CN110426995B - Monitoring and analyzing method for large-circulation blending process of gravel soil material - Google Patents
Monitoring and analyzing method for large-circulation blending process of gravel soil material Download PDFInfo
- Publication number
- CN110426995B CN110426995B CN201910607116.4A CN201910607116A CN110426995B CN 110426995 B CN110426995 B CN 110426995B CN 201910607116 A CN201910607116 A CN 201910607116A CN 110426995 B CN110426995 B CN 110426995B
- Authority
- CN
- China
- Prior art keywords
- blending
- material throwing
- area
- throwing
- shoveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000463 material Substances 0.000 title claims abstract description 252
- 238000002156 mixing Methods 0.000 title claims abstract description 205
- 238000000034 method Methods 0.000 title claims abstract description 124
- 239000002689 soil Substances 0.000 title claims abstract description 58
- 238000012544 monitoring process Methods 0.000 title claims abstract description 48
- 238000010276 construction Methods 0.000 claims abstract description 81
- 230000000007 visual effect Effects 0.000 claims abstract description 19
- 238000005516 engineering process Methods 0.000 claims abstract description 8
- 238000010223 real-time analysis Methods 0.000 claims abstract description 6
- 210000000245 forearm Anatomy 0.000 claims description 16
- 239000000203 mixture Substances 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 239000013077 target material Substances 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 2
- 238000012800 visualization Methods 0.000 claims 2
- 238000007405 data analysis Methods 0.000 abstract description 9
- 238000004458 analytical method Methods 0.000 abstract description 5
- 238000005728 strengthening Methods 0.000 abstract description 4
- 238000004886 process control Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003204 osmotic effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32368—Quality control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a monitoring and analyzing method for a large-circulation blending process of gravel soil materials, which comprises three parts of data acquisition in the blending process, data analysis in the blending process and feedback control on blending quality; the blending process data analysis comprises large-cycle blending process logic judgment, real-time analysis of automatically acquired data and visual expression of a real-time blending process. The invention provides a monitoring and analyzing method for a large-circulation blending process of gravel soil materials, which aims at a large-circulation blending construction process of blending machinery in a gravel soil material yard based on the increasingly developed digital monitoring means and data analysis technology, and the method is used for carrying out digital real-time monitoring and analysis on the blending construction process so as to ensure that the large-circulation blending construction process in the field meets the filling technical requirements, thereby strengthening the process control of the safe construction of a dam.
Description
Technical Field
The invention relates to a real-time monitoring and analyzing technology for blending construction quality of large-scale hydropower engineering, in particular to a blending process monitoring and analyzing method under a gravel soil material large-circulation blending construction process.
Background
The core-wall rock-fill dam has the advantages of convenience in obtaining materials nearby, low manufacturing cost, adaptability to complex terrains, good earthquake resistance and the like, and is widely applied at present. In recent years, China has built and will build a batch of 200m or even 300m high earth-rock dams. The gravel soil material has the advantages of good compaction performance, high shear strength, large filling density, rich storage capacity and the like, and is widely used as an anti-seepage material for a core wall area of a high earth-rock dam, such as foreign barrages (taggestein, 335m), nuilex (taggestein, 300m) and the like, domestic two estuaries (295m), double estuaries (314m), American (315m), long river dam (240m), glutinous ferry bundle (263m), waterfall ditch (186m) and the like.
Along with the continuous increase of the height of the dam, the dam body material is subjected to complex occurrence environment effects such as high stress, high osmotic pressure and the like, the gravel soil material in the core wall area of the dam needs to meet the requirements in various methods such as bearing capacity, seepage-proofing performance, shearing resistance and the like, and plays a vital role in the structural stability and seepage-proofing safety of the dam. According to related test requirements and geotechnical test regulations, the control requirements of an engineering site on a gravel-mixed soil material source are mainly embodied in the aspects of particle size distribution, water content and the like, such as the gravel soil material requirement P of a hydropower station with two river mouths5Content (gravel particle diameter)>5mm particle content) is strictly controlled within the range of 30-50 percent, and the water content is strictly controlledMade at Wop-1.5％≤W≤Wop+2.5％(WopOptimal moisture content). When the natural gravel soil material cannot meet the requirements, the gravel material and the soil material need to be blended and modified according to a certain proportion through a blending machine so as to meet the filling technical requirements.
