CN106760549A - A kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth - Google Patents
A kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth Download PDFInfo
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- CN106760549A CN106760549A CN201611245468.2A CN201611245468A CN106760549A CN 106760549 A CN106760549 A CN 106760549A CN 201611245468 A CN201611245468 A CN 201611245468A CN 106760549 A CN106760549 A CN 106760549A
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- Prior art keywords
- vibrating
- frame
- real
- large arm
- vibrate
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/06—Solidifying concrete, e.g. by application of vacuum before hardening
- E04G21/08—Internal vibrators, e.g. needle vibrators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/02—Handling of bulk concrete specially for foundation or hydraulic engineering purposes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D2600/00—Miscellaneous
- E02D2600/10—Miscellaneous comprising sensor means
Abstract
A kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth, monitoring system is arranged on by driver's cabin, revolving dial, large arm, what forearm and frame of vibrating were constituted vibrates on chassis, frame of vibrating is provided with vibrating spear, gps antenna is provided between revolving dial and large arm, large arm, obliquity sensor is equipped with forearm and frame of vibrating, the both sides of frame of vibrating are provided with infrared ambulator and ultrasonic range finder, also include the electronic compass for measuring course angle, single-chip microcomputer for controlling infrared ambulator and ultrasonic range finder, radio transmission apparatus for transceiving data and the application server for data to be carried out with real-time analytical calculation.During operation of vibrating, obtain GPS location coordinate, inclination data, course angular data, vibrate on off state data and range data in real time using sensor, the vibrating spear in frame that vibrated installed in the chassis that vibrates is positioned in real time, and the insertion depth of vibrating spear is obtained by application server analytical calculation.
Description
Technical field
It is to relate to specifically the invention belongs to concrete works pouring construction quality real-time control field in hydraulic engineering
And a kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth.
Background technology
In concreting engineering, concrete vibrating technique is the critical process maximum on concrete performance influence, is applied
The important ring that real-time monitoring and control are concrete Quality Controls is carried out during work to quality of vibrating.Concrete vibrating it is close
The performance such as the intensity of real degree direct influence concrete, impervious and freeze proof is to building engineering construction quality and very big using producing
Influence.Traditional job site quality of vibrating control, be controlled according to the method for artificial range estimation vibrating spear insertion position,
The data such as insertion angle and insertion depth, so as to ensure that concrete vibrating is closely knit.But in work progress, due to artificial experience control
Often there is deviation and does not exist by the situation store-through of standard construction in system, cause to be easy to duplicate in process of vibrating vibrate,
The problems such as leakage is shaken, owed to shake and insertion depth not up to standard, these situations are likely to result in the mass defect of concrete, or even as safety
Hidden danger.Therefore need using automation, precision, intelligentized technological means monitoring vibrating spear vibrate position and insertion it is deep
Degree, control is vibrated the construction quality of vibrating of chassis.
At present, research of the survey and design research institute in Chengdu to the real-time positioning and insertion depth monitoring technology of the chassis that vibrates takes
Obtained certain achievement, it is proposed that effective depth intelligence that one kind vibrates chassis real-time monitoring alignment system and method and one kind is vibrated
Detection method, realizes vibrating spear and vibrates the monitor in real time of position and insertion depth.But these methods are still present some not
Foot, installing inconvenient, impacted, the single rangefinder of the meeting of orientation when satellite-signal is weak performance such as positioning and directional aerial has limitation
Deng.
The content of the invention
In order to overcome the above not enough, the purpose of the present invention is directed to during concrete works pouring construction the chassis that vibrates and shakes
Smash quality Control, there is provided a kind of monitor in real time system of real-time, accurate, automation vibrate chassis positioning and insertion depth
System and monitoring method.Vibrate chassis positioning and the insertion depth monitoring method provided using the present invention, in the process of operation of vibrating
In, obtain GPS location coordinate, inclination data, course angular data, vibrate on off state data and distance in real time using sensor
Data, position in real time to integrated installation in the vibrating spear that the chassis that vibrates vibrates in frame, and by application server analytical calculation
Obtain the insertion depth of vibrating spear.So as to effectively control job site leakage is shaken, owed to shake, repeat vibrate it is not up to standard with insertion depth
Problem, overcome conventional method cannot monitor in real time and record vibrate insertion point position, monitoring vibrating spear spatial attitude and insert
Enter depth and record the shortcoming of work progress data of vibrating.
