阅读说明：本技术 一种节能型沉箱出运气囊气压无线监测系统 (Energy-saving caisson shipment gasbag atmospheric pressure wireless monitoring system ) 是由 卞呈龙 吴东旭 张云皓 汪永强 余国家 顾明洋 于 2021-07-20 设计创作，主要内容包括：本发明涉及一种节能型沉箱出运气囊气压无线监测系统,包括气囊装置,设置于沉箱底部,用于出运沉箱；信息处理装置,包括检测装置,所述检测装置设置于气囊装置内部,用于检测气囊装置内的压强,所述信息处理装置还包括图像处理装置,用于获取沉箱位置的变化；中央处理器,其与所述检测装置、所述图像处理装置、所述气囊装置相连接。本发明通过中央处理器获取得到沉箱移动速度与预设值相比较,对气囊装置充气量、放气速率、气囊腔之间开口阀开口大小、气囊腔上的放气阀开口大小和动力装置的动力参数进行调节,以使沉箱移动速度符合预设标准,同时避免气囊超压爆裂,保障安全的同时,节约气囊的使用。(The invention relates to an energy-saving caisson transportation air bag air pressure wireless monitoring system, which comprises an air bag device, a monitoring device and a monitoring device, wherein the air bag device is arranged at the bottom of a caisson and is used for transporting the caisson; the information processing device comprises a detection device, an image processing device and a control device, wherein the detection device is arranged in the air bag device and used for detecting the pressure intensity in the air bag device, and the image processing device is used for acquiring the position change of the caisson; and the central processing unit is connected with the detection device, the image processing device and the air bag device. The invention obtains the caisson moving speed through the central processing unit and compares the caisson moving speed with a preset value, and adjusts the inflating quantity and the deflating speed of the air bag device, the opening size of the opening valve between the air bag cavities, the opening size of the deflating valve on the air bag cavity and the power parameters of the power device, so that the caisson moving speed meets the preset standard, the overpressure burst of the air bag is avoided, the safety is ensured, and the use of the air bag is saved.)

1. The utility model provides an energy-saving caisson shipment gasbag atmospheric pressure wireless monitoring system which characterized in that includes:

the gasbag device is arranged at the bottom of the caisson and used for shipping the caisson, the gasbag device comprises a plurality of gasbag chambers, the axes of the gasbag chambers are vertical to the moving direction of the caisson and used for placing a gasbag mechanism, a control device is arranged on the gasbag mechanism and used for controlling the gas amount of the gas inflated and deflated to the gasbag, the gasbag chambers comprise front-end gasbag chambers and tail-end gasbag chambers, the front-end gasbag chambers are arranged at the front end of the caisson, each front-end gasbag chamber comprises a first front-end gasbag mechanism, a second front-end gasbag mechanism connected with the first front-end gasbag mechanism and an n front-end gasbag mechanism connected with the n-1 front-end gasbag mechanism, the tail-end gasbag chambers are arranged at the tail end of the caisson and comprise a first tail-end gasbag mechanism, and a second tail-end gasbag chamber adjacent to the first tail-end gasbag mechanism and an m tail-end gasbag mechanism connected with the m-1 tail-end gasbag mechanism, the air bag mechanism comprises a plurality of air bag cavities, the air bag cavities are connected through an open valve, and an air outlet valve is arranged on each air bag cavity and used for discharging air in the air bag mechanism;

the detection device is arranged in the air bag mechanism and used for detecting the pressure intensity in the air bag mechanism;

the image processing device is used for acquiring the position change of the caisson;

the central processing unit is connected with the detection device, the image processing device and the air bag device, when the movement speed of the caisson obtained by the central processing unit through the image processing device is greater than a preset value, the central processing unit reduces the height from the front end of the caisson to the ground by improving the inflation quantity of the air bag chamber at the front end of the caisson, deflates the air bag chamber at the tail end of the caisson to improve the height from the tail end of the caisson to the ground, shortens the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground, and meanwhile, increases the deflation speed of the air bag chamber at the tail end of the caisson; when the movement speed of the caisson obtained by the central processing unit through the image processing device is lower than a preset value, the central processing unit increases the inflation quantity of the air bag chamber at the tail end of the caisson to increase the height between the tail end of the caisson and the ground so as to increase the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground;

when the central processing unit obtains that the pressure of the current front-end air bag mechanism is higher than a preset value through the detection device, the central processing unit reduces the inflation quantity of the current front-end air bag mechanism and improves the inflation quantity of the next front-end air bag mechanism, if the central processing unit obtains that the pressure of the current front-end air bag mechanism is lower than the preset value through the detection device, the central processing unit increases the inflation quantity of the current front-end air bag mechanism and simultaneously reduces the deflation rate of the next front-end air bag mechanism, when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is higher than the preset value through the detection device, the central processing unit improves the inflation quantity of the next tail-end air bag mechanism, and when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is lower than the preset value through the detection device, the central processing unit improves the deflation rate of the next tail-end air bag mechanism;

when central processing unit acquires currently the inflation volume of gasbag mechanism is greater than the default, central processing unit enlarges the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires currently when the inflation volume of gasbag mechanism is less than the default, central processing unit reduces the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires that the gassing rate of current gasbag mechanism is higher than the default, central processing unit increases the current gasbag chamber bleeder valve opening size of gasbag mechanism, when central processing unit acquires that the gassing rate of current gasbag mechanism is less than the default, central processing unit reduces the bleeder valve opening area in the current gasbag chamber of gasbag mechanism.

2. The energy-saving caisson transportation airbag air pressure wireless monitoring system according to claim 1, wherein the central processor sets the height difference between the rear end of the caisson and the ground and the front end of the caisson to the ground as caisson height difference which is Δ H, wherein Δ H is H2-H1, wherein H1 is the distance between the front end of the caisson and the ground, and H2 is the distance between the rear end of the caisson and the ground, and the central processor adjusts the caisson height difference Δ H according to the obtained real-time caisson moving speed V' compared with the preset caisson moving speed,

when V 'is less than V1, the central processing unit judges that the current real-time movement speed of the caisson does not meet a preset standard, and the central processing unit increases the height difference Delta h of the caisson to Delta h1, Delta h1 is Delta h x (1+ (V1-V')/V1);

when V1 is not less than V'. ltoreq.V 2, the central processing unit judges that the current real-time movement speed of the caisson meets a preset standard;

when V '> V2, the central processor judges that the current real-time caisson moving speed does not meet a preset standard, the central processor shortens the height difference Delta h of the caisson to Delta h2, and Delta h2 is Delta h x (1- (V' -V2)/V2);

the central processing unit presets a caisson moving speed V, and sets a first preset caisson moving speed V1 and a second preset caisson moving speed V2.

3. The wireless monitoring system of energy saving caisson transportation airbag air pressure according to claim 2, wherein the central processor presets a front airbag chamber data set Q (QDq, QVq), wherein QDq is the qth front airbag mechanism inflation amount, QVq is the qth front airbag mechanism deflation rate, the central processor presets a tail airbag mechanism data set W (WDa, WVa), wherein WDa is the a tail airbag mechanism inflation amount, WVa is the a tail airbag mechanism deflation rate, wherein Q is 1,2 to n, a is 1,2 to m, the central processor adjusts the qth front airbag mechanism inflation amount QDq, the a tail airbag mechanism deflation rate WVa and the a tail airbag mechanism inflation amount WDa according to the obtained adjusted caisson height difference Δ hi compared with a preset caisson height difference criterion value Δ h0, wherein the content of the first and second substances,

when delta hi is less than or equal to delta h0, the central processing unit increases the inflating quantity QDq to QDq1 of the qth front end air bag mechanism, sets QDq1 as QDq x (1+ (. DELTA hi-delta h 0)/. DELTA h0), the central processing unit judges to deflate the tail end air bag chamber, and simultaneously accelerates the deflating speed WVa to WVa1 of the a tail end air bag mechanism, sets WVa1 as WVa x (1+ (. DELTA hi-delta h 0)/. DELTA h0)²；

When Δ hi > Δh0, the cpu increases the inflation amount WDa to WDa1 of the a-th tail air bag mechanism, and WDa1 × (1+ (. DELTA.hi- Δ h 0)/. DELTA.h 0) is set.

4. The wireless monitoring system for air pressure of energy-saving caisson transportation airbag according to claim 3, wherein the CPU presets PQ (PQ1, PQ2, ·, PQn) of front-end airbag chamber pressure, where PQ1 is the first front-end airbag mechanism pressure standard value, PQ2 is the second front-end airbag mechanism pressure standard value to PQn is the nth front-end airbag mechanism pressure standard value, the CPU compares the q front-end airbag mechanism pressure PQq' obtained from the detecting device with the preset standard values, and adjusts the q front-end airbag mechanism inflation amount QDq1, the (q +1) front-end airbag mechanism inflation amount QD (q +1)1 and the (q +1) front-end airbag mechanism deflation rate QV (q +1), where,

when PQq '> c2 × PQq, the cpu decreases the amount of inflation QDq1 to QDq11 of the qth front end airbag mechanism, and sets QDq11 ═ 1- ((PQq' -PQq)/PQq)²) The central processing unit increases the inflating quantity QD (Q +1)1 of the (Q +1) th front end air bag mechanism to QD (Q +1)11, and sets QD(q+1)11＝QD(q+1)1×(1+(PQq’-PQq)/PQq)；

When c1 is multiplied by PQq is not less than PQq' is not less than c2 is multiplied by PQq, the central processor judges that the qth front end air bag mechanism meets the preset standard;

when PQq ' < c1 × PQq, the cpu increases the q-th front-end airbag mechanism inflation amount QDq1 to QDq12, sets QDq12 to QDq1 × (1+ (PQq-PQq ')/PQq), and at the same time, deflates the q + 1-th front-end airbag mechanism, the cpu decreases the (q +1) -th front-end airbag mechanism deflation rate QV (q +1) to QV (q +1)1, sets QV (q +1)1 to QV (q +1) × (1- ((PQq-PQq ')/PQq)²))；

Wherein c1 is a first preset front end airbag mechanism pressure coefficient set for the cpu, c2 is a second preset front end airbag mechanism pressure coefficient, n is an integer greater than or equal to 3, and q is 1,2 to n-1.

