CN104929018A - Method and system for calculating construction times of road roller - Google Patents
Method and system for calculating construction times of road roller Download PDFInfo
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- CN104929018A CN104929018A CN201510414264.6A CN201510414264A CN104929018A CN 104929018 A CN104929018 A CN 104929018A CN 201510414264 A CN201510414264 A CN 201510414264A CN 104929018 A CN104929018 A CN 104929018A
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Abstract
The invention relates to a method for calculating construction times of a road roller. The method comprises the following steps: obtaining GPS (Global Position System) data; projecting all points in an XYZ coordinate system to an X axis or a Y axis so as to obtain points on the coordinate axis; arranging acquisition test points Lk with equal distances on the coordinate axis of a XMY rectangular plane coordinate system; judging whether coordinate values of coordinate points of adjacent time are distributed on both sides of the points Lk, if the arithmetic product is negative, commanding that the number of construction times of the road roller at the current section position Lk is equal to Bk+1; if the arithmetic product is positive, commanding that the number of construction times of the road roller at the current section position Lk is equal to Bk; judging whether Lk is the last section position, if yes, outputting the number of construction times of sections to be observed, else, continuing to calculate the construction times of the next section. The invention further discloses a system for calculating the construction times of the road roller. Through the adoption of the method and system, disclosed by the invention, large amounts of GPS data points collected for a long time can be processed and analyzed, and the construction times of the road roller traveling in uncertain to-and-fro paths can be calculated.
Description
Technical field
The present invention relates to road roller technical field of construction in pavement spread project, especially a kind of method and system for calculating road roller construction times.
Background technology
Road roller is a kind of method utilizing machinery deadweight, vibration or impact, and repeating to load, getting rid of air and the moisture of its inside, making it the Work machine reaching certain compactness and planeness being compacted material.Be mainly used in highway, harbour, the base surface of airport and dam and pavement compaction operation at present, often need forwards, backwards during construction and backward both direction carry out pressure road construction, road roller because the requirement of construction is in vibrational state always, easily causes driver fatigue in work progress.
No matter the compactness on road surface and planeness are in road construction process, or be all an important indicator that must examine in inspection of quality and maintenance management, it directly has influence on comfortableness and the safety of driving, and the condition of construction of road roller directly determines compactness and the roughness index on road surface.In road roller operation work progress, as failed to be undertaken by process specification requirements, the index request such as compactness and planeness of pavement construction cannot be ensured, hide some dangers for quality of road construction and use safety.The construction mileage of usual highway is longer, comparatively large to the supervision difficulty of construction of the highway process, even if take section construction and Supervision Measures, is also difficult to realize round-the-clock omnibearing supervision, is easy to cause road construction not up to standard.Therefore except the self-supervision operation relying on constructor, be extremely necessary to take certain measure to carry out digitized monitoring to the work progress of road, thus ensure construction quality.
Have a lot based on the data transmission device of 3G network at present, by the sensor assembly installed, as video sensor, degree of compaction sensor, temperature pick up, vehicle speed sensor etc. are sent to server, then directly shown by screen dielectric layer, as shown in Figure 7, by manually observing data, be also artificial observation and counting for construction track.And compaction detect also can only detect the data of road roller through section, often have the place ignored, and when network is bad or hardware data loses time, can have a significant impact acquisition precision.Due in practice of construction process, the walking path of road roller often has randomness and repeatability, and the gps data depending merely on acquisition directly shows with artificial direct observation error very large.In addition, also have the number of times of multiplicity as construction directly carrying out calculation level by the arrangement of longitude or the arrangement of latitude, owing to differing in road, to establish a capital be along longitude or latitudinal, or time data volume is large, change is difficult to find out, so be also easy to produce error.
Summary of the invention
Primary and foremost purpose of the present invention is that providing a kind of carries out process calculating to the gps data obtained automatically, to obtain the construction times in each section, direct convenience find out construction defective section, the method for calculating road roller construction times of testing in time and repairing.