The blending of the gravel soil materials is mainly carried out through a blending machine, in order to accurately monitor the blending times of the gravel soil materials and reduce the interference of human factors, researchers find out an automatic information acquisition device (patent number: CN106774097A) for the blending process of the gravel soil materials, and realize the real-time automatic acquisition of the information of the blending process of the gravel soil materials. The device can automatically identify the blending action of the large arm and the small arm of the machine, transmits action and position information to a rear data center in real time through the wireless transmission module, and obtains the blending frequency of the gravel soil materials through calculation and analysis. However, the invention is primarily directed to monitoring of a construction process in which the gravel is blended in situ. For more complex construction schemes, such as a large circulation blending construction process, i.e., gravel and soil materials are more uniformly mixed and easier to construct by large circulation back-blending, a new calculation scheme needs to be developed.
At present, no construction process monitoring and analyzing method for the core-wall rock-fill dam gravel soil material large-circulation blending construction process exists at home and abroad, and the monitoring requirement of the site complex blending construction process cannot be met.
Disclosure of Invention
For a high core wall rock-fill dam, the blending quality of core wall gravel soil materials is particularly important for the safety of dam construction and long-term operation, and in order to reduce the uncontrollable property brought by artificial monitoring and meet the construction monitoring requirement which is continuously benefited at present, the invention provides a monitoring and analyzing method for the large circulation blending process of gravel soil materials aiming at the large circulation blending construction process of blending machinery in a gravel soil material yard based on the increasingly developed digital monitoring means and data analysis technology, and the digital real-time monitoring and analysis are carried out on the blending construction process so as to ensure that the field large circulation blending construction process meets the filling technical requirement, thereby strengthening the process control of the safety construction of the dam.
The technical scheme adopted by the invention is as follows: a monitoring and analyzing method for a gravel soil material large circulation blending process comprises the following steps:
and 2, analyzing the data of the blending process, comprising the following steps:
step 2-1, large-cycle blending process logic judgment: summarizing a logic rule of the large-cycle blending construction method;
step 2-2, automatically acquiring real-time analysis of data: analyzing and obtaining the material shoveling area position and the material throwing area position according to the blending process data collected in the step 1 and the logic rule of the large-cycle blending construction method summarized in the step 2-1;
step 2-3, visual expression of the real-time blending process: analyzing the material shoveling area position and the material throwing area position obtained in the step 2-2 in a grid form, and realizing separate visual display and query of the material shoveling times of the material shoveling area position and the material throwing times of the material throwing area position based on a visual and interactive technology;
and 3, mixing quality feedback control: and (3) performing any area blending pass query on the final dam material throwing area position through the visual display and query in the step 2-3, generating a blending pass qualified rate graph report, and processing the area which does not meet the blending construction requirement so as to ensure that the quality of all the dam-climbing gravel soil materials meets the filling technical requirement.
Further, in the step 1, the blending process data collected by the gravel-doped soil blending process information automatic collection device comprises mechanical dynamic position information, positions of a big arm and a small arm of a blending construction machine and operation state information; the automatic information acquisition device for the gravel-doped soil material blending process sends the acquired blending process data to the master control center server through the wireless communication radio station.
Further, in step 1, the device for automatically acquiring the information of the gravel-doped soil blending process comprises:
the antenna of the main GPS satellite positioning module is arranged at the top of the doped mechanical cab;
the auxiliary GPS satellite positioning module is arranged on a platform at a connecting node between a blending mechanical large arm and a blending mechanical small arm, and meanwhile, the antenna of the auxiliary GPS satellite positioning module and the antenna of the main GPS satellite positioning module are kept on a straight line parallel to the direction of a blending mechanical vehicle body;
the antenna of a sending module of the wireless communication radio station is arranged at the top of the mechanical cab;
the antenna of the RTK differential radio module is arranged at the top of the blending mechanical cab;
the mechanical forearm operation monitoring module is mounted on a plane on the back of the blended mechanical forearm; the mechanical forearm operation monitoring module adopts an inclination angle sensor.