5. The energy-saving caisson transportation gasbag pressure wireless monitoring system of claim 3, wherein the CPU presets a tail gasbag chamber pressure PW (PW1, PW2, PWm), wherein PW1 is the first tail gasbag mechanism pressure standard value, PW2 is the second to PWm is the mth tail gasbag mechanism pressure standard value, the CPU obtains the a tail gasbag mechanism pressure PWa 'according to the detecting device and compares the a tail gasbag mechanism pressure PWa' with the preset standard value PWa to adjust the inflation WD (a +1) of the (a +1) tail gasbag mechanism and the deflation rate WV (a +1) of the (a +1) tail gasbag mechanism, wherein,

when PWa '> d2 × PWa, the cpu increases the inflation amount WD (a +1)1 of the (a +1) th rear air bag mechanism to WD (a +1)11, and sets WD (a +1)11 to WD (a +1)1 × (1+ (PWa' -PWa)/PWa;

when d1 xPWa < PWa' < d2 xPWa, the central processing unit judges that the a-th tail air bag mechanism meets the preset standard;

when PWa '< d1 × PWa, the cpu increases the deflation rate WV (a +1)1 of the (a +1) th tail air bag mechanism to WV (a +1)11, sets WV (a +1)11 ═ WV (a +1)1 × (1+ (PWa-PWa')²/PWa)；

The central processing unit is provided with a first preset tail end air bag mechanism pressure coefficient d1 and a second preset tail end air bag mechanism pressure coefficient d2, wherein a is 1,2 to m-1.

6. The wireless monitoring system for air pressure of an energy-saving caisson transportation air bag according to claim 5, wherein the central processor presets standard values of inflation quantity of each front-end air bag mechanism QD0(QD10, QD20, ·, QDn0), wherein the standard values of inflation quantity of the first front-end air bag mechanism are QD10, the standard values of inflation quantity of the second front-end air bag mechanism QD20, and the standard values of inflation quantity of the nth front-end air bag mechanism are QDn0, the central processor presets standard values of inflation quantity of each tail-end air bag mechanism WD0(WD10, WD20, ·, WDm0), wherein the standard values of inflation quantity of the first tail-end air bag mechanism WD10, the standard value of inflation quantity of the second tail-end air bag mechanism 20, and the standard value of inflation quantity of the mth tail-end air bag mechanism WDm0, and compares the obtained standard value of inflation quantity of the qth front-end air bag mechanism WD QDq' with the preset standard value WD to adjust the opening area of the opening valve between the air bag mechanisms of the qth front-end air bag mechanism WD, the central processing unit compares the obtained inflation quantity WDa' of the a-th tail end air bag mechanism with a preset standard value, the opening area of the opening valve between the air bag cavities of the a-th tail end air bag mechanism is adjusted, the central processing unit presets that the opening area of the opening valve between the air bag cavities of each air bag mechanism of the front end air bag chamber is JO, the opening area of the opening valve between the air bag cavities of each air bag mechanism of the tail end air bag chamber is G0, wherein,

when QDq 'is not less than QDq0, the central processing unit increases the opening area J0 of the opening valve between the q front end air bag mechanism air bag cavities to J0q1, and J0q1 is set to J0 x (1+ (QDq' -QDq0)/QDq 0);

when QDq '< QDq0, the central processing unit reduces the opening area J0 of the opening valve between the q-th front end air bag mechanism air bag cavities to J0q2, and sets J0q2 to J0 × (1- (QDq 0-QDq')/QDq 0);

when WDa 'is not less than WDa0, the central processing unit increases the opening area G0 of the opening valve between the air bag cavities of the a-th tail air bag mechanism to G0a1, and G0a1 is set to G0 x (1+ (WDa' -WD0)/WD 0);

when WDa '< WDa0, the central processing unit reduces the opening area G0 of the opening valve between the air bag cavities of the a-th tail air bag mechanism to G0a2, and G0a2 is set to G0 × (1- (WDa 0-WDa')/WDa 0).

7. The wireless monitoring system for air pressure of energy-saving caisson transportation air bag according to claim 6, wherein the CPU presets a standard value QV0 for deflation rate of the front end air bag mechanism and presets a standard value WV0 for deflation rate of the rear end air bag mechanism, the CPU compares the obtained deflation rate of the qth front end air bag mechanism QVq 'with the preset standard value to adjust the opening area of the deflation valve of each air bag chamber of the qth front end air bag mechanism, the CPU compares the obtained deflation rate of the a rear end air bag mechanism WVa' with the preset standard value to adjust the opening area of the deflation valve of each air bag chamber of the a rear end air bag mechanism, the CPU presets the opening area of the deflation valve of the front end air bag mechanism to be PO and the opening area of the deflation valve of the rear end air bag mechanism to be X0, wherein,

when QVq 'is not less than QV0, the opening area P0 of the q air bag mechanism air bag cavity deflation valve of the central processor is increased to P01, and P01 is set to P0 (1+ (QVq' -QV0)²/QV0)；

When QVq '< QV0, the CPU decreases the opening area P0 of the q-th air bag mechanism air bag cavity deflating valve to P02, and sets P02 to P0 (1- (QV 0-QVq')²/QV0)；

When WVa 'is not less than or equal to WV0, the central processing unit increases the opening area X0 of the deflation valve of the air bag cavity of the a-th air bag mechanism to X01, and sets X01 to X0 (1+ (WVa' -WV0)/WV 0);

when WVa '< WV0, the cpu decreases the opening area X0 of the a-th airbag mechanism airbag chamber deflation valve to X02, and sets X02 ═ X0 × (1- (WV 0-WVa')/WV 0).

8. The energy-saving caisson transportation gasbag pressure wireless monitoring system of claim 1, wherein the gasbag chamber comprises a power device, the power device is disposed at one side of the gasbag chamber, and is connected with the top of the gasbag mechanism for providing power for adjusting the angle of the gasbag mechanism, when the CPU obtains the deviation distance of the caisson through the image processing device and is greater than a preset value, the CPU controls the power device to reduce the angle of the gasbag mechanism, wherein, the angle of the gasbag mechanism is the angle formed by the gasbag mechanism and the preset caisson moving direction and is set as theta, when the CPU obtains the caisson moving deviation distance through the image processing device and is less than the preset value, the CPU controls the power device to increase the angle of the gasbag mechanism, the deviation of the caisson is set as S, wherein, setting H0 as a preset position of the caisson and setting H1 as a real-time position of the caisson in the specification of H0-H1, wherein,

when S > S0, the CPU reduces the angle theta of the air bag mechanism to theta 1, and sets theta 1 to theta x (1- (S-S0)/S0);

when S < S0, the CPU increases the angle theta of the air bag mechanism to theta 2, and sets theta 2 to theta x (1+ (S0-S)/S0);

and S0, presetting an offset standard value of the caisson for the central processing unit.

9. The energy-saving caisson transportation gasbag pressure wireless monitoring system of claim 8, wherein said CPU adjusts the power parameter F0 of said power device according to the comparison between the obtained gasbag mechanism angle and the preset angle standard value, wherein,

when theta is larger than or equal to theta 0, the central processing unit increases the power parameters F0 to F1, and sets F1 to F0 x (1+ (theta-theta 0)/theta 0);

when thetar < thetar 0, the central processor decreases the power plant power parameters F0-F2, setting F2 to F0 × (1- (theta0-thetar)/theta0);

wherein θ 0 is a preset angle standard value, and r is 1, 2.

Technical Field

The invention relates to the field of caisson transportation, in particular to an energy-saving caisson transportation air bag air pressure wireless monitoring system.

Background

The caisson is a box-shaped structure with a bottom, which is used for projects such as wharfs or breakwaters, and the caisson can be controlled to sink or float by adjusting the pressure-loaded water in the caisson. At present, the air bag is manually moved at the bottom of the caisson in pneumatic shipment, a worker places the air bag at the bottom of the caisson during operation, the air bag is inflated to support the caisson, the air bag at the tail end of the caisson is separated from the bottom of the caisson after the caisson moves for a certain distance, and the air bag separated from the bottom of the caisson is deflated. However, the labor consumption is large in the process, the energy consumption is too large in the shipping process, the caisson is shifted in moving position due to the fact that the position of the air bag is placed in the shipping process and other reasons, the shipping of the caisson is affected, workers cannot evacuate the caisson in time in the moving process seriously, the air bag is prone to overpressure bursting during improper use to cause casualties, safety is guaranteed, and meanwhile the air bag is saved in use.