For achieving the above object, present invention employs following technical scheme: a kind of method for calculating road roller construction times, the method comprises the step of following order:
(1) obtain gps data, judge that whether it is effective, if the determination result is YES, then valid data were stored according to the time gathered, enter next step; Otherwise, invalid data is deleted;
(2) warp in the gps data of storage, latitude coordinate data are transformed in plane right-angle coordinate xOy from WGS-84 spheric coordinate system;
(3) with time data memory order for benchmark, choose the initial point M (x in this batch data
m, y
m), and calculate in this batch data with initial point M (x
m, y
m) distance point N(x farthest
n, y
n);
(4) set up the XMY plane right-angle coordinate for calculating pass, and coordinate system transformation is carried out to the gps data be in xOy plane right-angle coordinate;
(5) points all under XMY plane right-angle coordinate is projected to X-axis or Y-axis, obtain the point (X in coordinate axes
j, 0) or (0, Y
j), form the data value of one dimension;
(6) according to the length separation L that the needs of outer setting are observed, the coordinate axes of XMY plane right-angle coordinate arranges equally spaced collecting test point L
k;
(7) successively by the coordinate value (X of the coordinate point of all adjacent moment
j, 0) and (X
j+1, 0), or (Y
j, 0) and (Y
j+1, 0), with L
kbe multiplied after carrying out difference operation;
(8) according to the coordinate value (X of the coordinate point of all adjacent moment of positive negative judgement of numerical value after being multiplied
j, 0) and (X
j+1, 0), or (Y
j, 0) and (Y
j+1, 0) whether be distributed in a L
kboth sides, if product is negative, then Two-point distribution is at collecting test point L
kboth sides, then make current cross-section position L
kthe construction times B of the road roller of point
kadd 1; If product is just, then 2 in the same side, makes current cross-section position L
kthe construction times B of the road roller of point
kconstant; Travel through all points, a L must be
kthe road roller construction times in cross section, road surface;
(9) L is judged
kwhether be last sectional position, if the determination result is YES, then export the construction times needing observing cross sections, program stopped, wait for that next time starts; Otherwise, proceed the calculating of next cross section construction times.
In step (1), the gps data of described acquisition comprises data acquisition time, be arranged on the longitude and latitude data of the GPS position indicator on road roller and the velocity amplitude of road roller, describedly judge whether data effectively refer to, invalid deletion is set as at same position and the identical point of latitude and longitude value by repeating during by checking that the speed that speed data finds is zero, by by checking that the speed that speed data finds does not have the position data of regular fluctuation all to delete when being zero, when now latency speed is non-zero, get the coordinate of the point in speed non-zero moment as later position data contrast basic point, the point of distance value error more than 2 meters of the coordinate point calculated according to speed and a upper coordinate point when speed is non-zero is set as Null Spot, the data of Null Spot are deleted, be wherein Distance=R*Arccos (C) * Pi/180 according to the formula of calculation of longitude & latitude distance, wherein the longitude and latitude of first A is (LonA, LatA), the longitude and latitude of second point B is (LonB, LatB), C=sin (LatA) * sin (LatB) * cos (LonA-LonB)+cos (LatA) * cos (LatB), R are earth radius, R and Distance unit is KM, Pi is the English of π, A, B point is for calculating the distance between that directly collect, in units of longitude and latitude two points, after initialization, first point is speed is zero, the point that longitude and latitude does not change, first available point namely obtained, in calculating afterwards, B point is the point obtaining the moment, and A point was defined as effective point for a upper moment.
In step (2), when the warp of the gps data of storage, latitude coordinate data are transformed in plane right-angle coordinate xOy from WGS-84 spheric coordinate system, wherein longitude is converted to x coordinate value, latitude is converted to y coordinate value, namely the coordinate of each point converts (x to by (longitude, latitude)
i, y
i), wherein i is the point after sorting according to the valid data collection moment, and the first moment was just the available point obtained in the 1, second moment is just 2, a to the last available point; I is more than or equal to 1 and is less than or equal to the total number of effective GPS point of acquisition, the coordinate value of coordinate axes and each point unit for be converted to rice by degree.