The purpose of the present invention is achieved through the following technical solutions：
A kind of real-time monitoring system of vibrate chassis positioning and insertion depth, is arranged on by driver's cabin, revolving dial, big
Arm, forearm and frame of vibrating composition vibrate on chassis, and the frame of vibrating is provided with vibrating spear, the revolving dial with it is described
Gps antenna is provided between large arm, obliquity sensor is equipped with the large arm, forearm and frame of vibrating, the frame of vibrating
Both sides are provided with infrared ambulator and ultrasonic range finder, also including the electronic compass for measuring course angle, for the control
The single-chip microcomputer of infrared ambulator processed and ultrasonic range finder, the radio transmission apparatus for transceiving data and for entering to data
The application server of the real-time analytical calculation of row.
A kind of positioning and monitoring method of the real-time monitoring system of vibrate chassis positioning and insertion depth, comprises the following steps：
(1) positions the coordinate of large arm and revolving dial junction O using gps antenna in real time, is determined using electronic compass big
The horizontal sextant angle of arm and direct north, large arm, forearm is obtained using obliquity sensor and vibrate frame and vertical direction in real time
Angle；
(2) is according to the angle of the coordinate of junction O, horizontal sextant angle, large arm and vertical direction, and large arm dimensioning
Very little data, calculate the coordinate P (x that large arm is connected joint pivot with forearm1,y1,z1)；
(3) is according to the angle of horizontal sextant angle, forearm and vertical direction, coordinate P and P to forearm and frame upper table of vibrating
The distance of face center Q, calculates the coordinate Q (x of Q2,y2,z2)；
(4) passes through coordinate Q (x2,y2,z2), the angle and the three-dimensional body number of frame of vibrating of frame of vibrating and vertical direction
According to obtaining the coordinate on vibrate each vibrating spear top and frame junction of vibrating in frame in real time；
(5) is according to the coordinate of vibrating spear top and frame junction of vibrating, the angle of frame of vibrating and vertical direction and shakes
The physical dimension data of tamper, the coordinate at any point on each vibrating spear is calculated by application server, finally gives institute
There is the real-time spatial attitude of vibrating spear.
A kind of deep monitored method of the real-time monitoring system of vibrate chassis positioning and insertion depth, comprises the following steps：
A. program is provided with single-chip microcomputer in advance, is realized between infrared ambulator and ultrasonic range finder using program
Handoff functionality；
B. vibrating spear top to the distance of concrete surface is measured in real time using infrared ambulator or ultrasonic range finder
L ', and the data of collection are transmitted to application server via radio transmission apparatus；
C. application server makes the difference with measuring according to the vibrating spear length l for pre-entering apart from l ', by minus knot
Fruit is judged to be not inserted into concrete, and the result more than zero is the insertion depth of vibrating spear, thus just obtains vibrating spear in real time
Insertion depth.
Ultrasonic range finder not from sunlight is used on daytime by Single-chip Controlling in step a, night uses essence
Degree is high, respond fast infrared ambulator.
Compared with prior art, the beneficial effect that technical scheme is brought is：
1. propose vibrate chassis in real time positioning and insertion depth monitoring method, it is achieved thereby that vibrating spear vibrates position and
The automation of insertion depth, precision, intelligentized monitor in real time, for Practical Project quality control on construction has provided efficacious prescriptions
Method.
2.GPS antennas are fixed on revolving dial, install more convenient, and are influenceed smaller by vibrating spear vibration.
3. electronic compass according to earth's magnetic field vibrate the measurement of chassis large arm and direct north horizontal sextant angle, believes with satellite
Number compare, the fluctuating change in earth's magnetic field is negligible, therefore the work antijamming capability of electronic compass is stronger.
4. there is its limitation in the performance of single rangefinder, and infrared ambulator possesses precision more compared to ultrasonic range finder
It is high, respond faster advantage, but strong sunshine can be interfered to measurement, and ultrasonic wave is not influenceed by sunshine, because
This, in order to play two kinds of respective advantages of rangefinder, on daytime using the ultrasonic range finder not influenceed by sunshine, night makes
With infrared ambulator, used by switching to two rangefinders, two kinds of respective advantages of rangefinder can be given full play to, made the best use of the advantages
Keep away short, there is more preferable adaptability to environment.
Brief description of the drawings
Fig. 1 is the schematic diagram that real-time locating and monitoring is carried out to the chassis that vibrates.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the schematic diagram that real-time deep monitoring is carried out to the chassis that vibrates.
Fig. 4 is the side view of Fig. 3.
Specific embodiment
With reference to embodiment and accompanying drawing, technology of the invention and method are described in detail.But this should not be interpreted as this hair
The scope of bright above-mentioned theme is only limitted to following embodiment.Without departing from the idea case in the present invention described above, according to ability
Various replacements or change that domain ordinary technical knowledge and customary means are made, all should be included within the scope of the invention.