Disclosure of Invention

Therefore, the invention provides an energy-saving caisson transportation air bag air pressure wireless monitoring system which can solve the technical problem that the air bag air pressure cannot be accurately adjusted according to the movement speed of a caisson so that the caisson transportation speed meets the preset standard.

In order to achieve the above object, the present invention provides an energy-saving caisson transportation air bag air pressure wireless monitoring system, comprising:

the gasbag device is arranged at the bottom of the caisson and used for shipping the caisson, the gasbag device comprises a plurality of gasbag chambers, the axes of the gasbag chambers are vertical to the moving direction of the caisson and used for placing a gasbag mechanism, a control device is arranged on the gasbag mechanism and used for controlling the gas amount of the gas inflated and deflated to the gasbag, the gasbag chambers comprise front-end gasbag chambers and tail-end gasbag chambers, the front-end gasbag chambers are arranged at the front end of the caisson, each front-end gasbag chamber comprises a first front-end gasbag mechanism, a second front-end gasbag mechanism connected with the first front-end gasbag mechanism and an n front-end gasbag mechanism connected with the n-1 front-end gasbag mechanism, the tail-end gasbag chambers are arranged at the tail end of the caisson and comprise a first tail-end gasbag mechanism, and a second tail-end gasbag chamber adjacent to the first tail-end gasbag mechanism and an m tail-end gasbag mechanism connected with the m-1 tail-end gasbag mechanism, the air bag mechanism comprises a plurality of air bag cavities, the air bag cavities are connected through an open valve, and an air outlet valve is arranged on each air bag cavity and used for discharging air in the air bag mechanism;

the detection device is arranged in the air bag mechanism and used for detecting the pressure intensity in the air bag mechanism;

the image processing device is used for acquiring the position change of the caisson;

the central processing unit is connected with the detection device, the image processing device and the air bag device, when the movement speed of the caisson obtained by the central processing unit through the image processing device is greater than a preset value, the central processing unit reduces the height from the front end of the caisson to the ground by improving the inflation quantity of the air bag chamber at the front end of the caisson, deflates the air bag chamber at the tail end of the caisson to improve the height from the tail end of the caisson to the ground, shortens the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground, and meanwhile, increases the deflation speed of the air bag chamber at the tail end of the caisson; when the movement speed of the caisson obtained by the central processing unit through the image processing device is lower than a preset value, the central processing unit increases the inflation quantity of the air bag chamber at the tail end of the caisson to increase the height between the tail end of the caisson and the ground so as to increase the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground;

when the central processing unit obtains that the pressure of the current front-end air bag mechanism is higher than a preset value through the detection device, the central processing unit reduces the inflation quantity of the current front-end air bag mechanism and improves the inflation quantity of the next front-end air bag mechanism, if the central processing unit obtains that the pressure of the current front-end air bag mechanism is lower than the preset value through the detection device, the central processing unit increases the inflation quantity of the current front-end air bag mechanism and simultaneously reduces the deflation rate of the next front-end air bag mechanism, when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is higher than the preset value through the detection device, the central processing unit improves the inflation quantity of the next tail-end air bag mechanism, and when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is lower than the preset value through the detection device, the central processing unit improves the deflation rate of the next tail-end air bag mechanism;

when central processing unit acquires currently the inflation volume of gasbag mechanism is greater than the default, central processing unit enlarges the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires currently when the inflation volume of gasbag mechanism is less than the default, central processing unit reduces the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires that the gassing rate of current gasbag mechanism is higher than the default, central processing unit increases the current gasbag chamber bleeder valve opening size of gasbag mechanism, when central processing unit acquires that the gassing rate of current gasbag mechanism is less than the default, central processing unit reduces the bleeder valve opening area in the current gasbag chamber of gasbag mechanism.

Further, the central processor sets the height difference between the tail end of the caisson and the ground and the height difference between the front end of the caisson and the ground as the height difference of the caisson, which is delta H, wherein the delta H is H2-H1, in the formula, H1 is the distance between the front end of the caisson and the ground, H2 is the distance between the tail end of the caisson and the ground, the central processor compares the obtained real-time moving speed V' of the caisson with the preset moving speed of the caisson to adjust the height difference delta H of the caisson, wherein,

when V 'is less than V1, the central processing unit judges that the current real-time movement speed of the caisson does not meet a preset standard, and the central processing unit increases the height difference Delta h of the caisson to Delta h1, Delta h1 is Delta h x (1+ (V1-V')/V1);

when V1 is not less than V'. ltoreq.V 2, the central processing unit judges that the current real-time movement speed of the caisson meets a preset standard;

when V '> V2, the central processor judges that the current real-time caisson moving speed does not meet a preset standard, the central processor shortens the height difference Delta h of the caisson to Delta h2, and Delta h2 is Delta h x (1- (V' -V2)/V2);

the central processing unit presets a caisson moving speed V, and sets a first preset caisson moving speed V1 and a second preset caisson moving speed V2.

Further, the central processor presets a front end airbag chamber data set Q (QDq, QVq), wherein QDq is the qth front end airbag mechanism inflation amount, QVq is the qth front end airbag mechanism deflation rate, the central processor presets a tail end airbag mechanism data set W (WDa, WVa), wherein WDa is the a-th tail end airbag mechanism inflation amount, WVa is the a-th tail end airbag mechanism deflation rate, wherein Q is 1,2 to n, and a is 1,2 to m, the central processor regulates the qth front end airbag mechanism inflation amount QDq, the a-th tail end airbag mechanism deflation rate WVa, and the a-th tail end airbag mechanism inflation amount WDa according to the obtained regulated caisson height difference Δ hi compared with a preset caisson height standard value Δ h0,

when delta hi is less than or equal to delta h0, the central processing unit increases the inflating quantity QDq to QDq1 of the qth front end air bag mechanism, sets QDq1 as QDq x (1+ (. DELTA hi-delta h 0)/. DELTA h0), the central processing unit judges to deflate the tail end air bag chamber, and simultaneously accelerates the deflating speed WVa to WVa1 of the a tail end air bag mechanism, sets WVa1 as WVa x (1+ (. DELTA hi-delta h 0)/. DELTA h0)²；

When Δ hi > Δh0, the cpu increases the inflation amount WDa to WDa1 of the a-th tail air bag mechanism, and WDa1 × (1+ (. DELTA.hi- Δ h 0)/. DELTA.h 0) is set.

Further, the cpu presets a front end airbag chamber pressure PQ (PQ1, PQ2, ·, PQn), where PQ1 is the first front end airbag mechanism pressure standard value, PQ2 is the second front end airbag mechanism pressure standard value to PQn is the nth front end airbag mechanism pressure standard value, and compares the qth front end airbag mechanism pressure PQq' obtained by the detection device with the preset standard values to adjust the qth front end airbag mechanism inflation amount QDq1, the (q +1) th front end airbag mechanism inflation amount QD (q +1)1, and the (q +1) th front end airbag mechanism deflation rate QV (q +1), where,

when PQq '> c2 × PQq, the cpu decreases the amount of inflation QDq1 to QDq11 of the qth front end airbag mechanism, and sets QDq11 ═ 1- ((PQq' -PQq)/PQq)²) The cpu increases the amount of inflation QD (q +1)1 to QD (q +1)11 for the (q +1) th front end airbag mechanism, and sets QD (q +1)11 ═ QD (q +1)1 × (1+ (PQq' -PQq)/PQq);

when c1 is multiplied by PQq is not less than PQq' is not less than c2 is multiplied by PQq, the central processor judges that the qth front end air bag mechanism meets the preset standard;

when PQq ' < c1 × PQq, the cpu increases the q-th front-end airbag mechanism inflation amount QDq1 to QDq12, sets QDq12 to QDq1 × (1+ (PQq-PQq ')/PQq), and at the same time, deflates the q + 1-th front-end airbag mechanism, the cpu decreases the (q +1) -th front-end airbag mechanism deflation rate QV (q +1) to QV (q +1)1, sets QV (q +1)1 to QV (q +1) × (1- ((PQq-PQq ')/PQq)²))；

Wherein c1 is a first preset front end airbag mechanism pressure coefficient set for the cpu, c2 is a second preset front end airbag mechanism pressure coefficient, n is an integer greater than or equal to 3, and q is 1,2 to n-1.

Further, the central processor presets a tail end air bag chamber pressure PW (PW1, PW2, ·, PWm), where PW1 is the first tail end air bag mechanism pressure standard value, PW2 is the second tail end air bag mechanism pressure standard value to PWm is the mth tail end air bag mechanism pressure standard value, the central processor obtains the pressure PWa 'of the (a +1) th tail end air bag mechanism according to the detecting device, compares the pressure PWa' with the preset standard value PWa, and adjusts the inflation amount WD (a +1) of the (a +1) th tail end air bag mechanism and the deflation rate WV (a +1) of the (a +1) th tail end air bag mechanism, wherein,

when PWa '> d2 × PWa, the cpu increases the inflation amount WD (a +1)1 of the (a +1) th rear air bag mechanism to WD (a +1)11, and sets WD (a +1)11 to WD (a +1)1 × (1+ (PWa' -PWa)/PWa;

when d1 xPWa < PWa' < d2 xPWa, the central processing unit judges that the a-th tail air bag mechanism meets the preset standard;

when PWa' < d1 xPWa, the CPU increases the deflation rate WV (a +1)1 of the (a +1) th tail end air bag mechanism to WV (a +1)11, and setsWV(a+1)11＝WV(a+1)1×(1+(PWa-PWa’)²/PWa)；

The central processing unit is provided with a first preset tail end air bag mechanism pressure coefficient d1 and a second preset tail end air bag mechanism pressure coefficient d2, wherein a is 1,2 to m-1.