In step (3), the comparison adopting formula (1) to carry out distance calculates, and formula (1) is as follows:
D
i=
formula (1)
D
ibe i-th point and initial point M(x
m, y
m) distance value, wherein i be according to valid data gather the moment sort after point; By D
1calculate rear preservation, calculate D
2and and D
1compare, the larger distance value in both reservations deletes smaller value, calculates institute successively a little, the ultimate range D that correspondence obtains
n, find a N(x
n, y
n).
In step (4), with M(x
m, y
m) be initial point, with M(x
m, y
m) and N(x
n, y
n) place straight line is X-axis, and positive direction points to N(x
n, y
n), and to pass through M(x
m, y
m) set up Y-axis perpendicular to described X-axis, being rotated counterclockwise 90 ° for positive direction with X-axis forward, setting up the XMY plane right-angle coordinate for calculating pass; Described transformation of coordinates method is: first carry out shift operations, and the coordinate value of the data point in the xOy after translation becomes (x
i-x
m, y
i-y
m), then twiddle operation, postrotational coordinate transformation is ((x
i-x
m) × cos θ-(y
i-y
m) × sin θ+x
m, (x
i-x
m) × sin θ+(y
i-y
m) × cos θ+y
m), make described data point become with the point under XMY plane right-angle coordinate, i.e. (X
j, Y
j).
In step (5), described collecting test point L
kcoordinate value design formulas be L
k=k*L+L
o, k>=0, k are integer, cross section orthogonal to be observed in coordinate axes, cross section to be observed initial point L in coordinate axes
obe arranged on X
jor Y
jin the position of minimum point, i.e. initial point L
o=MIN (X
j) or MIN(Y
j), the position of all the other cross sections in coordinate axes is followed successively by (MIN(X
j)+L*k, 0), or (0, MIN(Y
j)+L*k), wherein, MAX(MIN(X
j)+L*k) be less than MAX(X
j), MAX(MIN(X
j)+L*k+1) be greater than MAX(X
j); Or, MAX(MIN(Y
j)+L*k) be less than MAX(Y
j), MAX(MIN(Y
j)+L*k+1) be greater than MAX(Y
j).
In step (8), 0<j< always counts, total number of the coordinate point being the GPS obtained of always counting, identical with the number of i; Collecting test point L
kthreshold value be X
jin minimum value, or Y
jin minimum value.
The invention also discloses a kind of system for calculating road roller construction times, comprising:
Electric power system, is automatically converted to electric energy by solar energy and is stored in battery, when the system is operating, is system power supply;
Power supply and switch control module, voltage electric power system being exported to this module is changed, monitor along with road roller starts the vibrations operating mode brought, starting switch in time having continuous vibration, for information and the submodule in forwarding module carry out the power supply of different voltage;
Information and forwarding module, gather GPS, temperature and RFID nodal information, and after carrying out internetwork-ing with server, data be sent to server.
Described electric power system is made up of solar panel, solar charging controller and battery, the output of solar panel is connected with the input of solar charging controller, solar panel is by solar charging controller to storage battery power supply, and the output of solar charging controller is connected with the input of switch control module with power supply, power supply and switch control module are by first, two, three DC/DC modules, relay module and vibration switch module composition, the output of solar charging controller respectively with a DC/DC module, the input of relay module is connected, the output of the one DC/DC module is connected with the input of relay module, the output of relay module respectively with the 2nd DC/DC module, the input of the 3rd DC/DC module is connected, the output of vibration switch module is connected with the input of relay module, second, the output of three DC/DC modules is connected with the input of forwarding module with information.
Described information and forwarding module comprise temperature sensor module, GPS module, RFID module, 3G network module and main control unit, the output of described temperature sensor module, GPS module, RFID module is connected with the input of main control unit, and the output of described main control unit is connected with the input of 3G network module.