Further, in the step 2-1, the large-cycle blending construction method comprises the following steps: the blending machine shovels materials in a rectangular mode, then freely throws the mixture down to form a circular area through the dumping, fully mixes the mixture in a material throwing mode, and repeats the operation for three times until the mixture is freely blended and blended for three times, so that one-time large-cycle blending construction is completed.
Further, in the step 2-1, the logic rule summary of the large-cycle blending construction method is as follows: when the blending mechanical boom node is lower than the set relative height, judging that the blending mechanical shovels materials, wherein the position of the bucket at the moment is regarded as the shoveling area position, the shoveling area position is rectangular, the length is the width of the bucket, and the width is the depth of the bucket; when the bucket is opened, the blending machine is judged to throw materials, the position of the bucket at the moment is regarded as the position of a material throwing area, the position of the material throwing area is circular, and the size of the material throwing area is converted according to the equal area principle.
Further, in step 2-3, the shoveling area position and the throwing area position obtained in step 2-2 are analyzed in a grid form, and separate visual display and query of shoveling times of the shoveling area position and throwing times of the throwing area position are realized based on a visual and interactive technology, specifically: dividing the blending construction stock ground bin surface into grids to form a blending construction stock ground bin surface grid, and respectively corresponding the shoveling area position and the throwing area position obtained in the step 2-2 to the blending construction stock ground bin surface grid:
when the area of the grid covered by the shoveling area position exceeds half of the area of the grid, marking the grid, thereby displaying all shoveling area positions on the grid of the blending construction stock ground bin surface, and recording the shoveling times of each shoveling area position;
in addition, when the area of the grid covered by the material throwing area position exceeds half of the area of the grid, marking the grid, displaying all the material throwing area positions on the grid of the bin surface of the blending construction stock ground, and calculating the average material throwing times of the grid at each material throwing area position by a material throwing area position material throwing time calculation method; when the material is thrown at the same material throwing area position, calculating to obtain the average material throwing times of the material shoveling area position and the material throwing area position before material throwing according to a material throwing time calculating method at the material throwing area position, when the average material throwing times of the material throwing area position before material throwing is not 0, the recorded actual material throwing times of the material throwing area position is the minimum value between the material throwing times of the material throwing area position before material throwing and the material throwing times of the material to be thrown, when the average material throwing times of the material throwing area position before material throwing is 0, the recorded actual material throwing times of the material throwing area position is the material throwing times of the material to be thrown, and circulating until the blending is finished according to the recording principle of the actual material throwing times of the material throwing area position when the average material throwing times of the material throwing area position before material throwing is not 0 or is 0 to obtain the actual material throwing times of the target material throwing area position; and the separate visual display and query of the shoveling times of all shoveling area positions and the throwing times of all throwing area positions are realized.
The material throwing frequency calculation method of the material throwing area position is shown as the following formula:
in the formula (I), the compound is shown in the specification,
the average material throwing times of the material shoveling area position are obtained; x is the number ofiMarking the material throwing times of the ith grid in the material shoveling area position; a isiThe area of the grid is divided for the blending construction bin surface; m is the total number of marked grids in the shoveling area position;
the average material throwing times of the grids at the position of each material throwing area are calculated; y isiMarking the material throwing times of the ith grid in the material throwing area position; n is the total number of marked grids within the position of the throwing area.
The invention has the beneficial effects that:
(1) the gravel-doped soil material blending construction process can be accurately monitored, the movement of blending machinery in the blending construction process can be accurately acquired through automatic acquisition of information of the gravel-doped soil material blending process, the blending quality is analyzed, and the problems of extensive manual monitoring and management and high interference of human factors are solved.
