CN106839980A - Rockfill Dam material transporter amount monitoring method - Google Patents
Rockfill Dam material transporter amount monitoring method Download PDFInfo
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- CN106839980A CN106839980A CN201710004792.3A CN201710004792A CN106839980A CN 106839980 A CN106839980 A CN 106839980A CN 201710004792 A CN201710004792 A CN 201710004792A CN 106839980 A CN106839980 A CN 106839980A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The present invention relates to transport vehicle transporter amount monitoring method, to propose that one kind can accurately identify information of vehicles and measure its transporter amount, and the monitoring method to monitor terminal to assist construction feedback with coordinate can be passed the information on.The technical solution adopted by the present invention is that Rockfill Dam material transporter amount monitoring method, step is as follows：(1) using integrated RF identification RFID (Radio Frequency Identification) technology identification information of vehicles；(2) point cloud acquisition is carried out using the photogrammetric module of infrared laser；(3) data processing, storage and transmission are carried out using industrial computer：When the scanning of transport vehicle transporter amount is carried out using three-dimensional infrared laser, the cloud data information that transport vehicle transports dam material surface is obtained by infrared laser scanner, industrial computer is sent to afterwards.Present invention is mainly applied to the monitoring of transport vehicle transporter amount.
Description
Technical field
The present invention relates to transport vehicle transporter amount monitoring method.More particularly to transporter amount in a kind of large-scale rockfill dam project
Greatly, vehicle deploying is complicated, in the case that each side's relation such as dam material is excavated, transported, filling needs close coordination, can accurately identify
And each dam material transport vehicle transporter amount is measured, and the prison to monitor terminal to assist construction feedback with coordinate can be passed the information on
Prosecutor method.Concretely relate to Rockfill Dam material transporter amount monitoring method.
Background technology
Because hydroelectric development can save the natural resources such as coal, oil, can take in concurrently again flood control, irrigation, shipping, water supply,
Various comprehensive benefits such as aquatic products, tourism, thus the development of current large water conservancy hydroelectric engineering is rapid.And rock-fill dams are used as can
Make full use of local natural material, structure and simple, the adaptable dam type of constructing, with project scale is big, construction monitoring with
The features such as complex management, to strengthen automatic monitoring and the information system management of rock-fill dams construction system, rely on flourish at present
Computer and Internet technology, realize and the digitlization of dam life cycle management information dynamically managed and control.In dam body
In building course, material transport in dam is used as connection material source excavation and a crucial ring of engineering construction, precision, the intelligence measured to its side
Change the emulation of allotment according to quantity, the dynamic command scheduling of dam material transport and the Construction control of reality that monitoring is not only dam material and provide real-time
Data basis, and it is many to serve dam material water-adding system, construction rolling monitoring system, traffic intensity metering etc.
Accessory system, can both strengthen the monitoring and coordination to dam construction intermediate link, can improve what dam was integrally built again
Grasp and planning.
For square measurement, traditional contact measurement complex operation, automaticity are low, human factor result is influenceed compared with
Greatly, therefore it is considered as non-cpntact measurement transporter amount is monitored, at present for the noncontact volume of irregular bulk cargo body
Measurement, its measurement object is mainly directed towards the large-scale stockpiles such as dump, silo, metal mineral aggregate, and its measuring method is numerous, main to include meter
Calculation machine image recognition technology, ultrasonic listening technology and laser scanner technique etc..Shanghai Communications University is known based on computer picture
Other technology, proposition uses video equipment, image capture device and computer measurement system to realize carrying out irregularity stockpile
The purpose of cubing；Changchun University of Science and Technology proposes to rely on laser scanning light principle of triangulation to realize that volume is recognized；Manage Tianjin
Work university is proposed to be carried out the identification of bank surface using laser range finder, stepper motor and stroke sensor etc. and then carries out body
Product is calculated；And consider that a large amount of dust can be produced on Rockfill Dam material transport routes, when commonly being shot using visible ray,
Due to dust effect, noise is also easy to produce, makes photographic quality severe exacerbation, to square measurement very big error can be brought even wrong
By mistake, Tongji University is the influence for overcoming dust noise in tunnel, makes full use of IR wavelength more long than visible ray, with photosensitive effect
Really good, penetration capacity is strong, medium refraction index is small etc. advantage, and close-range photogrammetry is carried out to tunnel deformation using infrared ray.Mesh
Preceding three-dimensional laser scanning technique is widely applied by its excellent properties in engineering mapping field.