In this example, Fig. 1 and Fig. 2 show the real-time positioning and monitoring method schematic diagram of the chassis that vibrates, and Fig. 3 and Fig. 4 show and shakes
Smash chassis insertion depth method for real-time monitoring schematic diagram.
The specific installation method of monitoring system is：Selected reference point simultaneously sets up GNSS positioning differential reference stations in the chassis that vibrates
Large arm installs GPS disk aerials with revolving dial junction, No. 1 obliquity sensor is installed in the front half section of large arm, in forearm
No. 2 obliquity sensors are installed in middle part, and No. 3 obliquity sensors are installed in the frame left side that vibrates, and electronic compass is arranged on and drives
Sail on the platform immediately ahead of in the middle of interior, all of device data line finally is all integrated to be connected to and is arranged in driver's cabin
Radio transmission apparatus on.
The specific installation method of distance-measuring equipment is：Infrared ambulator is installed on the left of frame of vibrating, on the right side of frame of vibrating
Ultrasonic range finder is installed, two axis of rangefinder are maintained in unified plane with the axis of all vibrating spears, and are ensured
The emission port edge of rangefinder aligns with vibrating spear top plan, and two rangefinders are by data wire and are arranged in driver's cabin
Single-chip microcomputer is connected, by the switching between chip microcontroller rangefinder, then by single-chip microcomputer by data wire collect away from
Radio transmission apparatus are transferred to from data.
In this example, the real-time positioning and monitoring method specific works step of the chassis that vibrates is as follows：
The coordinate O ' (x, y, z) of the real-time locator head disk of step 1, GPS disk aerials, the obliquity sensor reality in large arm
When measure inclination angle a, the obliquity sensor on forearm measures inclination angle b in real time, and the obliquity sensor in frame that vibrates in real time incline by measurement
Angle c, electronic compass measures the horizontal sextant angle A of vibrator large arm and direct north in real time, and radio transmission apparatus are real-time by what is measured
By wireless network transmissions to application server after data packing.
Step 2, application server are analyzed calculating to the data for receiving.First, it is high according to known disk aerial
The coordinate O ' (x, y, z) of degree L and top disk, then large arm and revolving dial junction coordinate are O (x, y, z-L), with reference to advance
The physical dimension data angle d of the large arm of input and two connection joint pivot apart from L1, calculate large arm and forearm
Connect the coordinate P (x of joint pivot1,y1,z1), formula is
x1=x+L1sinAcos(90°+a-d)
y1=y+L1cosA cos(90°+a-d)
z1=z+L1sin(90°+a-d)
Step 3, obtain P point coordinates after, according to the distance of point P coordinates and P to forearm and the frame upper surface center Q that vibrates
L2, calculate the coordinate Q (x at frame upper surface center of vibrating2,y2,z2), formula is
x2=x1+L2sinAsinb
y2=y1+L2cosAsinb
z2=z1-L2cosb
Step 4, obtain Q point coordinates after, relative to Q points be fixed and known according to each vibrating spear position in frame of vibrating
, vibrating spear length is also known, further according to the frame inclination angle c that vibrates for measuring, thus can obtain all vibrating spears and takes up an official post
Anticipate the coordinate of a bit.
In this example, chassis insertion depth method for real-time monitoring specific works step of vibrating is as follows：
Step 1, single-chip microcomputer open and close infrared ambulator and ultrasonic wave from rangefinder according to the time timing set in program,
And the real-time range data that will be measured are transferred to radio transmission apparatus.
By wireless network transmissions to application server after the real time data packing that step 2, radio transmission apparatus will be measured.
Service end in step 3, application server is analyzed calculating to the real-time range data for receiving.First, will
The length data l of vibrating spear with measure poor apart from l ', obtain difference DELTA=l '-l.
Step 4 and then, difference DELTA is compared with 0, if Δ≤0, service end judge vibrating spear be not inserted into concrete, insert
Enter depth and be calculated as 0；If Δ>0, then service end judge vibrating spear be inserted into concrete, insertion depth is Δ.
The present invention is not limited to embodiments described above.Description to specific embodiment above is intended to describe and says
Bright technical scheme, above-mentioned specific embodiment is only schematical, is not restricted.This is not being departed from
In the case of invention objective and scope of the claimed protection, one of ordinary skill in the art may be used also under enlightenment of the invention
The specific conversion of many forms is made, these are belonged within protection scope of the present invention.