As shown from the above technical solution, advantage of the present invention is as follows: first, can process and analyze the long-time a large amount of gps data point collected, calculate the construction times that road roller has probabilistic trip path, to record the progress of construction, demonstrate construction times intuitively, and digitized record and file are carried out to the process of construction, convenient implement check and as the reference frame of quality inspection, record is carried out without the need to site operation personnel, reduce the carelessness of constructor and supervisor, reduce the working strength of constructor and supervisor; Second, the validity of the present invention to data judges and rejects invalid data, so validity is more reliable, and construction times obtains by calculating gps data point relative position, so for the loss of indivedual gps data point, do not have too much influence to result of calculation, measure relative to degree of compaction, the present invention is more accurate; 3rd, the present invention can compare through calculating the value directly obtaining the requirement of construction times result and setting, find the underproof section of construction times, construction times defective warning quantification display is carried out in web interface according to numerical values recited to facilitate, what show is more directly perceived, record convenient, directly form electronical record.
Accompanying drawing explanation
Fig. 1 is system architecture block diagram of the present invention;
Fig. 2 is method flow diagram of the present invention;
Fig. 3 is the comparison diagram o'clock in two rectangular coordinate systems after conversion;
Fig. 4 is the distribution schematic diagram of each point in new coordinate system after converted coordinate system;
Fig. 5 one-dimensional data point that to be each point formed new coordinate system coordinate axes upslide movie queen is relative to the schematic diagram of the position of coordinate system;
Fig. 6 is the observation cross section L arranged on coordinate system
kschematic diagram;
Fig. 7 is the display schematic diagram of prior art.
Detailed description of the invention
As shown in Figure 2, a kind of method for calculating road roller construction times, the method comprises the step of following order:
(1) obtain gps data, judge that whether it is effective, if the determination result is YES, then valid data were stored according to the time gathered, enter next step; Otherwise, invalid data is deleted;
(2) warp in the gps data of storage, latitude coordinate data are transformed in plane right-angle coordinate xOy from WGS-84 spheric coordinate system;
(3) with time data memory order for benchmark, choose the initial point M (x in this batch data
m, y
m), and calculate in this batch data with initial point M (x
m, y
m) distance point N(x farthest
n, y
n);
(4) set up the XMY plane right-angle coordinate for calculating pass, and coordinate system transformation is carried out to the gps data be in xOy plane right-angle coordinate;
(5) as shown in Figure 5, by points all under XMY plane right-angle coordinate to X-axis or Y-axis projection, the point (X in coordinate axes is obtained
j, 0) or (0, Y
j), form the data value of one dimension;
(6) as shown in Figure 6, according to the length separation L that the needs of outer setting are observed, the coordinate axes of XMY plane right-angle coordinate arranges equally spaced collecting test point L
k; Wherein abscissa is the approximate setting that simulated roadway direction is done, and observation cross section is just the cross section perpendicular to road direction;
(7) successively by the coordinate value (X of the coordinate point of all adjacent moment
j, 0) and (X
j+1, 0), or (Y
j, 0) and (Y
j+1, 0), with L
kbe multiplied after carrying out difference operation;
(8) according to the coordinate value (X of the coordinate point of all adjacent moment of positive negative judgement of numerical value after being multiplied
j, 0) and (X
j+1, 0), or (Y
j, 0) and (Y
j+1, 0) whether be distributed in a L
kboth sides, if product is negative, then Two-point distribution is at collecting test point L
kboth sides, then make current cross-section position L
kthe construction times B of the road roller of point
kadd 1; If product is just, then 2 in the same side, makes current cross-section position L
kthe construction times B of the road roller of point
kconstant; Travel through all points, the road roller construction times in the cross section, road surface of a Lk must be;
(9) L is judged
kwhether be last sectional position, if the determination result is YES, then export the construction times needing observing cross sections, program stopped, wait for that next time starts; Otherwise, proceed the calculating of next cross section construction times.