(2) The method realizes the data analysis of the monitoring process of the gravel soil mass circulation blending construction process, realizes the visual expression of the construction process under the mass circulation blending construction process by finishing the logic judgment and the data analysis of the mass circulation blending process, can effectively analyze the blending quality under the construction process, and is convenient for field managers to control the quality.
(3) The method has the advantages that the feedback control of the blending quality is realized, the field blending construction and control can be effectively guided, the sampling inspection strength can be increased for the heavy point weak link, the field blending is guided to be supplemented if necessary, and further, the blending quality of all the gravel soil materials on the dam can be ensured to meet the filling technical requirement.
(4) By strengthening the fine control of the mixing process of the gravel and soil materials of the core wall of the high core wall rock-fill dam of the hydraulic engineering, a foundation is laid for the increasingly deep development of the real-time monitoring system of the hydraulic engineering towards the diversification, refinement and intellectualization directions in future.
Drawings
FIG. 1: the invention discloses a flow schematic diagram of a monitoring and analyzing method for a gravel soil material large-circulation blending process;
FIG. 2: the invention adopts a schematic diagram of an automatic information acquisition device for the blending process of the gravel-doped soil material;
FIG. 3: the invention relates to a schematic diagram of a large-cycle blending construction method;
FIG. 4: the invention relates to a schematic diagram of a method for calculating the material throwing times of a material throwing area position.
The attached drawings are marked as follows: 1. an antenna of the master GPS satellite positioning module; 2. an antenna of a transmit module of a wireless communication station; 3. an antenna of the RTK differential radio module; 4. an antenna of the secondary GPS satellite positioning module; 5. and a mechanical small arm operation monitoring module.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
for a high core wall rock-fill dam, the blending quality of core wall gravel soil materials is particularly important for the safety of dam construction and long-term operation, and in order to reduce the uncontrollable property brought by artificial monitoring and meet the construction monitoring requirement which is continuously benefited at present, the invention aims to carry out digital real-time monitoring and analysis on the blending construction process aiming at the large-cycle blending construction process of blending machinery in a gravel soil material yard based on the increasingly developed digital monitoring means and data analysis technology so as to ensure that the site large-cycle blending construction process meets the filling technical requirement, thereby strengthening the process control of the safety construction of the dam.
A monitoring and analyzing method for a large-circulation blending process of gravel soil materials is shown in figure 1 and comprises three parts of data acquisition of the blending process, data analysis of the blending process and feedback control of blending quality.
(one) blending Process data acquisition
The information automatic acquisition device for the gravel-doped soil material blending process is adopted to acquire blending process data in real time, all-weather, high-precision and full-automatic manner. The automatic information acquisition device for the gravel-doped soil material blending process mainly comprises the automatic acquisition of the mechanical dynamic position information, the positions of the large arm and the small arm of the blending construction machine, the course angle and other operation state information, and transmits data to the master control center server through the wireless communication radio station. The automatic information acquisition device for the gravel-doped soil material blending process comprises a main GPS satellite positioning module, an auxiliary GPS satellite positioning module, a wireless communication radio station, an RTK differential radio station module and a mechanical forearm operation monitoring module 5; the antenna 1 of the main GPS satellite positioning module is arranged at the top of the doped mechanical cab; the antenna 4 of the auxiliary GPS satellite positioning module is arranged on a platform at a connecting node between a large blending mechanical arm and a small blending mechanical arm, and meanwhile, the antenna 4 of the auxiliary GPS satellite positioning module and the antenna 1 of the main GPS satellite positioning module are kept on a straight line parallel to the direction of a vehicle body of the blending mechanical module as much as possible; an antenna 2 of a sending module of the wireless communication radio station is arranged at the top of the doped mechanical cab; an antenna 3 of the RTK differential radio module is arranged at the top of a doped mechanical cab; the mechanical forearm operation monitoring module 5 is installed on a plane on the back surface of the blended mechanical forearm, and the mechanical forearm operation monitoring module 5 adopts an inclination angle sensor. All the monitoring modules are arranged in the equipment integration case and are arranged in the cockpit, and the antenna and the sensor equipment of each module are arranged on the top of the cockpit and each key node. As shown in fig. 2, the mechanical dynamic position information of the automatic blending process information acquisition device is mainly obtained by positioning the position of the antenna 1 of the main GPS satellite positioning module installed at the top of the cockpit, and is differentiated by the RTK differential radio module to improve the positioning accuracy. The antenna 4 of the auxiliary GPS satellite positioning module is arranged on a platform at the middle connecting node of the large arm and the small arm of the blending machine, and is kept on a straight line parallel to the direction of the vehicle body as much as possible with the antenna 1 of the main GPS satellite positioning module. The mechanical forearm operation state monitoring module adopts an inclination angle sensor, is arranged on a plane on the back of the forearm for preventing the mechanical forearm operation state monitoring module from being accidentally damaged, and ensures that the mechanical forearm operation state monitoring module is horizontal or vertical to the axis of the forearm as far as possible according to the equipment type of the inclination angle sensor.