But at present still without transport vehicle transporter traffic monitoring device in rock-fill dams processs of construction, and only simply rest on according to
The loading capacity of dam material transport vehicle is simply estimated that this method there may be two kinds of problems：(1) crossing for transporter amount is estimated
With deficient estimation, the former causes the waste of transport resource, and increased the redundancy that job site is coordinated, and the latter needs benefit to send a car
, Cost for Coordination is increased, delay construction speed；(2) accurately measuring for transporter amount is difficult to, one will cause entirely
Dam transportation system reduces the total tune of system because lacking the ring of transporter amount real time data one, secondly because of construction party amount control
The Dam Construction quality that may precisely not cause of system decreases.For this can be accurately identified and quantitative statisticses set forth herein one kind
The monitoring method of each dam material transport vehicle transporter amount, this is monitored to fill up dam material transport vehicle transporter amount in current rockfill dam project
One blank.
The content of the invention
It is contemplated that big for rock-fill dams construction project scale, Ba Liao transportation systems are complicated, realizing large-scale water conservancy
In the case of the emulation of Construction of Hydropower Engineering traffic and transportation system and Visualization, still suffer from transporting Rockfill Dam material at present
Side's amount carries out precisely monitoring to coordinate the situation of this blank of other digitization systems, proposes that one kind can accurately identify vehicle letter
Its transporter amount is ceased and measured, and the monitoring method to monitor terminal to assist construction feedback with coordinate can be passed the information on.
The technical solution adopted by the present invention is that Rockfill Dam material transporter amount monitoring method, step is as follows：
(1) using integrated RF identification RFID (Radio Frequency Identification) technology identification vehicle letter
Breath：The charging of dam material transport vehicle is finished to be left stock ground and travels to transporter amount monitoring device and in being stopped in specified range, now
Transporter amount monitoring system radio frequency induction cog region senses the radio frequency card of vehicle body carrying and then to the prior typing of radio-frequency card
The information of vehicles including car number, model, transport material, loading capacity of transport vehicle is identified；
(2) point cloud acquisition is carried out using the photogrammetric module of infrared laser：Transport vehicle is being carried out using three-dimensional infrared laser
When transporter amount is scanned, non-contact measurement is carried out to appearance vehicle by three-dimensional infrared laser scanner, when system identification car
After the completion of information, single point laser range measurement principle is relied on, start the distance that real time scan transport vehicle loads dam material discretization of half-space surface point
And the angle information of scanning, and then obtain cloud data the set { (x of transport vehicle transporter amounti,yi,zi) | i=1,2 ...,
N }, wherein xi、yi、ziTo put i-th point in cloud of D coordinates value under setting coordinate system, that is, obtain the three-dimensional letter on dam material surface
Breath, for follow-up three-dimensional modeling, side's amount are calculated and provide data basis；
(3) data processing, storage and transmission are carried out using industrial computer：Transport vehicle transport is being carried out using three-dimensional infrared laser
During side's amount scanning, the cloud data information that transport vehicle transports dam material surface is obtained by infrared laser scanner, afterwards by logical
The cloud data information transmission that wire transmission technology or adopting wireless fidelity technology will be obtained in letter system to industrial computer, by industrial computer
Default analysis software completes that the cloud data information for obtaining is carried out denoising and simplified, sets up vehicle-mounted space surface curved die
Type, the analysis work that loading side's amount is accurately obtained by numerical integration, data storage and transmission, fortune are carried out finally by industrial computer
Defeated car information of vehicles is stored in system data with transporter amount data by the self-built low-frequency wireless network transmission in stock ground material source ground
Storehouse, realizes the accurate monitoring of dam material transportation to dam side amount, while passing through network by information of vehicles and side's amount information transmission to monitoring
Terminal is gone and found out what's going on for owner, management and workmen's real-time query.