Further, the central processor presets a standard value QD0(QD10, QD20, ·, QDn0) for the inflation amount of each front end airbag mechanism, wherein the standard value QD10 for the inflation amount of the first front end airbag mechanism, QD20 for the inflation amount of the second front end airbag mechanism, and QDn0 for the inflation amount of the nth front end airbag mechanism, and presets a standard value WD0(WD10, WD20, ·, WDm0) for the inflation amount of each tail end airbag mechanism, wherein the central processor presets a standard value WD10 for the inflation amount of the first tail end airbag mechanism, a standard value WD20 for the inflation amount of the second tail end airbag mechanism, and a standard value WDm0 for the inflation amount of the mth tail end airbag mechanism, compares the central processor compares the obtained standard value with the preset standard value for the inflation amount QDq 'of the qth front end airbag mechanism, adjusts the opening area of the opening valve between the q front end airbag mechanisms, and compares the obtained standard value WDa' for the tail end airbag mechanism with the preset standard value, the opening area of the opening valve between the air bag cavities of the a-th tail end air bag mechanism is adjusted, the opening area of the opening valve between the air bag cavities of each air bag mechanism of the front end air bag chamber is preset by a central processing unit to be JO, the opening area of the opening valve between the air bag cavities of each air bag mechanism of the tail end air bag chamber is G0, wherein,

when QDq 'is not less than QDq0, the central processing unit increases the opening area J0 of the opening valve between the q front end air bag mechanism air bag cavities to J0q1, and J0q1 is set to J0 x (1+ (QDq' -QDq0)/QDq 0);

when QDq '< QDq0, the central processing unit reduces the opening area J0 of the opening valve between the q-th front end air bag mechanism air bag cavities to J0q2, and sets J0q2 to J0 × (1- (QDq 0-QDq')/QDq 0);

when WDa 'is not less than WDa0, the central processing unit increases the opening area G0 of the opening valve between the air bag cavities of the a-th tail air bag mechanism to G0a1, and G0a1 is set to G0 x (1+ (WDa' -WD0)/WD 0);

when WDa '< WDa0, the central processing unit reduces the opening area G0 of the opening valve between the air bag cavities of the a-th tail air bag mechanism to G0a2, and G0a2 is set to G0 × (1- (WDa 0-WDa')/WDa 0).

Further, the central processing unit presets a deflation rate standard value QV0 of the front end air bag mechanism and a deflation rate standard value WV0 of the tail end air bag mechanism, the central processing unit adjusts the opening area of the deflation valve of each air bag cavity of the qth front end air bag mechanism according to the comparison between the obtained deflation rate QVq 'of the qth front end air bag mechanism and the preset standard value, the central processing unit adjusts the opening area of the deflation valve of each air bag cavity of the qth tail end air bag mechanism according to the comparison between the obtained deflation rate WVa' of the qth tail end air bag mechanism and the preset standard value, the central processing unit presets the opening area of the deflation valve of the front end air bag mechanism to be PO and the opening area of the deflation valve of the tail end air bag mechanism to be X0, wherein,

when QVq 'is not less than QV0, the opening area P0 of the q air bag mechanism air bag cavity deflation valve of the central processor is increased to P01, and P01 is set to P0 (1+ (QVq' -QV0)²/QV0)；

When QVq '< QV0, the CPU decreases the opening area P0 of the q-th air bag mechanism air bag cavity deflating valve to P02, and sets P02 to P0 (1- (QV 0-QVq')²/QV0)；

When WVa 'is not less than or equal to WV0, the central processing unit increases the opening area X0 of the deflation valve of the air bag cavity of the a-th air bag mechanism to X01, and sets X01 to X0 (1+ (WVa' -WV0)/WV 0);

when WVa '< WV0, the cpu decreases the opening area X0 of the a-th airbag mechanism airbag chamber deflation valve to X02, and sets X02 ═ X0 × (1- (WV 0-WVa')/WV 0).

Further, the airbag chamber comprises a power device, the power device is arranged on one side of the airbag chamber, connected with the top of the airbag mechanism and used for providing power for adjusting the angle of the airbag mechanism, when the central processing unit obtains that the offset distance of the caisson is greater than a preset value through the image processing device, the central processing unit controls the power device to reduce the angle of the airbag mechanism, wherein the angle of the airbag mechanism is the angle formed by the airbag mechanism and the movement direction of the preset caisson and is set as theta, when the central processing unit obtains that the offset distance of the caisson movement is smaller than the preset value through the image processing device, the central processing unit controls the power device to increase the angle of the airbag mechanism, the offset of the caisson is set as S, wherein S is H0-H1, H0 is the preset position of the caisson, and H1 is the real-time position of the caisson,

when S > S0, the CPU reduces the angle theta of the air bag mechanism to theta 1, and sets theta 1 to theta x (1- (S-S0)/S0);

when S < S0, the CPU increases the angle theta of the air bag mechanism to theta 2, and sets theta 2 to theta x (1+ (S0-S)/S0);

and S0, presetting an offset standard value of the caisson for the central processing unit.

Further, the central processing unit adjusts the power parameter F0 of the power device according to the comparison between the acquired angle of the air bag mechanism and a preset angle standard value, wherein,

when theta is larger than or equal to theta 0, the central processing unit increases the power parameters F0 to F1, and sets F1 to F0 x (1+ (theta-theta 0)/theta 0);

when thetar < thetar 0, the central processor decreases the power plant power parameters F0-F2, setting F2 to F0 × (1- (theta0-thetar)/theta0);

wherein θ 0 is a preset angle standard value, and r is 1, 2.

Compared with the prior art, the invention has the advantages that the central processing unit is arranged, the central processing unit is connected with the air bag device and the information processing device, the central processing unit shortens or improves the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground according to the acquired moving speed of the caisson and the preset value, furthermore, the central processing unit judges that the height difference between the tail end of the caisson and the ground is required to be shortened, the central processing unit reduces the height between the front end of the caisson and the ground by controlling the air inflation amount of the air bag chamber at the front end of the caisson, simultaneously controls the air deflation speed of the air bag chamber at the tail end of the caisson to improve the height between the tail end of the caisson and the ground, the central processing unit judges that the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground is required to be improved, and improves the height between the tail end of the caisson and the ground by controlling the air bag chamber at the tail end of the caisson, the height difference between the tail end and the ground and between the front end and the ground is improved; when the central processing unit obtains that the pressure of the current front-end air bag mechanism is higher than a preset value through the detection device, the central processing unit reduces the inflating quantity of the current front-end air bag mechanism and improves the inflating quantity of the next front-end air bag mechanism, if the central processing unit obtains that the pressure of the current front-end air bag mechanism is lower than the preset value through the detection device, the central processing unit increases the inflating quantity of the current front-end air bag mechanism and simultaneously reduces the deflating speed of the next front-end air bag mechanism so as to support the caisson and avoid shaking, when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is higher than the preset value through the detection device, the central processing unit improves the inflating quantity of the next tail-end air bag mechanism, and when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is lower than the preset value through the detection device, the central processing unit improves the deflating speed of the next tail-end air bag mechanism; when central processing unit acquires currently when the inflation volume of gasbag mechanism is greater than the default, central processing unit enlarges the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires currently when the inflation volume of gasbag mechanism is less than the default, central processing unit reduces the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires that the gassing rate of current gasbag mechanism is higher than the default, central processing unit increases the current gasbag chamber deflation valve opening size of gasbag mechanism, when central processing unit acquires that the gassing rate of current gasbag mechanism is less than the default, central processing unit reduces the deflation valve opening area in the current gasbag chamber of gasbag mechanism.

In particular, the invention presets the moving speed of the caisson, obtains the real-time moving speed of the caisson by an image processing device, when the real-time moving speed of the caisson is lower than a first preset value, the current moving speed of the caisson is too slow, and the output efficiency of the caisson is affected, the central processing unit increases the height difference of the caisson according to the difference value between the real-time moving speed of the caisson and the first preset value, so as to increase the moving speed of the caisson to meet the preset standard, when the real-time moving speed of the caisson is between the first preset moving speed of the caisson and a second preset moving speed of the caisson, the central processing unit judges that the current moving speed of the caisson meets the preset standard, when the real-time moving speed of the caisson is higher than the second preset value, the current moving speed of the caisson is too fast, and in order to avoid the deviation of the moving direction of the caisson and the safety problem of personnel, the central processing unit adjusts the height difference of the caisson according to the difference value between the real-time moving speed and the second preset value, so as to reduce the moving speed of the caisson to make it meet the preset standard.