According to the relevant data collected by the device for automatically collecting the gravel-doped soil material blending process information, the dynamic position information of the blending machinery, the construction action of the blending process, the blending shoveling position and the blending throwing position can be judged, and the following description will be specifically provided with reference to fig. 2.
First, the main GPS satellite positioning module obtains the position information a (a) of the space point a (the space point a is the position of the antenna 1 of the main GPS satellite positioning module)x(t),ay(t),azAnd (t)), wherein t is a time item, and dynamic position information of the blending machine can be obtained through the position information. Meanwhile, the auxiliary GPS satellite positioning module can obtain the position information B (B) of the space point B (the space point B is the position of the antenna 4 of the auxiliary GPS satellite positioning module)x(t),by(t),bzAnd (t)), therefore, the course angle of the operation mechanical arm of the blending machine can be calculated in real time through the position information of the space point A and the space point B, and when a certain fixed moment is selected, the process of determining the construction action, the blending shoveling position and the blending throwing position in the blending process is converted into a plane problem from a space problem.
Next, as shown in fig. 2, taking the position as an example, a space point C is a connection point position of the bucket and the boom of the blending machine, and a space point D is a connection node of the boom of the blending machine and the boom of the blending machine. The position of the spatial point C can be determined by the following formula (which can be simplified to a planar problem in the x-z plane, considering some fixed time instant):
in the formula, cxThe position of the spatial point C in the x direction at a certain fixed time; c. CzThe position of the spatial point C in the z direction at a certain fixed moment; bxThe position of the spatial point B in the x direction at a certain fixed time; bzIs a certain oneThe position of the space point B in the z direction at a fixed time; m is1Is the distance between the space point B and the space point D in the x direction; m is2Is the distance between the space point C and the space point D in the x direction; n is1Is the distance between spatial point B and spatial point D in the z direction; n is2Is the distance in the z direction between spatial point C and spatial point D; wherein m is1，m2，n1，n2Obtained from equation (2):
in the formula, theta is an included angle between the doped mechanical forearm and the horizontal plane and can be obtained from a pitch angle of the tilt angle sensor; alpha is the included angle between the straight line of the space point B and the space point D and the horizontal plane, and the length between the space point B and the space point D is the same as the length between the space point B and the space point D
The numerical value is small, so that the alpha value is approximately 45 degrees in the research, and the requirement of on-site monitoring precision can be met.
Finally, the spatial position of the bucket can be obtained by considering the length and width information of the bucket according to the position information of the connecting point C of the bucket and the blending mechanical arm.
(II) blending Process data analysis
The method mainly comprises logic judgment of a large-cycle blending process, real-time analysis of automatically acquired data and visual expression of a real-time blending process.
Logical judgment of large-cycle blending process
And the logic judgment of the large-cycle blending process needs to summarize the logic rule of the large-cycle blending construction method. The mixing adopts a 'flat-laying vertical mining method' for construction, namely, the gravel material and the stone material are subjected to interbedding material laying according to a certain thickness proportion before construction, and then the vertical mining circular mixing is carried out by a mixing machine by adopting a large-circulation construction method.