It is using non-homogeneous B spline curve NURBS (Non- wherein to carry out Surface Fitting according to cloud data
Uniform Rational B-Splines) curve reestablishing method, irregular dam material surface is carried out according to cloud data information
Three-dimensional fine is modeled, and the expression formula of nurbs surface is：
In formula：di,jIt is in the control point of topological matrix；Wi,jIt is control point di,jWeight factor；I and j be respectively u to and v
To the numbering of control point, total divisor and spline base function, i and j be respectively u to v to respectively control point, total divisor and batten
The batten quantity of basic function, Bi,k(u)、Bj,l(v) be respectively along u to k times and along v to l B-spline basic function, they point
Be not defined on u to v to knot vector on：
Bi,kU () basic function is calculated using de Boor-Cox recurrence formula：
K represents exponent number in above formula, and i is sequence number, uiRepresent corresponding node.
Industrial computer software systems set up grid model using raw material profile data is loaded, and mass number can be utilized in conditions permit
In the case of obtaining the dam material quality information that transport vehicle is loaded according to collecting device such as electronic loadometer, transported using acquired dam material
The vehicle-mounted quality of car calculates loading side's amount with contained dam material density information, is compared with surveyed transporter amount, and by adjusting a little
Cloud data surface fitting precision controls error range.
The features of the present invention and beneficial effect are：
(1) blank not having in large-scale rockfill dam project to the monitoring of various dam material transport vehicle transporter amounts has been filled up, to be
System real-time simulation and dam material add water and provide the metering of accurate transport bicycle, integrated planning and the monitoring of the engineering that greatly benefits from.
(2) RFID technique directly can out of doors read transport vehicle information of vehicles, and product can work under severe conditions,
It is low to environmental requirement, and read distance and can control, it is simple portable, it is adaptable to rock-fill dams construction condition.
(3) the more traditional contact measurement method of laser photography measuring method has the advantage that：First, simple to operate, automatic
Change degree is high, improves measurement efficiency；Second, reducing artificial operation, human factor is reduced to the measurement result degree of accuracy
Influence；Third, the side of improve measures accuracy of measurement, while error model can be controlled by adjusting cloud data surface fitting precision
Enclose.
(4) infrared laser photogrammetric survey method has the advantage that compared with traditional photography measuring method：First, engineering transportation road
Middle dust concentration is higher, and infrared ray makes its penetration capacity significantly increase with antijamming capability because of its good anti-medium refraction performance
By force, the image noise of dust generation can be efficiently reduced；Second, IR wavelength is more long than visible ray, photosensitive effect is good；Its
Three, accuracy is good using infrared laser as medium rapidly and efficiently.Therefore general digital measurement precision is overcome low, uncontrollable
The shortcomings of.
(5) it is done step-by-step under digitized main trend in Hydraulic and Hydro-Power Engineering, accurately the monitoring of transporter amount is continuous in real time
The transport of optimization dam and construction monitoring system, are that the integrated planning and co-ordination of dam body construction bring great convenience.
Brief description of the drawings：
Fig. 1 transporter amount monitoring system flow charts.
Fig. 2 transporter amount monitoring system structure Organization Charts.
Fig. 3 transporter amount monitoring device schematic diagrames.
Fig. 4 transporter amount monitoring device threedimensional model design sketch.
Specific embodiment
In view of the shortcomings of the prior art, the technical solution adopted by the present invention is, a kind of transport of Rockfill Dam material transport vehicle
Side's amount monitoring method.System constructing one kind can accurately identify dam material transport vehicle information of vehicles and be convenient for measuring its transporter
The monitoring method of amount, it can obtain the real-time transporter amount data of transport vehicle, and comprehensive with other digitised values analogue techniques
Application is closed, for Construction for Hydroelectric Project provides guidance.