In particular, the invention presets a front end air bag chamber data set comprising the inflation quantity of each front end air bag mechanism and the deflation speed of each front end air bag mechanism, and presets a tail end air bag chamber data set comprising the inflation quantity of each tail end air bag mechanism and the deflation speed of each tail end air bag mechanism, when a central processing unit judges that the height difference of the caisson needs to be increased, the central processing unit increases the inflation quantity of the tail end air bag mechanism to improve the height difference of the caisson, when the central processing unit judges that the height difference of the caisson needs to be shortened, the central processing unit increases the inflation quantity of the front end air bag mechanism to improve the height of the front end of the caisson from the ground, the central processing unit judges that the tail end air bag chamber is deflated to improve the height of the caisson from the ground, thereby realizing the purpose of improving the height difference of the caisson, and simultaneously, the central processing unit sets the deflation speed of each tail end air bag mechanism to accelerate the deflation speed of each tail end air bag mechanism, after a preset time, the air bag mechanism at the tail end can be quickly deflated, the height difference of the caisson can reach the preset standard as soon as possible, and the safety problem caused by the fact that the caisson moves too fast is avoided.

In particular, the invention, through presetting the pressure value of each front-end air bag mechanism of the front-end air bag chamber, comparing the real-time pressure value of each front-end air bag mechanism with the preset pressure value of each front-end air bag mechanism, if the real-time pressure value of the current front-end air bag mechanism is larger than the preset pressure value of the current front-end air bag mechanism, the pressure born by the current front-end air bag mechanism is over-large, the central processor reduces the inflation quantity of the current front-end air bag mechanism so as to avoid the pressure born by the air bag mechanism from exceeding the maximum bearing capacity of the current front-end air bag mechanism due to the over-large inflation quantity of the current front-end air bag mechanism, and simultaneously improves the inflation quantity of the next front-end air bag mechanism so as to avoid the influence of the height of the front end of the caisson from the ground due to the reduced inflation quantity of the current front-end air bag mechanism, if the real-time pressure value of the current front-end air bag mechanism is smaller than the preset pressure value of the current front-end air bag mechanism, the current front-end air bag mechanism is used for indicating that the current front-end air bag mechanism does not reach the preset standard, more specifically, the current front end airbag mechanism does not optimally support the caisson, the central processing unit increases the optimal supporting force provided by the current front end airbag mechanism for the caisson, and simultaneously properly reduces the deflation rate of the next front end airbag mechanism to slowly deflate the next front end airbag mechanism, after a preset time, the next front end airbag mechanism reduces the supporting force for the caisson, so that the supporting force of each front end airbag mechanism of the front end airbag chamber for the caisson is uniform, and the problems of airbag rupture and the like caused by the uneven supporting force of each front end airbag mechanism are avoided.

In particular, the invention presets the pressure value of each tail end air bag mechanism of the tail end air bag chamber by the central processing unit, compares the current tail end air bag mechanism pressure value acquired by the central processing unit with the preset current tail end air bag mechanism pressure value, if the current tail end air bag mechanism pressure value is larger than the preset current tail end air bag mechanism pressure value, the current tail end air bag mechanism has the risk of overpressure bursting, the central processing unit increases the inflation quantity of the next tail end air bag mechanism to reduce the supporting force of the current tail end air bag and reduce the pressure born by the current tail end air bag mechanism, if the current tail end air bag mechanism pressure is in the preset value range, the central processing unit judges that the current tail end air bag mechanism meets the preset standard without adjusting the relevant parameters, if the current tail end air bag mechanism pressure is lower than the preset value, the current tail end air bag mechanism supporting force to the caisson is insufficient, in order to fully utilize the supporting force of the current tail end air bag mechanism to the caisson and avoid the problem that the pressure born by the next tail end air bag mechanism is increased due to insufficient supporting force of the current tail end air bag mechanism, the central processing unit deflates the next tail end air bag mechanism and improves the deflation rate of the next tail end air bag mechanism, so that the supporting force of the current tail end air bag mechanism to the caisson meets the preset standard as soon as possible.

Particularly, the invention sets the standard value of the inflating quantity of each front end air bag mechanism and the standard value of the inflating quantity of each tail end air bag mechanism, if the inflating quantity of the current front end or tail end air bag mechanism acquired by the central processing unit is more than or equal to the preset standard value of the current front end or tail end air bag mechanism, the central processing unit increases the opening area of the opening valve between the air bag cavities of the current air bag mechanism so as to ensure that the current air bag mechanism is inflated more stably, thereby avoiding the safety problem in the process of moving the caisson due to unstable inflating of the air bag in the current air bag mechanism caused by increasing the inflating quantity, if the inflating quantity of the current front end or tail end air bag mechanism acquired by the central processing unit is less than the preset standard value of the current front end or tail end air bag mechanism, the central processing unit reduces the opening area of the opening valve between the air bag cavities of the current air bag mechanism so as to ensure that the air bag of the current air bag mechanism smoothly enters the air bag, the phenomenon that the air bag of the current air bag mechanism generates large deformation to influence the shipment of the caisson due to small inflation quantity is avoided.

Particularly, the invention sets a front end air bag mechanism deflation rate standard value and a tail end air bag mechanism deflation rate standard value, if the central processing unit obtains that the current front end or tail end air bag mechanism deflation rate is more than or equal to the corresponding preset standard value, the central processing unit increases the current air bag mechanism air bag cavity deflation valve opening area, the deflation rate is improved, simultaneously, the current air bag mechanism air bag cavity deflation is more uniform, the problem that the caisson transportation is inclined due to the non-uniform air in the air bag caused by the single deflation valve is avoided, and if the central processing unit obtains that the current front end or tail end air bag mechanism deflation rate is less than the corresponding preset standard value, the central processing unit reduces the current air bag mechanism air bag cavity deflation valve opening area, so that each air bag cavity is deflated slowly, and the air bag is prevented from being stressed unevenly.

Particularly, the power device is arranged in the air bag chamber, the caisson moving offset is obtained according to the image processing device, when the offset obtained by the central processing unit is larger than a preset value, the central processing unit reduces the angle of the air bag mechanism by reducing the power parameter of the power device, when the offset obtained by the central processing unit is smaller than the preset value, the central processing unit increases the angle of the air bag mechanism by increasing the power parameter of the power device, so that the caisson transporting and moving direction accords with a preset position, and the technical problem that the caisson transporting offset cannot be accurately corrected through parameters is solved.

Drawings

FIG. 1 is a schematic view of an energy-saving caisson transportation air bag air pressure wireless monitoring system according to an embodiment of the invention;

FIG. 2 is a schematic structural diagram of an energy-saving caisson transportation air bag air pressure wireless monitoring device in an embodiment of the invention;

fig. 3 is a schematic structural diagram of an air bag device in the energy-saving caisson transportation air bag air pressure wireless monitoring system according to the embodiment of the invention.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Please refer to fig. 1, which is a diagram illustrating an energy-saving caisson transportation airbag air pressure wireless monitoring system according to an embodiment of the present invention, including an airbag device disposed at the bottom of the caisson for transporting the caisson, the airbag device including a plurality of airbag chambers, an axis of the airbag chamber being perpendicular to a moving direction of the caisson for placing an airbag mechanism, the airbag mechanism being provided with a control device for controlling an amount of air inflated and deflated to the airbag, the airbag chambers including a front airbag chamber and a tail airbag chamber, the front airbag chamber being disposed at a front end of the caisson, the front airbag chamber including a first front airbag mechanism, a second front airbag mechanism connected to the first front airbag mechanism, an nth front airbag mechanism connected to the n-1 front airbag mechanism, the tail airbag chamber being disposed at a tail end of the caisson and including a first tail airbag mechanism, the second tail end air bag chamber is adjacent to the first tail end air bag mechanism, and the mth tail end air bag mechanism is connected with the (m-1) th tail end air bag mechanism and comprises a plurality of air bag cavities which are connected through open valves, and the air bag cavities are provided with air outlet valves for discharging air in the air bag mechanism; the detection device is arranged in the air bag mechanism and used for detecting the pressure intensity in the air bag mechanism; the image processing device is used for acquiring the position change of the caisson; the central processing unit is connected with the detection device, the image processing device and the air bag device, when the movement speed of the caisson obtained by the central processing unit through the image processing device is greater than a preset value, the central processing unit reduces the height from the front end of the caisson to the ground by improving the inflation quantity of the air bag chamber at the front end of the caisson, deflates the air bag chamber at the tail end of the caisson to improve the height from the tail end of the caisson to the ground, shortens the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground, and meanwhile, increases the deflation speed of the air bag chamber at the tail end of the caisson; when the movement speed of the caisson obtained by the central processing unit through the image processing device is lower than a preset value, the central processing unit increases the inflation quantity of the air bag chamber at the tail end of the caisson to increase the height between the tail end of the caisson and the ground so as to increase the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground;

when the central processing unit obtains that the pressure of the current front-end air bag mechanism is higher than a preset value through the detection device, the central processing unit reduces the inflation quantity of the current front-end air bag mechanism and improves the inflation quantity of the next front-end air bag mechanism, if the central processing unit obtains that the pressure of the current front-end air bag mechanism is lower than the preset value through the detection device, the central processing unit increases the inflation quantity of the current front-end air bag mechanism and simultaneously reduces the deflation rate of the next front-end air bag mechanism, when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is higher than the preset value through the detection device, the central processing unit improves the inflation quantity of the next tail-end air bag mechanism, and when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is lower than the preset value through the detection device, the central processing unit improves the deflation rate of the next tail-end air bag mechanism;

when central processing unit acquires currently the inflation volume of gasbag mechanism is greater than the default, central processing unit enlarges the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires currently when the inflation volume of gasbag mechanism is less than the default, central processing unit reduces the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires that the gassing rate of current gasbag mechanism is higher than the default, central processing unit increases the current gasbag chamber bleeder valve opening size of gasbag mechanism, when central processing unit acquires that the gassing rate of current gasbag mechanism is less than the default, central processing unit reduces the bleeder valve opening area in the current gasbag chamber of gasbag mechanism.