In step (1), the gps data of described acquisition comprises data acquisition time, be arranged on the longitude and latitude data of the GPS position indicator on road roller and the velocity amplitude of road roller, describedly judge whether data effectively refer to, invalid deletion is set as at same position and the identical point of latitude and longitude value by repeating during by checking that the speed that speed data finds is zero, by by checking that the speed that speed data finds does not have the position data of regular fluctuation all to delete when being zero, when now latency speed is non-zero, get the coordinate of the point in speed non-zero moment as later position data contrast basic point, the point of distance value error more than 2 meters of the coordinate point calculated according to speed and a upper coordinate point when speed is non-zero is set as Null Spot, the data of Null Spot are deleted, be wherein Distance=R*Arccos (C) * Pi/180 according to the formula of calculation of longitude & latitude distance, wherein the longitude and latitude of first A is (LonA, LatA), the longitude and latitude of second point B is (LonB, LatB), C=sin (LatA) * sin (LatB) * cos (LonA-LonB)+cos (LatA) * cos (LatB), R are earth radius, R and Distance unit is KM, Pi is the English of π, A, B point is for calculating the distance between that directly collect, in units of longitude and latitude two points, after initialization, first point is speed is zero, the point that longitude and latitude does not change, first available point namely obtained, in calculating afterwards, B point is the point obtaining the moment, and A point was defined as effective point for a upper moment.
In step (2), when the warp of the gps data of storage, latitude coordinate data are transformed in plane right-angle coordinate xOy from WGS-84 spheric coordinate system, wherein longitude is converted to x coordinate value, latitude is converted to y coordinate value, namely the coordinate of each point converts (x to by (longitude, latitude)
i, y
i), wherein i is the point after sorting according to the valid data collection moment, and the first moment was just the available point obtained in the 1, second moment is just 2, a to the last available point; I is more than or equal to 1 and is less than or equal to the total number of effective GPS point of acquisition, the coordinate value of coordinate axes and each point unit for be converted to rice by degree.
In step (3), the comparison adopting formula (1) to carry out distance calculates, and formula (1) is as follows:
D
i=
formula (1)
D
ibe i-th point and initial point M(x
m, y
m) distance value, wherein i be according to valid data gather the moment sort after point; By D
1calculate rear preservation, calculate D
2and and D
1compare, the larger distance value in both reservations deletes smaller value, calculates institute successively a little, the ultimate range D that correspondence obtains
n, find a N(x
n, y
n).
In step (4), as shown in Figure 3, with M(x
m, y
m) be initial point, with M(x
m, y
m) and N(x
n, y
n) place straight line is X-axis, and positive direction points to N(x
n, y
n), and to pass through M(x
m, y
m) set up Y-axis perpendicular to described X-axis, being rotated counterclockwise 90 ° for positive direction with X-axis forward, setting up the XMY plane right-angle coordinate for calculating pass; Described transformation of coordinates method is: first carry out shift operations, and the coordinate value of the data point in the xOy after translation becomes (x
i-x
m, y
i-y
m), then twiddle operation, postrotational coordinate transformation is ((x
i-x
m) × cos θ-(y
i-y
m) × sin θ+x
m, (x
i-x
m) × sin θ+(y
i-y
m) × cos θ+y
m), make described data point become with the point under XMY plane right-angle coordinate, i.e. (X
j, Y
j), as shown in Figure 4.
In step (5), described collecting test point L
kcoordinate value design formulas be L
k=k*L+L
o, k>=0, k are integer, cross section orthogonal to be observed in coordinate axes, cross section to be observed initial point L in coordinate axes
obe arranged on X
jor Y
jin the position of minimum point, i.e. initial point L
o=MIN (X
j) or MIN(Y
j), the position of all the other cross sections in coordinate axes is followed successively by (MIN(X
j)+L*k, 0), or (0, MIN(Y
j)+L*k), wherein, MAX(MIN(X
j)+L*k) be less than MAX(X
j), MAX(MIN(X
j)+L*k+1) be greater than MAX(X
j); Or, MAX(MIN(Y
j)+L*k) be less than MAX(Y
j), MAX(MIN(Y
j)+L*k+1) be greater than MAX(Y
j).
In step (7) a metallic, after all spot projections are in coordinate axes, subscript of each point remains to be indicated according to time sequencing, X
jas the point in a upper moment, X
jmay be any one in all point, X
j+1the point of subsequent time, in order to find through L
kthe number of times in cross section, will judge, in all points, and the coordinate value X of the point of two adjacent moment
jwith X
j+1with the difference of Lk, i.e. (X
j-L
k) * (X
j+1-L
k) whether be less than zero, time null, number of times should be calculated by 0.5 because this be to have point may and L
koverlapped, will calculate once more, two points are all at L
kwhen both sides, no matter left side or on the right side of, the product obtained is all positive.