The system is deployed in the exit road on stock ground material source ground, mainly comprising rfid device, photogrammetric apparatus with
Industrial computer.Concrete technical scheme is as follows：
(1) using integrated RF identification RFID (Radio Frequency Identification) technology identification vehicle letter
Breath：The charging of dam material transport vehicle is finished to be left stock ground and travels to transporter amount monitoring device and in being stopped in specified range, now
Transporter amount monitoring system radio frequency induction cog region senses the radio frequency card of vehicle body carrying and then to the prior typing of radio-frequency card
The information of vehicles such as car number, model, transport material, the loading capacity of transport vehicle are identified；
(2) point cloud acquisition is carried out using the photogrammetric module of infrared laser：Transport vehicle is being carried out using three-dimensional infrared laser
When transporter amount is scanned, non-contact measurement is carried out to appearance vehicle by three-dimensional infrared laser scanner, when system identification car
After the completion of information, single point laser range measurement principle is relied on, start the distance that real time scan transport vehicle loads dam material discretization of half-space surface point
And the angle information of scanning, and then obtain cloud data the set { (x of transport vehicle transporter amounti,yi,zi) | i=1,2 ...,
N }, wherein xi、yi、ziTo put i-th point in cloud of D coordinates value under setting coordinate system, that is, obtain the three-dimensional letter on dam material surface
Breath, for follow-up three-dimensional modeling, side's amount are calculated and provide data basis；
(3) data processing, storage and transmission are carried out using industrial computer：Transport vehicle transport is being carried out using three-dimensional infrared laser
During side's amount scanning, the cloud data information that transport vehicle transports dam material surface, Zhi Houtong can be obtained by infrared laser scanner
Cloud data information transmission that wire transmission technology in communication system or adopting wireless fidelity technology will obtain is crossed to industrial computer, by work
The default analysis software of control machine completes that the cloud data information for obtaining is carried out denoising and simplified, sets up vehicle-mounted space surface curved surface
Model, the analysis work that loading side's amount is accurately obtained by numerical integration, data storage and transmission are carried out finally by industrial computer,
Transport vehicle information of vehicles is stored in system number with transporter amount data by the self-built low-frequency wireless network transmission in stock ground material source ground
According to storehouse, the accurate monitoring of dam material transportation to dam side amount is realized, while information of vehicles can be measured into information transmission with side by network
Gone and found out what's going on for owner, management and workmen's real-time query to monitor terminal, and work progress is made more by feedback and control
Plus rational and orderly, further perfect digital model of dam monitoring.
Its point cloud data denoising purpose be reduced by the smoothing of data tested complex shape degree, instrumental systematic errors,
The influence to 3 d measurement data quality such as external factor, and cloud data simplify purpose be will be highly dense by method for resampling
The cloud data of degree carries out taking out close, reduces data redundancy, and then improve the treatment effeciency of 3 d measurement data.
Wherein according to cloud data carry out Surface Fitting have such as based on quadratic polynomial interpolation surface fitting, be based on
The smooth surface fitting of implicit function and the burst whole smooth surface fitting based on spline function etc..Consider accuracy
With computational efficiency, non-homogeneous B spline curve (Non-Uniform Rational B-Splines, letter can be used herein
Claim NURBS) curve reestablishing method, three-dimensional fine is carried out to the irregular dam material surface of transport vehicle according to cloud data information and is built
Mould, to ensure to construct interpolation and put the curve precision and Curve Reconstruction quality at cloud.
The expression formula of nurbs surface is：
In formula：di,jIt is in the control point of topological matrix；Wi,jIt is control point di,jWeight factor；I and j be respectively u to and v
To the numbering of control point, total divisor and spline base function, i and j be respectively u to v to respectively control point, total divisor and batten
The batten quantity of basic function, Bi,k(u)、Bj,l(v) be respectively along u to k times and along v to l B-spline basic function, they point
Be not defined on u to v to knot vector on：
Bi,kU () basic function is calculated using de Boor-Cox recurrence formula：
K represents exponent number in above formula, and i is sequence number, uiRepresent corresponding node.
Industrial computer software systems set up grid model using raw material profile data is loaded, and quality can be utilized in conditions permit
In the case that data acquisition equipment such as electronic loadometer obtain the quality information that transport vehicle is loaded, it is possible to use acquired dam material transport
The vehicle-mounted quality of car calculates loading side's amount with dam material density information, is compared with surveyed transporter amount, and by adjusting point cloud number
Error range is controlled according to surface fitting precision, to accomplish " dual fail-safe " that transporter amount data result is obtained.