Claims (4)
1. it is a kind of vibrate chassis positioning and insertion depth real-time monitoring system, be arranged on by driver's cabin, revolving dial, large arm,
What forearm and frame of vibrating were constituted vibrates on chassis, it is characterised in that the frame of vibrating is provided with vibrating spear, and the revolution is put down
Gps antenna is provided between platform and the large arm, obliquity sensor is equipped with the large arm, forearm and frame of vibrating, it is described to shake
The both sides of stamper frame are provided with infrared ambulator and ultrasonic range finder, also including the electronic compass for measuring course angle, use
In the control infrared ambulator and the single-chip microcomputer of ultrasonic range finder, the radio transmission apparatus for transceiving data and it is used for
Data are carried out with the application server of real-time analytical calculation.
2. according to claim 1 it is a kind of vibrate chassis positioning and insertion depth real-time monitoring system locating and monitoring side
Method, it is characterised in that comprise the following steps：
(1) positions the coordinate of large arm and revolving dial junction O in real time using gps antenna, using electronic compass determine large arm with
The horizontal sextant angle of direct north, large arm, forearm is obtained using obliquity sensor and the angle of vibrate frame and vertical direction in real time；
(2) is according to the angle of the coordinate of junction O, horizontal sextant angle, large arm and vertical direction, and large arm physical dimension number
According to calculating the coordinate P (x that large arm is connected joint pivot with forearm1,y1,z1)；
(3) is according in the angle of horizontal sextant angle, forearm and vertical direction, coordinate P and P to forearm and frame upper surface of vibrating
The distance of heart Q, calculates the coordinate Q (x of Q2,y2,z2)；
(4) passes through coordinate Q (x2,y2,z2), the angle and the three-dimensional body data of frame of vibrating of frame of vibrating and vertical direction,
The coordinate on vibrate each vibrating spear top and frame junction of vibrating in frame is obtained in real time；
(5) angles and vibrating spear of the according to vibrating spear top and the coordinate, frame of vibrating and vertical direction of frame junction of vibrating
Physical dimension data, the coordinate at any point on each vibrating spear is calculated by application server, finally give all shaking
The real-time spatial attitude of tamper.
3. according to claim 1 it is a kind of vibrate chassis positioning and insertion depth real-time monitoring system deep monitored side
Method, it is characterised in that comprise the following steps：
A. program is provided with single-chip microcomputer in advance, cutting between infrared ambulator and ultrasonic range finder is realized using program
Change function；
B. vibrating spear top is measured in real time to concrete surface apart from l ' using infrared ambulator or ultrasonic range finder, and
The data of collection are transmitted to application server via radio transmission apparatus；
C. application server makes the difference with measuring according to the vibrating spear length l for pre-entering apart from l ', and minus result is sentenced
It is set to and is not inserted into concrete, the result more than zero is the insertion depth of vibrating spear, thus just obtains the insertion of vibrating spear in real time
Depth.
4. according to claim 3 it is a kind of vibrate chassis positioning and insertion depth real-time monitoring system deep monitored side
Method, it is characterised in that ultrasonic range finder not from sunlight, night are used on daytime by Single-chip Controlling in step a
Service precision is high, respond fast infrared ambulator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611245468.2A CN106760549A (en) | 2016-12-29 | 2016-12-29 | A kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth |
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| CN201611245468.2A CN106760549A (en) | 2016-12-29 | 2016-12-29 | A kind of real-time monitoring system and monitoring method of vibrate chassis positioning and insertion depth |
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Cited By (6)
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| CN108519613A (en) * | 2018-04-09 | 2018-09-11 | 山东天星北斗信息科技有限公司 | A kind of auger excavator auxiliary construction system and its construction method |
| CN110412954A (en) * | 2019-07-12 | 2019-11-05 | 山东四维卓识信息技术有限公司 | A kind of board-plugging device foundation construction monitoring system and method |
| CN110528362A (en) * | 2019-08-26 | 2019-12-03 | 逯龙 | A kind of Municipal Engineering Construction concrete compaction device |
| CN113310392A (en) * | 2021-07-02 | 2021-08-27 | 中国电建集团成都勘测设计研究院有限公司 | Method for sensing vibration key index of miniaturized intelligent vibration equipment |
| CN114182604A (en) * | 2021-11-16 | 2022-03-15 | 河北工业大学 | Vibrating robot |
| CN114193584A (en) * | 2021-11-24 | 2022-03-18 | 中交武汉港湾工程设计研究院有限公司 | Concrete vibrating spear conveying device with collision prevention function for pouring construction |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108519613A (en) * | 2018-04-09 | 2018-09-11 | 山东天星北斗信息科技有限公司 | A kind of auger excavator auxiliary construction system and its construction method |
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Application publication date: 20170531 |