In step (8), 0<j< always counts, total number of the coordinate point being the GPS obtained of always counting, identical with the number of i; Collecting test point L
kthreshold value be X
jin minimum value, or Y
jin minimum value.
The point of the longitude and latitude directly obtained demonstrates at software interface according to the moment obtained and latitude and longitude value by Fig. 7 on the software for display of path.
As shown in Figure 1, native system comprises: electric power system, automatically solar energy is converted to electric energy and is stored in battery, when the system is operating, is system power supply; Power supply and switch control module, voltage electric power system being exported to this module is changed, monitor along with road roller starts the vibrations operating mode brought, starting switch in time having continuous vibration, for information and the submodule in forwarding module carry out the power supply of different voltage; Information and forwarding module, gather GPS, temperature and RFID nodal information, and after carrying out internetwork-ing with server, data be sent to server.
As shown in Figure 1, described electric power system is made up of solar panel, solar charging controller and battery, the output of solar panel is connected with the input of solar charging controller, solar panel is by solar charging controller to storage battery power supply, and the output of solar charging controller is connected with the input of switch control module with power supply, power supply and switch control module are by first, two, three DC/DC modules, relay module and vibration switch module composition, the output of solar charging controller respectively with a DC/DC module, the input of relay module is connected, the output of the one DC/DC module is connected with the input of relay module, the output of relay module respectively with the 2nd DC/DC module, the input of the 3rd DC/DC module is connected, the output of vibration switch module is connected with the input of relay module, second, the output of three DC/DC modules is connected with the input of forwarding module with information.One DC/DC module provides 13V to turn the direct current of 5V, power to relay module, second and third DC/DC module provide 13V to turn respectively direct current that 3.3V and 13V turns 12V, wherein 3.3V voltage is used for powering to GPS module and RFID module and main control unit, and 12V is used for 3G network module for power supply.
As shown in Figure 1, described information and forwarding module comprise temperature sensor module, GPS module, RFID module, 3G network module and main control unit, the output of described temperature sensor module, GPS module, RFID module is connected with the input of main control unit, and the output of described main control unit is connected with the input of 3G network module.Gather the gps data of current location from GPS module, initial data has multiple format, is mainly: 10:14:33 $ GPRMC, 023543.00, A, 2308.28715, N, 11322.09875, E, 0.195,, 240213,, A*78, data are carried out transcoding according to the communication protocol of GPS module by main control unit, the data becoming pure digi-tal with warp, latitude with the Data Analysis of speed cone header directly sent by GPS are GPS=33.051672 after changing, 117.011705; Speed=6.75; Time=20150202101433, comprises longitude, latitude, travel speed, the temporal information in collection moment; Gather other RFID nodal informations from RFID module, other active nodes are arranged on the section that demand indicates bid section information, store bid section code name in active RFID tag; Obtain temperature information from temperature sensor module simultaneously.GPS module is arranged to differential type duty, positioning precision is located within two meters, by the single-chip microcomputer of main control unit, the data of collection are decoded according to communication protocol, and the forwarding of gps data is carried out by 3G network module, main control unit arranges the transmission cycle, and be set to a second once, server end is then in accepting state always, the distance of spaced points needing observation is set at server end, every the number of times how far had a look cross section and be forced through in reflection actual observation.
In sum, the present invention can process and analyze the long-time a large amount of gps data point collected, calculate the construction times that road roller has probabilistic trip path, to record the progress of construction, demonstrate construction times intuitively, and digitized record and file are carried out to the process of construction, convenient implement check and as the reference frame of quality inspection, record is carried out without the need to site operation personnel, reduce the carelessness of constructor and supervisor, reduce the working strength of constructor and supervisor.