This patent is described further below in conjunction with the accompanying drawings：
As shown in figure 3, this transport vehicle transporter amount supervising device, including door frame 1, less radio-frequency inductor 2, three-dimensional are infrared
Laser scanner 3 and industrial computer 4, the three-dimensional infrared laser scanner 3 are stopped at nothing substantially in belonging to apart from laser scanner, vehicle
Between line radio frequency induction device 2 and three-dimensional infrared laser scanner, less radio-frequency inductor 2 is located at driver's window portion position to facilitate department
Machine is swiped the card and then system is obtained information of vehicles, and the three-dimensional infrared laser scanner 3 is swept with external position positioned at the tailstock with facilitating
Transport vehicle wagon box depth is retouched, the door frame column of the door frame 1 or so two is parallel to each other, and the height of door frame 1 should be higher than that transport vehicle vehicle body
Certain distance to enable the vehicle to pass through door frame 1 and three-dimensional infrared laser can be complete to dam material irregular surface scanning,
Three-dimensional infrared laser scanner 3 is fixed on door frame middle part.
Specific workflow is as follows：
1. transport vehicle charging is finished to leave stock ground and travel and stopped to transporter amount monitoring device and in the range of scanning constant
Car；
2. the radio frequency card of vehicle body identifies that radio-frequency card is recorded in advance with transporter amount monitoring system radio frequency induction cog region
The information of vehicles such as the car number, model, transport material, the loading capacity that enter；
3. radio-frequency card inductor is to industrial computer transfer data information and triggers the photogrammetric module scans mechanism of infrared laser；
4. the photogrammetric module of infrared laser utilizes single point laser range measurement principle, and dam material irregular surface is transported to transport vehicle
Carry out point cloud acquisition；
5. the cloud data information that three-dimensional infrared laser scanner is obtained by wire transmission technology in communication system or
Adopting wireless fidelity technology is sent to industrial computer；
6. pass through the denoising of cloud data information of the default analysis software completion of industrial computer to acquisition and simplify；
7. vehicle-mounted space surface surface model is set up using Surface Fitting according to cloud data；
8. accurate loading side is obtained by numerical integration to measure；
If 9. conditions permit, can by quality data collection equipment such as electronic loadometer obtain the vehicle-mounted qualitative data of transport vehicle with
Surveyed transporter amount is checked；
10. industrial computer carries out data storage and transmission, by the stock ground material source self-built low-frequency wireless network in ground by transport vehicle
Information of vehicles is stored in system database with transporter amount data transfer；
11. release signals make scanned transport vehicle pass through；
Information of vehicles is supplied owner, management and constructor by 12. by communication network with side's amount information transmission to monitor terminal
Member's real-time query is gone and found out what's going on, and makes work progress more rational and orderly by feedback and control；
13. transport bicycle side amount information can serve such as dam material water-adding system, construction rolling monitoring system, traffic intensity
Many accessory systems such as metering.
At present in large hydraulic engineering construction, construction of hydro project gradually tends to precision, intellectuality, set forth herein one
The method for planting the non-contact measurement method based on infrared photography measurement to realize transporter amount monitoring in heavy construction, it is possible to increase
The accuracy of dam material transportation management, ageing and harmony, improve the function of numeral dam system, advance Hydraulic and Hydro-Power Engineering number
Word, informationization, the process of network management.