The large-cycle blending construction method comprises the following steps: the blending machine shovels materials in a rectangular mode, and then freely drops the mixture into a circle by means of transportationAnd forming an area, so that the mixture is fully mixed, and repeating the steps three times until the mixture is freely mixed and blended three times, thereby completing one large-cycle mixing construction. The large-cycle blending construction method is shown as the attached figure 3: the blending machine consists of Q0The shape of the material shoveling device is close to that of a bucket, the length of the material shoveling device is the width of the bucket, the width of the material shoveling device is the depth of the bucket, and then the mixture is transported by a conveyor from Q1The materials are thrown and dropped freely, and are fully mixed in a material throwing mode, and a circular area which is equivalent to the area of the original shoveled materials is formed after the materials are thrown and dropped; the blending machine consists of Q1Processing shoveled materials, conveying the mixture Q by a reverse conveyor2Is thrown off freely from Q2Processing shoveled materials, conveying the mixture Q by a reverse conveyor3Free fall, and repeating the steps for three times until the mixture is mixed three times, and finally the mixed gravel soil reaches Q3And finishing one-time large-cycle blending construction. Therefore, the logical rule summary of the large-cycle blending construction method is as follows: when the blending mechanical boom node is lower than a certain relative height, judging that the blending mechanical shovels materials, wherein the position of the bucket at the moment is regarded as the shoveling area position, the shoveling area position is rectangular, the length is the width of the bucket, and the width is the depth of the bucket; when the bucket is opened, the blending machine is judged to throw materials, the position of the bucket at the moment is regarded as the position of a material throwing area, the position of the material throwing area is circular, and the size of the material throwing area is converted according to the equal area principle. The large-circulation blending process is logically judged according to the rules, and an analysis foundation is laid for the real-time analysis of the automatically acquired data. Therefore, the construction action of the blending process can be obtained through the following logic judgment, and then the blending shoveling and throwing area positions are obtained:
bz-az≤p (3)
k>0 (4)
in the formula: p is a set value, the value is 1.2m according to experience, the coordinate judgment condition of the blending bucket falling and shoveling time point is used as a coordinate judgment condition, when the formula (3) is met, the blending mechanical shoveling at the time point is judged, and the position of the bucket at the time is regarded as the shoveling area position; and k is an electric signal output by opening the bucket, when the formula (4) is met, the mechanical throwing is judged to be blended at the time point, and the position of the bucket at the time point is regarded as the position of a throwing area. The distinguishing condition is simple and easy to implement, and can meet the recognition requirement of the blending mechanical action.
② real-time analysis of automatically acquired data
The doping process data acquired by the automatic information acquisition device for the doping process of the gravel-doped soil material are analyzed in real time according to the formulas (1) to (4) to obtain Q0-Q3The material shoveling area position and the material throwing area position.
Visual expression of real-time blending process
The bin surface of the blending construction stock ground is divided into grids, the obtained material shoveling region position and the obtained material throwing region position are analyzed in a grid mode, and separate visual display and query of shoveling times and throwing times of different regions are realized on the basis of a visual and interactive technology. The method specifically comprises the following steps: dividing grids on the blending construction stock ground bin surface to form a blending construction stock ground bin surface grid, and respectively corresponding the obtained shoveling area position and the material throwing area position to the blending construction stock ground bin surface grid: when the area of the grid covered by the shoveling area position exceeds half of the area of the grid, marking the grid, displaying all shoveling area positions on the grid of the blending construction stock ground bin surface, and calculating the average material throwing times of the shoveling area positions through a formula (5):
in the formula: x is the number ofiMarking the material throwing times of the ith grid in the material shoveling area position; a isiThe area of the grid is divided for the blending construction bin surface; and m is the total number of grids marked in the position of the shoveling area. All the grid areas divided by the construction stock ground bin surface are equal, so that the area items can be simplified. The material shoveling times of each shoveling area position are recorded, and when shoveling is carried out on the grids at the same shoveling area position, the shoveling times of the grids at the shoveling area positions recorded each time are the superposition of the historical shoveling times of the grids;
in addition, when the area of the grid covered by the material throwing area position exceeds half of the area of the grid, the grid is marked, so that all the material throwing area positions are displayed on the grid of the blending construction stock ground bin surface, and the average material throwing times of each grid of the material throwing area positions are calculated through the formula (6):
in the formula: y isiMarking the material throwing times of the ith grid in the material throwing area position; n is the total number of marked grids within the position of the throwing area.