Claims (10)
1., for calculating a method for road roller construction times, the method comprises the step of following order:
(1) obtain gps data, judge that whether it is effective, if the determination result is YES, then valid data were stored according to the time gathered, enter next step; Otherwise, invalid data is deleted;
(2) warp in the gps data of storage, latitude coordinate data are transformed in plane right-angle coordinate xOy from WGS-84 spheric coordinate system;
(3) with time data memory order for benchmark, choose the initial point M (x in this batch data
m, y
m), and calculate in this batch data with initial point M (x
m, y
m) distance point N(x farthest
n, y
n);
(4) set up the XMY plane right-angle coordinate for calculating pass, and coordinate system transformation is carried out to the gps data be in xOy plane right-angle coordinate;
(5) points all under XMY plane right-angle coordinate is projected to X-axis or Y-axis, obtain the point (X in coordinate axes
j, 0) or (0, Y
j), form the data value of one dimension;
(6) according to the length separation L that the needs of outer setting are observed, the coordinate axes of XMY plane right-angle coordinate arranges equally spaced collecting test point L
k;
(7) successively by the coordinate value (X of the coordinate point of all adjacent moment
j, 0) and (X
j+1, 0), or (Y
j, 0) and (Y
j+1, 0), with L
kbe multiplied after carrying out difference operation;
(8) according to the coordinate value (X of the coordinate point of all adjacent moment of positive negative judgement of numerical value after being multiplied
j, 0) and (X
j+1, 0), or (Y
j, 0) and (Y
j+1, 0) whether be distributed in a L
kboth sides, if product is negative, then Two-point distribution is at collecting test point L
kboth sides, then make current cross-section position L
kthe construction times B of the road roller of point
kadd 1; If product is just, then 2 in the same side, makes current cross-section position L
kthe construction times B of the road roller of point
kconstant; Travel through all points, a L must be
kthe road roller construction times in cross section, road surface;
(9) L is judged
kwhether be last sectional position, if the determination result is YES, then export the construction times needing observing cross sections, program stopped, wait for that next time starts; Otherwise, proceed the calculating of next cross section construction times.
2. the method for calculating road roller construction times according to claim 1, is characterized in that:
In step (1), the gps data of described acquisition comprises data acquisition time, be arranged on the longitude and latitude data of the GPS position indicator on road roller and the velocity amplitude of road roller, describedly judge whether data effectively refer to, invalid deletion is set as at same position and the identical point of latitude and longitude value by repeating during by checking that the speed that speed data finds is zero, by by checking that the speed that speed data finds does not have the position data of regular fluctuation all to delete when being zero, when now latency speed is non-zero, get the coordinate of the point in speed non-zero moment as later position data contrast basic point, the point of distance value error more than 2 meters of the coordinate point calculated according to speed and a upper coordinate point when speed is non-zero is set as Null Spot, the data of Null Spot are deleted, be wherein Distance=R*Arccos (C) * Pi/180 according to the formula of calculation of longitude & latitude distance, wherein the longitude and latitude of first A is (LonA, LatA), the longitude and latitude of second point B is (LonB, LatB), C=sin (LatA) * sin (LatB) * cos (LonA-LonB)+cos (LatA) * cos (LatB), R are earth radius, R and Distance unit is KM, Pi is the English of π, A, B point is for calculating the distance between that directly collect, in units of longitude and latitude two points, after initialization, first point is speed is zero, the point that longitude and latitude does not change, first available point namely obtained, in calculating afterwards, B point is the point obtaining the moment, and A point was defined as effective point for a upper moment.
3. the method for calculating road roller construction times according to claim 1, it is characterized in that: in step (2), when the warp of the gps data of storage, latitude coordinate data are transformed in plane right-angle coordinate xOy from WGS-84 spheric coordinate system, wherein longitude is converted to x coordinate value, latitude is converted to y coordinate value, namely the coordinate of each point converts (x to by (longitude, latitude)
i, y
i), wherein i is the point after sorting according to the valid data collection moment, and the first moment was just the available point obtained in the 1, second moment is just 2, a to the last available point; I is more than or equal to 1 and is less than or equal to the total number of effective GPS point of acquisition, the coordinate value of coordinate axes and each point unit for be converted to rice by degree.
4. the method for calculating road roller construction times according to claim 1, is characterized in that: in step (3), and the comparison adopting formula (1) to carry out distance calculates, and formula (1) is as follows:
D
i=
formula (1)
D
ibe i-th point and initial point M(x
m, y
m) distance value, wherein i be according to valid data gather the moment sort after point; By D
1calculate rear preservation, calculate D
2and and D
1compare, the larger distance value in both reservations deletes smaller value, calculates institute successively a little, the ultimate range D that correspondence obtains
n, find a N(x
n, y
n).