Specifically, the invention sets a central processing unit which is connected with an air bag device and an information processing device, and the central processing unit shortens or improves the height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground according to the acquired moving speed of the caisson and the preset value, when the central processing unit judges that the height difference between the tail end of the caisson and the ground and the front end of the caisson needs to be shortened, the central processing unit reduces the height between the front end of the caisson and the ground by controlling the air inflation quantity of the air bag chamber at the front end of the caisson, meanwhile, the central processor controls the deflation rate of the air bag chamber at the tail end of the caisson to improve the height of the tail end of the caisson from the ground, when the central processing unit judges that the height difference between the tail end of the caisson and the ground and the height difference between the front end of the caisson and the ground need to be increased, the central processing unit increases the height between the tail end of the caisson and the ground by controlling the inflation quantity of the air bag chamber at the tail end of the caisson, so that the height difference between the tail end of the caisson and the ground and the height difference between the front end of the caisson and the ground are increased; when the central processing unit obtains that the pressure of the current front-end air bag mechanism is higher than a preset value through the detection device, the central processing unit reduces the inflating quantity of the current front-end air bag mechanism and improves the inflating quantity of the next front-end air bag mechanism, if the central processing unit obtains that the pressure of the current front-end air bag mechanism is lower than the preset value through the detection device, the central processing unit increases the inflating quantity of the current front-end air bag mechanism and simultaneously reduces the deflating speed of the next front-end air bag mechanism so as to support the caisson and avoid shaking, when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is higher than the preset value through the detection device, the central processing unit improves the inflating quantity of the next tail-end air bag mechanism, and when the central processing unit obtains that the pressure of the current tail-end air bag mechanism is lower than the preset value through the detection device, the central processing unit improves the deflating speed of the next tail-end air bag mechanism; when central processing unit acquires currently when the inflation volume of gasbag mechanism is greater than the default, central processing unit enlarges the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires currently when the inflation volume of gasbag mechanism is less than the default, central processing unit reduces the opening valve opening area between the current gasbag mechanism gasbag chamber, when central processing unit acquires that the gassing rate of current gasbag mechanism is higher than the default, central processing unit increases the current gasbag chamber deflation valve opening size of gasbag mechanism, when central processing unit acquires that the gassing rate of current gasbag mechanism is less than the default, central processing unit reduces the deflation valve opening area in the current gasbag chamber of gasbag mechanism.

Fig. 2 is a schematic diagram of an energy-saving caisson transportation air bag air pressure wireless monitoring device according to an embodiment of the present invention, including an air bag device for transporting the caisson; the air bag device comprises a first air bag mechanism 1, the first air bag mechanism is arranged at the front end of the caisson 2, the air bag device further comprises a second air bag mechanism 3, the second air bag mechanism is connected with the first air bag mechanism, the air bag device further comprises a third air bag mechanism 4, the third air bag mechanism is connected with the second air bag mechanism, the air bag device further comprises a fourth air bag mechanism 5, and the fourth air bag mechanism is connected with the third air bag mechanism;

the caisson shipment gasbag atmospheric pressure wireless monitoring device further comprises a conveying device, and each gasbag mechanism is connected and used for conveying each gasbag mechanism to a preset position, the conveying device comprises a first conveying mechanism 7, the first conveying mechanism is arranged outside the caisson and used for conveying each gasbag mechanism along the caisson forward moving direction, a first conveying mechanism power device 10 is arranged on the first conveying mechanism and used for providing power for the conveying movement of the first conveying mechanism, a sleeve ring 8 is arranged on the first conveying mechanism and used for connecting a second conveying mechanism 6, the second conveying mechanism is used for conveying the gasbag mechanism along the vertical caisson forward moving direction, a manipulator 9 is arranged on the second conveying mechanism and used for grabbing the gasbag mechanism.

Specifically, the method for wirelessly monitoring the air pressure of the air bag for caisson transportation comprises the following steps,

step S1, after the caisson is supported on the air bag device, the winch pulls the caisson to move forward; step S2, the caisson moves forwards under the traction of the winch and the rolling drive of the air bag device; step S3, the manipulator grabs the first airbag mechanism to be placed, the first airbag mechanism to be placed is driven by the conveying device to be conveyed to the front end of the caisson, and the central processing unit sets the first airbag mechanism to be placed 11 as the first airbag mechanism; and step S4, the caisson repeats the above steps S2 and S3 to transport the caisson out to a preset position.

Specifically, the number of the airbag mechanisms to be placed in the embodiment of the invention is not limited, as long as the airbag mechanisms can be used in turn in the caisson transportation process.

Specifically, in use, the central processing unit adjusts the conveying speed of the conveying device according to the movement speed of the caisson, specifically, when the movement speed of the caisson is greater than a preset value, the central processing unit increases the conveying speed of the first conveying mechanism and the conveying speed of the second conveying mechanism, when the movement speed of the caisson is less than the preset value, the central processing unit decreases the conveying speed of the first conveying mechanism and the conveying speed of the second conveying mechanism, and meanwhile, the central processing unit adjusts the adjusted conveying speed of the first conveying mechanism and the adjusted conveying speed of the second conveying mechanism again according to the inflation amount and the deflation rate of the air bag device to obtain an accurate conveying speed.

Specifically, in the embodiment of the present invention, the first airbag mechanism refers to a first airbag mechanism located at the front end of the caisson, the second airbag mechanism is connected to the first airbag mechanism, and so on, the central processing unit can set the front end airbag chamber and the tail end airbag chamber according to the specific construction environment, wherein if the central processing unit sets the front end airbag chamber to include the first airbag mechanism and the second airbag mechanism, the third airbag mechanism and the fourth airbag mechanism are tail end airbag chambers, and if the central processing unit sets the front end airbag chamber to include the first airbag mechanism, the second airbag mechanism, the third airbag mechanism and the fourth airbag mechanism are tail end airbag chambers.

Fig. 3 is a schematic structural diagram of an airbag device of an energy-saving caisson transportation airbag air pressure wireless monitoring apparatus according to an embodiment of the present invention, including an airbag chamber 111 for placing an airbag; the gasbag set up in gasbag indoor portion for support the caisson and drive the caisson antedisplacement gasbag one side is provided with solenoid valve 121, is used for the control to get into the gas quantity of gasbag, the gasbag includes the gasbag chamber, the gasbag chamber includes first gasbag chamber 112, second gasbag chamber 114 and third gasbag chamber 116, be provided with first open valve 113 between first gasbag chamber and the second gasbag chamber for adjust the air output between first gasbag chamber and the second gasbag chamber, be provided with second open valve 115 between second gasbag chamber and the third gasbag chamber, the second open valve is used for adjusting the air output between second gasbag chamber and the third gasbag chamber, be provided with first air outlet valve 118 on the first gasbag chamber for control the air output of first gasbag chamber, be provided with second air outlet valve 119 on the second gasbag chamber for control the air output of second gasbag chamber, the third air bag cavity is provided with a third air outlet valve 120 for controlling the air outlet quantity of the third air bag cavity; and a power device 117 is also arranged in the air bag chamber, is arranged at the upper part of the air bag and is used for providing power for the rotation angle of the air bag.

Referring to fig. 2 and 3, when the caisson is used for transporting the air bag pressure wireless monitoring device, the caisson moves forwards under the traction of the winch, the central processing unit obtains the moving speed and the offset distance of the caisson according to the image processing device, and the inflation quantity, the deflation rate and the power parameters of the power device of the air bag mechanism are adjusted through the moving speed and the offset distance which are acquired in real time, specifically, when the central processing unit judges that the air bag mechanism is inflated, the central processing unit controls air inlet through the electromagnetic valve, when the central processor judges to deflate the air bag mechanism, the central processor deflates the air bag by controlling the deflation valve arranged on the air bag cavity, the central processing unit judges that the current air bag rotates for a circle, the central processing unit controls the manipulator to grab the first air bag mechanism to be placed and convey the first air bag mechanism to the front end of the caisson, and the first air bag mechanism to be placed, which moves to the front end of the caisson, is set as the first air bag mechanism.

The height difference between the tail end of the caisson and the ground and between the front end of the caisson and the ground is set as the height difference of the caisson, which is delta H, wherein the delta H is H2-H1, in the formula, H1 is the distance between the front end of the caisson and the ground, H2 is the distance between the tail end of the caisson and the ground, the height difference delta H is adjusted by the central processor according to the comparison between the obtained real-time movement speed V' of the caisson and the preset movement speed of the caisson,

when V 'is less than V1, the central processing unit judges that the current real-time movement speed of the caisson does not meet a preset standard, and the central processing unit increases the height difference Delta h of the caisson to Delta h1, Delta h1 is Delta h x (1+ (V1-V')/V1);

when V1 is not less than V'. ltoreq.V 2, the central processing unit judges that the current real-time movement speed of the caisson meets a preset standard;

when V '> V2, the central processor judges that the current real-time caisson moving speed does not meet a preset standard, the central processor shortens the height difference Delta h of the caisson to Delta h2, and Delta h2 is Delta h x (1- (V' -V2)/V2);

the central processing unit presets a caisson moving speed V, and sets a first preset caisson moving speed V1 and a second preset caisson moving speed V2.

