP630. Step STP621: If the processor determines that the current casting pipe consists of only one pipe section, it controls the hoisting mechanism (240) to lift the entire pipe section upwards until it is detached from the central hole, and controls the rotating component (220) and the transfer device (100) to remove the pipe section. Then, it updates the number of dismantled pipe sections, and the preset pipe unloading process is completed. Step STP630: If the processor determines that the current casting pipe includes two or more pipe sections, it controls the hoisting mechanism (240) to lift the current casting pipe as a whole upward, and monitors the pipe section joint position of the current casting pipe in real time through an industrial camera. In step STP640, when the industrial camera detects that the second joint of the current casting pipe is pulled up to the axial limiting component (310) from top to bottom, the processor identifies the pipe section above the second joint as the pipe section to be disassembled, identifies the pipe section below the second joint as the remaining pipe column, controls the hoisting mechanism (240) to stop pulling, and switches the support hole of the axial limiting component (310) back to the first hole diameter to form axial support for the second joint; Step STP650: Control the clamping rotation assembly (320) to clamp the remaining tubing, and the pressure sensor continuously detects the current clamping pressure until the clamping stability threshold is reached, and outputs a clamping stability signal; According to the clamping stability signal, the rotary drive mechanism (323) is controlled to drive the rotary seat (321) to reverse, and the pipe section to be disassembled is screwed off from the remaining pipe column; during the screwing off process, the torque sensor continuously detects the output torque of the rotary drive mechanism (323). When the output torque drops below the disassembly torque threshold, it is determined that the pipe section to be disassembled has been disassembled from the remaining pipe column, and a disassembly completion signal is output. In step STP660, according to the disengagement completion signal, the clamping rotation assembly (320) releases the clamp on the remaining tube column; the hoisting mechanism (240) is controlled to pull the sliding plate (230) to slide upward along the sliding guide rail (211), and the tube section to be disassembled is lifted upward until it is completely disengaged from the center hole, and a lifting completion signal is output. In step STP670, according to the lifting completion signal, the rotating component (220) is controlled to switch to the vertical position so that the open-loop clamp (221) holds the disassembled pipe section. Then the clamping head (231) releases the joint of the disassembled pipe section, slides upward to reset, and the rotating component (220) is controlled to switch to the horizontal position. The processor controls the transfer device (100) to clamp the disassembled pipe section. Then the open-loop clamp (221) reopens, and the transfer device (100) moves the disassembled pipe section out of the open-loop clamp (221). The preset pipe unloading process is completed, and the number of disassembled pipe sections is updated.

8. The intelligent loading and unloading method for casting pipes according to claim 5, characterized in that: The STP400 process specifically includes the following steps: In step STP410, the processor establishes a communication connection with the concrete pouring equipment and continuously acquires the cumulative volume of concrete poured in this pouring operation at a preset time period. Step STP420: Based on the cross-sectional area of ​​the slot in the foundation parameters and the cumulative pouring volume, calculate the theoretical rise of the current concrete surface relative to the bottom of the slot. The calculation formula is as follows: In the formula, h is the theoretical rising height, S is the cross-sectional area of ​​the slot, and V is the cumulative pouring volume. Step STP430: Based on the slot depth in the foundation parameters and the theoretical rise height, calculate the theoretical position of the current concrete surface relative to the hole opening. The calculation formula is as follows: In the formula, H represents the theoretical position of the current concrete surface relative to the hole opening, where H is the depth of the slot and h is the theoretical rising height. Step STP440: Obtain the number of disassembled pipe sections. Based on the number of disassembled pipe sections, the number of pipe sections to be lowered, and the parameters of a single pipe section, determine the current pouring pipe length. The calculation formula is as follows: In the formula, N represents the total length of the pipe currently being poured, N represents the number of pipe sections to be lowered, and M represents the number of pipe sections already dismantled. This refers to the length of a single pipe section in the parameters for a single pipe section. Step STP450: Using the slot opening as the coordinate reference, determine the theoretical position of the bottom of the current casting pipe relative to the opening based on the current casting pipe length. The calculation formula is: .

9. The intelligent loading and unloading method for casting pipes according to claim 5, characterized in that: The STP500 process specifically includes the following steps: Step STP510, based on the theoretical position of the bottom of the casting pipe relative to the orifice. Based on the theoretical position of the current concrete surface relative to the orifice, the theoretical burial depth of the bottom of the current pouring pipe is determined using the following formula: In the formula, E represents the theoretical burial depth of the bottom of the current casting pipe. This represents the theoretical position of the current concrete surface relative to the orifice. This represents the theoretical position of the bottom of the casting pipe relative to the orifice.

10. The intelligent loading and unloading method for casting pipes according to claim 7, characterized in that: Step STP610 specifically includes the following steps: Step STP611: Obtain the theoretical burial depth E of the current casting pipe bottom opening, and compare the theoretical burial depth of the current casting pipe bottom opening with the burial depth control threshold in the foundation parameters. Compare the results and choose to perform either step STP612 or step STP613 based on the comparison results; Step STP612, if E < If the burial depth is insufficient, a waiting-for-pouring instruction is generated, and the process returns to step STP400. Step STP613, if If the depth is ≤E, it is determined that the burial depth is sufficient, and a single-section unloading permit is generated.

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