5. the method for calculating road roller construction times according to claim 1, is characterized in that: in step (4), with M(x
m, y
m) be initial point, with M(x
m, y
m) and N(x
n, y
n) place straight line is X-axis, and positive direction points to N(x
n, y
n), and to pass through M(x
m, y
m) set up Y-axis perpendicular to described X-axis, being rotated counterclockwise 90 ° for positive direction with X-axis forward, setting up the XMY plane right-angle coordinate for calculating pass; Described transformation of coordinates method is: first carry out shift operations, and the coordinate value of the data point in the xOy after translation becomes (x
i-x
m, y
i-y
m), then twiddle operation, postrotational coordinate transformation is ((x
i-x
m) × cos θ-(y
i-y
m) × sin θ+x
m, (x
i-x
m) × sin θ+(y
i-y
m) × cos θ+y
m), make described data point become with the point under XMY plane right-angle coordinate, i.e. (X
j, Y
j).
6. the method for calculating road roller construction times according to claim 1, is characterized in that: in step (5), described collecting test point L
kcoordinate value design formulas be L
k=k*L+L
o, k>=0, k are integer, cross section orthogonal to be observed in coordinate axes, cross section to be observed initial point L in coordinate axes
obe arranged on X
jor Y
jin the position of minimum point, i.e. initial point L
o=MIN (X
j) or MIN(Y
j), the position of all the other cross sections in coordinate axes is followed successively by (MIN(X
j)+L*k, 0), or (0, MIN(Y
j)+L*k), wherein, MAX(MIN(X
j)+L*k) be less than MAX(X
j), MAX(MIN(X
j)+L*k+1) be greater than MAX(X
j); Or, MAX(MIN(Y
j)+L*k) be less than MAX(Y
j), MAX(MIN(Y
j)+L*k+1) be greater than MAX(Y
j).
7. the method for calculating road roller construction times according to claim 1, it is characterized in that: in step (8), 0<j< always counts, total number of the coordinate point being the GPS obtained of always counting, identical with the number of i; Collecting test point L
kthreshold value be X
jin minimum value, or Y
jin minimum value.
8., for calculating a system for road roller construction times, it is characterized in that: comprising:
Electric power system, is automatically converted to electric energy by solar energy and is stored in battery, when the system is operating, is system power supply;
Power supply and switch control module, voltage electric power system being exported to this module is changed, monitor along with road roller starts the vibrations operating mode brought, starting switch in time having continuous vibration, for information and the submodule in forwarding module carry out the power supply of different voltage;
Information and forwarding module, gather GPS, temperature and RFID nodal information, and after carrying out internetwork-ing with server, data be sent to server.
9. the system for calculating road roller construction times according to claim 8, it is characterized in that: described electric power system is made up of solar panel, solar charging controller and battery, the output of solar panel is connected with the input of solar charging controller, solar panel is by solar charging controller to storage battery power supply, and the output of solar charging controller is connected with the input of switch control module with power supply, power supply and switch control module are by first, two, three DC/DC modules, relay module and vibration switch module composition, the output of solar charging controller respectively with a DC/DC module, the input of relay module is connected, the output of the one DC/DC module is connected with the input of relay module, the output of relay module respectively with the 2nd DC/DC module, the input of the 3rd DC/DC module is connected, the output of vibration switch module is connected with the input of relay module, second, the output of three DC/DC modules is connected with the input of forwarding module with information.
10. the system for calculating road roller construction times according to claim 8, it is characterized in that: described information and forwarding module comprise temperature sensor module, GPS module, RFID module, 3G network module and main control unit, the output of described temperature sensor module, GPS module, RFID module is connected with the input of main control unit, and the output of described main control unit is connected with the input of 3G network module.
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| CN115341765A (en) * | 2021-05-14 | 2022-11-15 | 广东博智林机器人有限公司 | Leveling device, leveling robot and construction method of leveling device |
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