Specifically, the invention presets the moving speed of the caisson, obtains the real-time moving speed of the caisson through an image processing device, when the real-time moving speed of the caisson is lower than a first preset value, the current moving speed of the caisson is too slow, and the output efficiency of the caisson is influenced, the central processing unit increases the height difference of the caisson according to the difference value between the real-time moving speed of the caisson and the first preset value, so as to increase the moving speed of the caisson to be in accordance with the preset standard, when the real-time moving speed of the caisson is between the first preset moving speed of the caisson and a second preset moving speed of the caisson, the central processing unit judges that the current moving speed of the caisson is in accordance with the preset standard, when the real-time moving speed of the caisson is higher than the second preset value, the current moving speed of the caisson is too fast, in order to avoid the deviation of the moving direction of the caisson and the safety problem of personnel, the central processing unit adjusts the height difference of the caisson according to the difference value between the real-time moving speed and the second preset value, so as to reduce the moving speed of the caisson to make it meet the preset standard.

The central processor presets a front end airbag chamber data set Q (QDq, QVq), wherein QDq is the Q-th front end airbag mechanism inflation amount, QVq is the Q-th front end airbag mechanism deflation rate, the central processor presets a tail end airbag mechanism data set W (WDa, WVa), wherein WDa is the a-th tail end airbag mechanism inflation amount, WVa is the a-th tail end airbag mechanism deflation rate, wherein Q is 1,2 to n, a is 1,2 to m, the central processor compares the caisson height difference Delta hi with a preset caisson height difference standard value Delta h0 after the obtained adjustment, the central processor adjusts the Q-th front end airbag mechanism inflation amount QDq, the a-th tail end airbag mechanism deflation rate WVa and the a-th tail end airbag mechanism inflation amount WDa,

when delta hi is less than or equal to delta h0, the central processing unit increases the inflating quantity QDq to QDq1 of the qth front end air bag mechanism, sets QDq1 to QDq x (1+ (-delta hi-delta h 0)/(delta h0), and judges that the tail end air bag chamber is deflated and accelerates the deflation speed W of the a tail end air bag mechanismVa to WVa1, WVa1 ═ WVa × (1+ (. DELTA.hi-. DELTA.h 0)/. DELTA.h 0)²；

When Δ hi > Δh0, the cpu increases the inflation amount WDa to WDa1 of the a-th tail air bag mechanism, and WDa1 × (1+ (. DELTA.hi- Δ h 0)/. DELTA.h 0) is set.

Specifically, the invention presets a front end air bag chamber data set comprising the inflation quantity of each front end air bag mechanism and the deflation speed of each front end air bag mechanism, and presets a tail end air bag chamber data set comprising the inflation quantity of each tail end air bag mechanism and the deflation speed of each tail end air bag mechanism, when a central processor judges that the height difference of a caisson needs to be increased, the central processor increases the inflation quantity of the tail end air bag mechanism to improve the height difference of the caisson, when the central processor judges that the height difference of the caisson needs to be shortened, the central processor increases the inflation quantity of the front end air bag mechanism to improve the height of the front end of the caisson from the ground, the central processor judges that the tail end air bag chamber is deflated to improve the height of the tail end of the caisson from the ground, thereby realizing the purpose of improving the height difference of the caisson, and simultaneously, the central processor sets the deflation speed of each tail end air bag mechanism to accelerate, after a preset time, the air bag mechanism at the tail end can be quickly deflated, the height difference of the caisson can reach the preset standard as soon as possible, and the safety problem caused by the fact that the caisson moves too fast is avoided.

The central processor presets a front end air bag chamber pressure PQ (PQ1, PQ2, ·, PQn), wherein PQ1 is the first front end air bag mechanism pressure standard value, PQ2 is the second front end air bag mechanism pressure standard value to PQn is the nth front end air bag mechanism pressure standard value, the central processor obtains a qth front end air bag mechanism pressure PQq 'according to the detection device and compares the qth front end air bag mechanism pressure PQq' with the preset standard value, and adjusts the qth front end air bag mechanism inflation amount QDq1, the qth (q +1) front end air bag mechanism inflation amount QD (q +1)1 and the (q +1) front end air bag mechanism deflation rate QV (q +1), wherein,

when PQq '> c2 × PQq, the cpu decreases the amount of inflation QDq1 to QDq11 of the qth front end airbag mechanism, and sets QDq11 ═ 1- ((PQq' -PQq)/PQq)²) The cpu increases the amount of air charged in the (Q +1) th front end airbag mechanism QD (Q +1)1 to QD (Q +1)11, and sets QD (Q +1)11 equal to QD(q+1)1×(1+(PQq’-PQq)/PQq)；

When c1 is multiplied by PQq is not less than PQq' is not less than c2 is multiplied by PQq, the central processor judges that the qth front end air bag mechanism meets the preset standard;

when PQq ' < c1 × PQq, the cpu increases the q-th front-end airbag mechanism inflation amount QDq1 to QDq12, sets QDq12 to QDq1 × (1+ (PQq-PQq ')/PQq), and at the same time, deflates the q + 1-th front-end airbag mechanism, the cpu decreases the (q +1) -th front-end airbag mechanism deflation rate QV (q +1) to QV (q +1)1, sets QV (q +1)1 to QV (q +1) × (1- ((PQq-PQq ')/PQq)²))；

Wherein c1 is a first preset front end airbag mechanism pressure coefficient set for the cpu, c2 is a second preset front end airbag mechanism pressure coefficient, n is an integer greater than or equal to 3, and q is 1,2 to n-1.

Specifically, the invention presets each front-end airbag mechanism pressure value of the front-end airbag chamber, compares the acquired real-time pressure value of each front-end airbag mechanism with the preset pressure value of each front-end airbag mechanism, if the real-time pressure value of the current front-end airbag mechanism is larger than the preset pressure value of the current front-end airbag mechanism, the pressure borne by the current front-end airbag mechanism is over-large, the central processor reduces the inflation quantity of the current front-end airbag mechanism so as to avoid that the pressure borne by the airbag mechanism exceeds the maximum bearing capacity of the airbag mechanism due to the over-large inflation quantity of the current front-end airbag mechanism, simultaneously improves the inflation quantity of the next front-end airbag mechanism, avoids that the height of the front end of the caisson from the ground is influenced by reducing the inflation quantity of the current front-end airbag mechanism, if the real-time pressure value of the current front-end airbag mechanism is smaller than the preset pressure value of the current front-end airbag mechanism, the current front-end airbag mechanism does not reach the preset standard, more specifically, the current front end airbag mechanism does not optimally support the caisson, the central processing unit increases the optimal supporting force provided by the current front end airbag mechanism for the caisson, and simultaneously properly reduces the deflation rate of the next front end airbag mechanism to slowly deflate the next front end airbag mechanism, after a preset time, the next front end airbag mechanism reduces the supporting force for the caisson, so that the supporting force of each front end airbag mechanism of the front end airbag chamber for the caisson is uniform, and the problems of airbag rupture and the like caused by the uneven supporting force of each front end airbag mechanism are avoided.

Specifically, in the embodiment of the present invention, the cpu sets the first preset front end airbag mechanism pressure coefficient c1 to be 0.8, and sets the second preset front end airbag mechanism pressure coefficient c2 to be 1.2.

The central processing unit presets a tail air bag chamber pressure PW (PW1, PW2, PWm), wherein PW1 is a first tail air bag mechanism pressure standard value, PW2 is a second tail air bag mechanism pressure standard value to PWm is an mth tail air bag mechanism pressure standard value, the central processing unit obtains the pressure PWa 'of the (a +1) th tail air bag mechanism according to the detection device and compares the pressure PWa' with a preset standard value PWa to adjust the inflation WD (a +1) of the (a +1) th tail air bag mechanism and the deflation rate WV (a +1) of the (a +1) th tail air bag mechanism, wherein,

when PWa '> d2 × PWa, the cpu increases the inflation amount WD (a +1)1 of the (a +1) th rear air bag mechanism to WD (a +1)11, and sets WD (a +1)11 to WD (a +1)1 × (1+ (PWa' -PWa)/PWa;

when d1 xPWa < PWa' < d2 xPWa, the central processing unit judges that the a-th tail air bag mechanism meets the preset standard;

when PWa '< d1 × PWa, the cpu increases the deflation rate WV (a +1)1 of the (a +1) th tail air bag mechanism to WV (a +1)11, sets WV (a +1)11 ═ WV (a +1)1 × (1+ (PWa-PWa')²/PWa)；

The central processing unit is provided with a first preset tail end air bag mechanism pressure coefficient d1 and a second preset tail end air bag mechanism pressure coefficient d2, wherein a is 1,2 to m-1.

Specifically, the invention presets the pressure value of each tail end air bag mechanism of the tail end air bag chamber by a central processing unit, compares the current tail end air bag mechanism pressure value acquired by the central processing unit with the preset current tail end air bag mechanism pressure value, if the current tail end air bag mechanism pressure value is larger than the preset current tail end air bag mechanism pressure value, the current tail end air bag mechanism has the risk of overpressure bursting, the central processing unit increases the inflation quantity of the next tail end air bag mechanism to reduce the supporting force of the current tail end air bag and reduce the pressure born by the current tail end air bag mechanism, if the current tail end air bag mechanism pressure is in the preset value range, the central processing unit judges that the current tail end air bag mechanism meets the preset standard without adjusting the relevant parameters, if the current tail end air bag mechanism pressure is lower than the preset value, the supporting force of the current tail end air bag mechanism to the caisson is insufficient, in order to fully utilize the supporting force of the current tail end air bag mechanism to the caisson and avoid the problem that the pressure born by the next tail end air bag mechanism is increased due to insufficient supporting force of the current tail end air bag mechanism, the central processing unit deflates the next tail end air bag mechanism and improves the deflation rate of the next tail end air bag mechanism, so that the supporting force of the current tail end air bag mechanism to the caisson meets the preset standard as soon as possible.