Claims (3)
1. a kind of Rockfill Dam material transporter amount monitoring method, it is characterized in that, step is as follows：
(1) using integrated RF identification RFID (Radio Frequency Identification) technology identification information of vehicles：
The charging of dam material transport vehicle is finished to be left stock ground and travels to transporter amount monitoring device and in being stopped in specified range, now transport
Side's amount monitoring system radio frequency induction cog region senses the radio frequency card of vehicle body carrying and then to the transport of the prior typing of radio-frequency card
The information of vehicles including car number, model, transport material, loading capacity of car is identified；
(2) point cloud acquisition is carried out using the photogrammetric module of infrared laser：Transport vehicle transport is being carried out using three-dimensional infrared laser
During side's amount scanning, non-contact measurement is carried out to appearance vehicle by three-dimensional infrared laser scanner, when system identification vehicle letter
After the completion of breath, rely on single point laser range measurement principle, start real time scan transport vehicle load dam material discretization of half-space surface point distance and
The angle information of scanning, and then obtain cloud data the set { (x of transport vehicle transporter amounti,yi,zi) | i=1,2 ..., n }, its
Middle xi、yi、ziTo put i-th point in cloud of D coordinates value under setting coordinate system, that is, the three-dimensional information on dam material surface is obtained, be
Follow-up three-dimensional modeling, side's amount calculating offer data basis；
(3) data processing, storage and transmission are carried out using industrial computer：Transport vehicle transporter amount is being carried out using three-dimensional infrared laser
During scanning, the cloud data information that transport vehicle transports dam material surface is obtained by infrared laser scanner, afterwards by communication system
The cloud data information transmission that wire transmission technology or adopting wireless fidelity technology will be obtained in system is default by industrial computer to industrial computer
Analysis software complete the cloud data information for obtaining is carried out denoising and simplified, set up vehicle-mounted space surface surface model, logical
The analysis work that numerical integration accurately obtains loading side's amount is crossed, data storage is carried out with transmission, transport vehicle finally by industrial computer
Information of vehicles is stored in system database with transporter amount data by the self-built low-frequency wireless network transmission in stock ground material source ground, real
The accurate monitoring of existing dam material transportation to dam side amount, while being supplied information of vehicles with side's amount information transmission to monitor terminal by network
Owner, management and workmen's real-time query are gone and found out what's going on.
2. Rockfill Dam material transporter amount monitoring method as claimed in claim 1, it is characterized in that, according to cloud data march
Face fitting process is using non-homogeneous B spline curve NURBS (Non-Uniform Rational B-Splines) curved surface weight
Construction method, three-dimensional fine modeling, the expression formula of nurbs surface are carried out according to cloud data information to irregular dam material surface
For：
In formula：di,jIt is in the control point of topological matrix；Wi,jIt is control point di,jWeight factor；I and j be respectively u to v to control
The numbering of point processed, total divisor and spline base function, i and j be respectively u to v to respectively control point, total divisor and spline Basis letter
Several batten quantity, Bi,k(u)、Bj,l(v) be respectively along u to k times and along v to l B-spline basic function, they are fixed respectively
Justice u to v to knot vector on：
Bi,kU () basic function is calculated using de Boor-Cox recurrence formula：
K represents exponent number in above formula, and i is sequence number, uiRepresent corresponding node.
3. Rockfill Dam material transporter amount monitoring method as claimed in claim 1, it is characterized in that, industrial computer software systems are utilized
Load raw material profile data and set up grid model, fortune can be obtained using quality data collection equipment such as electronic loadometer in conditions permit
In the case of the dam material quality information that defeated car is loaded, using the acquired vehicle-mounted quality of dam material transport vehicle and contained dam material density information
Loading side's amount is calculated, is compared with surveyed transporter amount, and error is controlled by adjusting cloud data surface fitting precision
Scope.
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| CN108417017A (en) * | 2018-02-23 | 2018-08-17 | 天津大学 | Based on dipper system hydroelectric project dam material transportational process real-time monitoring system and method |
| CN109765568A (en) * | 2019-01-22 | 2019-05-17 | 中国矿业大学 | A kind of device and method using laser ranging technique measurement vehicle loading side amount |
| CN109682301A (en) * | 2019-01-30 | 2019-04-26 | 中铁工程装备集团隧道设备制造有限公司 | Square amount detecting device, method and the cantilever excavator transported for volume of material cutting in engineering machinery |
| CN109682301B (en) * | 2019-01-30 | 2024-05-07 | 中铁工程装备集团隧道设备制造有限公司 | Square quantity detection device and method for cutting and transporting material volume in engineering machinery and cantilever tunneling machine |
| CN109934170A (en) * | 2019-03-13 | 2019-06-25 | 武汉大学 | A kind of mine resources statistical method based on computer vision |
| CN112904769A (en) * | 2021-01-19 | 2021-06-04 | 四川科路泰交通科技有限公司 | Construction monitoring system and monitoring method for same-layer different-road pavement |
| CN113139721A (en) * | 2021-04-16 | 2021-07-20 | 深圳市艾赛克科技有限公司 | Aggregate storage yard management system and method |
| CN113139721B (en) * | 2021-04-16 | 2023-12-19 | 深圳市艾赛克科技有限公司 | Aggregate storage yard management system and method |
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