Specifically, in the embodiment of the present invention, the first predetermined tail airbag mechanism pressure coefficient d1 is 0.7, and the second predetermined tail airbag mechanism pressure coefficient d2 is 1.1.

The central processor presets the standard values of the inflating quantity of each front-end air bag mechanism QD0(QD10, QD20,. cndot., QDn0), wherein the standard value of the inflating quantity of the first front-end air bag mechanism is QD10, the standard value of the inflating quantity of the second front-end air bag mechanism is QD20, and the standard value of the inflating quantity of the nth front-end air bag mechanism is QDn0, the central processor presets the standard values of the inflating quantity of each tail-end air bag mechanism WD0(WD10, WD20,. cndot. WDm0), wherein the standard value of the inflating quantity of the first tail-end air bag mechanism WD10, the standard value of the inflating quantity of the second tail-end air bag mechanism WD20, and the standard value of the inflating quantity of the mth tail-end air bag mechanism WDm0, the central processor compares the obtained inflating quantity of the qth front-end air bag mechanism QDq 'with the preset standard values to adjust the opening areas of the opening valves among the qth front-end air bag mechanism chambers, and compares the obtained qth-end air bag mechanism WDa' with the preset standard values, the opening area of the opening valve between the air bag cavities of the a-th tail end air bag mechanism is adjusted, the opening area of the opening valve between the air bag cavities of each air bag mechanism of the front end air bag chamber is preset by a central processing unit to be JO, the opening area of the opening valve between the air bag cavities of each air bag mechanism of the tail end air bag chamber is G0, wherein,

when QDq 'is not less than QDq0, the central processing unit increases the opening area J0 of the opening valve between the q front end air bag mechanism air bag cavities to J0q1, and J0q1 is set to J0 x (1+ (QDq' -QDq0)/QDq 0);

when QDq '< QDq0, the central processing unit reduces the opening area J0 of the opening valve between the q-th front end air bag mechanism air bag cavities to J0q2, and sets J0q2 to J0 × (1- (QDq 0-QDq')/QDq 0);

when WDa 'is not less than WDa0, the central processing unit increases the opening area G0 of the opening valve between the air bag cavities of the a-th tail air bag mechanism to G0a1, and G0a1 is set to G0 x (1+ (WDa' -WD0)/WD 0);

when WDa '< WDa0, the central processing unit reduces the opening area G0 of the opening valve between the air bag cavities of the a-th tail air bag mechanism to G0a2, and G0a2 is set to G0 × (1- (WDa 0-WDa')/WDa 0).

Specifically, the invention sets standard value of the inflating quantity of each front end air bag mechanism and standard value of the inflating quantity of each tail end air bag mechanism, if the inflating quantity of the current front end or tail end air bag mechanism acquired by the central processing unit is more than or equal to the preset standard value of the current front end or tail end air bag mechanism, the central processing unit increases the opening area of the opening valve between the air bag cavities of the current air bag mechanism so as to ensure that the current air bag mechanism is inflated more stably, thereby avoiding the safety problem in the process of moving a caisson due to unstable inflating of the air bag in the current air bag mechanism caused by increasing the inflating quantity, if the inflating quantity of the current front end or tail end air bag mechanism acquired by the central processing unit is less than the preset standard value of the current front end or tail end air bag mechanism, the central processing unit reduces the opening area of the opening valve between the air bag cavities of the current air bag mechanism so as to ensure that the air bag of the current air bag mechanism smoothly enters the air bag, the phenomenon that the air bag of the current air bag mechanism generates large deformation to influence the shipment of the caisson due to small inflation quantity is avoided.

The central processing unit presets the deflation rate standard value QV0 of the front end air bag mechanism and the deflation rate standard value WV0 of the tail end air bag mechanism, the central processing unit compares the obtained deflation rate QVq 'of the qth front end air bag mechanism with the preset standard value to adjust the opening area of the deflation valve of each air bag cavity of the qth front end air bag mechanism, the central processing unit compares the obtained deflation rate WVa' of the a tail end air bag mechanism with the preset standard value to adjust the opening area of the deflation valve of each air bag cavity of the a tail end air bag mechanism, the central processing unit presets the opening area of the deflation valve of the front end air bag mechanism to be PO and the opening area of the deflation valve of the tail end air bag mechanism to be X0, wherein,

when QVq 'is not less than QV0, the opening area P0 of the q air bag mechanism air bag cavity deflation valve of the central processor is increased to P01, and P01 is set to P0 (1+ (QVq' -QV0)²/QV0)；

When QVq '< QV0, the CPU decreases the opening area P0 of the q-th air bag mechanism air bag cavity deflating valve to P02, and sets P02 to P0 (1- (QV 0-QVq')²/QV0)；

When WVa 'is not less than or equal to WV0, the central processing unit increases the opening area X0 of the deflation valve of the air bag cavity of the a-th air bag mechanism to X01, and sets X01 to X0 (1+ (WVa' -WV0)/WV 0);

when WVa '< WV0, the cpu decreases the opening area X0 of the a-th airbag mechanism airbag chamber deflation valve to X02, and sets X02 ═ X0 × (1- (WV 0-WVa')/WV 0).

Specifically, the deflation rate standard value of the front-end airbag mechanism and the deflation rate standard value of the tail-end airbag mechanism are set, if the central processing unit obtains that the current deflation rate of the front-end or tail-end airbag mechanism is larger than or equal to the corresponding preset standard value, the central processing unit increases the opening area of the deflation valve of the airbag cavity of the current airbag mechanism, improves the deflation rate and simultaneously ensures that the deflation of the airbag cavity of the current airbag mechanism is more uniform, avoids the phenomenon that the gas in the airbag is not uniform due to the deflation of a single deflation valve and the caisson is transported and inclined, and if the central processing unit obtains that the current deflation rate of the front-end or tail-end airbag mechanism is smaller than the corresponding preset standard value, the central processing unit reduces the opening area of the deflation valve of the airbag cavity of the current airbag mechanism, so that each airbag cavity is deflated smoothly, and the phenomenon that the stress of the airbag is not uniform is avoided.

The air bag chamber comprises a power device, the power device is arranged on one side of the air bag chamber and connected with the top of the air bag mechanism and used for providing power for adjusting the angle of the air bag mechanism, when the central processing unit obtains that the offset distance of the caisson is greater than a preset value through the image processing device, the central processing unit controls the power device to reduce the angle of the air bag mechanism, wherein the angle of the air bag mechanism is the angle formed by the air bag mechanism and the moving direction of the preset caisson and is set as theta, when the central processing unit obtains that the offset distance of the caisson moving through the image processing device is less than the preset value, the central processing unit controls the power device to increase the angle of the air bag mechanism, the offset of the caisson is set as S, wherein the S is H0-H1, the setting is H0, the preset position of the caisson, and the real-time position of the H1 caisson, and the power device is used for adjusting the angle of the air bag mechanism,

when S > S0, the CPU reduces the angle theta of the air bag mechanism to theta 1, and sets theta 1 to theta x (1- (S-S0)/S0);

when S < S0, the CPU increases the angle theta of the air bag mechanism to theta 2, and sets theta 2 to theta x (1+ (S0-S)/S0);

and S0, presetting an offset standard value of the caisson for the central processing unit.

Specifically, in the embodiment of the present invention, the angle of the air bag mechanism refers to an angle formed by the air bag and the caisson moving direction, when the caisson offset value obtained by the central processing unit is a positive number, it indicates that the current caisson moves to the upper side of the preset moving direction, the central processing unit reduces the angle of the air bag mechanism and corrects the caisson moving direction, when the caisson offset value obtained by the central processing unit is a negative number, it indicates that the current caisson moves to the lower side of the preset moving direction, and the central processing unit increases the angle of the air bag mechanism and corrects the caisson moving direction.

The central processor adjusts the power parameter F0 of the power device according to the comparison between the acquired angle of the air bag mechanism and a preset angle standard value, wherein,

when theta is larger than or equal to theta 0, the central processing unit increases the power parameters F0 to F1, and sets F1 to F0 x (1+ (theta-theta 0)/theta 0);

when thetar < thetar 0, the central processor decreases the power plant power parameters F0-F2, setting F2 to F0 × (1- (theta0-thetar)/theta0);

wherein θ 0 is a preset angle standard value, and r is 1, 2.

Specifically, the power device is arranged in the air bag chamber, the caisson moving offset is obtained according to the image processing device, when the offset obtained by the central processing unit is larger than a preset value, the central processing unit reduces the angle of the air bag mechanism by reducing the power parameter of the power device, when the offset obtained by the central processing unit is smaller than the preset value, the central processing unit increases the angle of the air bag mechanism by increasing the power parameter of the power device, so that the caisson transporting and moving direction accords with a preset position, and the technical problem that the caisson transporting offset cannot be accurately corrected through parameters is solved.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.