When the material is thrown at the same position of the material throwing area, the number of times of material throwing at the position of the material throwing area can be judged according to the flow diagram of fig. 4. The average material throwing times of the material shoveling area position and the material throwing area position before material throwing can be calculated and obtained through the formula (5) and the formula (6), when the average material throwing times of the material throwing area position before material throwing is not 0, the fact that blended gravel soil exists at the material throwing area position before material throwing is shown, and the actual material throwing times of the material throwing area position to be recorded at the moment should be the material throwing times of the material throwing area position before material throwing
And the number of times of throwing of the material to be thrown
The aim of updating the material throwing times of the materials with less material throwing times in the same material throwing area based on the short plate theory so as to ensure that each square material is blended and qualified, but the average material throwing times of the material throwing area before material throwing
In the process, no blending material is mixed in the position of the material throwing area before material throwing, and the condition of throwing the material on the unadulterated paved interbedded paving material can not exist in the construction site, so that the material throwing time is only needed to be according to the material throwing frequency of the material to be thrown
Updating, and circulating according to the above principle until blending is finished to obtain the actual material throwing times of the target material throwing area position
The invention realizes the separate visual display and query of the shoveling times of all shoveling area positions and the throwing times of all throwing area positions. The separate visual display and query are that when the material shoveling times of the material shoveling area positions need to be queried, only all the material shoveling area positions and the material shoveling times recorded by the positions are displayed; when the material throwing times of the material throwing area positions need to be inquired, only displaying all the material throwing area positions and the material throwing times recorded by the positions.
(III) mixing quality feedback control
Through the blended visual display and query, any region is carried out on the final dam material throwing region position (in the embodiment, any region is Q)1，Q2And Q3) The method comprises the steps of inquiring the blending times, generating a blending pass qualified rate graph report, checking the reasons of the regions which do not meet the blending construction requirements, increasing the sampling inspection strength of the regions, and performing blending if necessary to ensure that the quality of all the dam-climbing gravel soil materials meets the filling technical requirements.
With the rapid development of the water conservancy project in China, the gravel soil material large-circulation blending process monitoring and analyzing method provided by the invention can be used for adding tiles for ensuring the long-term stability and the safe operation of the high core wall rock-fill dam and further promoting the increasingly diversified, refined and intelligent deep development of a water conservancy project real-time monitoring system in future.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (6)
1. A monitoring and analyzing method for a gravel soil material large circulation blending process is characterized by comprising the following steps:
step 1, data acquisition in the blending process: collecting doping process data by adopting an automatic information collecting device in the doping process of the gravel-doped soil material;
and 2, analyzing the data of the blending process, comprising the following steps:
step 2-1, large-cycle blending process logic judgment: summarizing a logic rule of the large-cycle blending construction method;
step 2-2, automatically acquiring real-time analysis of data: analyzing and obtaining the material shoveling area position and the material throwing area position according to the blending process data collected in the step 1 and the logic rule of the large-cycle blending construction method summarized in the step 2-1;
step 2-3, visual expression of the real-time blending process: analyzing the shoveling region position and the throwing region position obtained in the step 2-2 in a grid form, and based on a visualization and interactive technology, realizing separate visualization display and query of shoveling times of the shoveling region position and throwing times of the throwing region position, specifically: dividing the blending construction stock ground bin surface into grids to form a blending construction stock ground bin surface grid, and respectively corresponding the shoveling area position and the throwing area position obtained in the step 2-2 to the blending construction stock ground bin surface grid:
when the area of the grid covered by the shoveling area position exceeds half of the area of the grid, marking the grid, thereby displaying all shoveling area positions on the grid of the blending construction stock ground bin surface, and recording the shoveling times of each shoveling area position;
in addition, when the area of the grid covered by the material throwing area position exceeds half of the area of the grid, marking the grid, displaying all the material throwing area positions on the grid of the bin surface of the blending construction stock ground, and calculating the average material throwing times of the grid at each material throwing area position by a material throwing area position material throwing time calculation method; when the material is thrown at the same material throwing area position, calculating to obtain the average material throwing times of the material shoveling area position and the material throwing area position before material throwing according to a material throwing time calculating method at the material throwing area position, when the average material throwing times of the material throwing area position before material throwing is not 0, the recorded actual material throwing times of the material throwing area position is the minimum value between the material throwing times of the material throwing area position before material throwing and the material throwing times of the material to be thrown, when the average material throwing times of the material throwing area position before material throwing is 0, the recorded actual material throwing times of the material throwing area position is the material throwing times of the material to be thrown, and circulating until the blending is finished according to the recording principle of the actual material throwing times of the material throwing area position when the average material throwing times of the material throwing area position before material throwing is not 0 or is 0 to obtain the actual material throwing times of the target material throwing area position; the method has the advantages that the separate visual display and query of the shoveling times of all shoveling area positions and the throwing times of all throwing area positions are realized;
and 3, mixing quality feedback control: and (3) performing any area blending pass query on the final dam material throwing area position through the visual display and query in the step 2-3, generating a blending pass qualified rate graph report, and processing the area which does not meet the blending construction requirement so as to ensure that the quality of all the dam-climbing gravel soil materials meets the filling technical requirement.
2. The gravel soil material large-circulation blending process monitoring and analyzing method as claimed in claim 1, wherein in the step 1, the blending process data collected by the gravel soil material blending process information automatic collection device comprises mechanical dynamic position information, positions of a large arm and a small arm of a blending construction machine and operation state information; the automatic information acquisition device for the gravel-doped soil material blending process sends the acquired blending process data to the master control center server through the wireless communication radio station.
3. The gravel soil large-circulation blending process monitoring and analyzing method as claimed in claim 1, wherein in the step 1, the gravel soil blending process information automatic acquisition device comprises:
the main GPS satellite positioning module is characterized in that an antenna (1) of the main GPS satellite positioning module is arranged at the top of the doped mechanical cab;
the auxiliary GPS satellite positioning module is characterized in that an antenna (4) of the auxiliary GPS satellite positioning module is arranged on a platform at a connecting node between a blending mechanical large arm and a blending mechanical small arm, and meanwhile, the antenna (4) of the auxiliary GPS satellite positioning module and an antenna (1) of the main GPS satellite positioning module are kept on a straight line parallel to the direction of a blending mechanical vehicle body;
the antenna (2) of a sending module of the wireless communication radio station is arranged at the top of the doped mechanical cab;
the antenna (3) of the RTK differential radio module is arranged at the top of the blending mechanical cab;
the mechanical forearm operation monitoring module (5), the mechanical forearm operation monitoring module (5) is installed on the plane of the back of the blended mechanical forearm; the mechanical small arm operation monitoring module (5) adopts an inclination angle sensor.
4. The gravel soil large-circulation blending process monitoring and analyzing method as claimed in claim 1, wherein in the step 2-1, the large-circulation blending construction method comprises the following steps: the blending machine shovels materials in a rectangular mode, then freely throws the mixture down to form a circular area through the dumping, fully mixes the mixture in a material throwing mode, and repeats the operation for three times until the mixture is freely blended and blended for three times, so that one-time large-cycle blending construction is completed.
5. The gravel soil large-circulation blending process monitoring and analyzing method as claimed in claim 1, wherein in the step 2-1, the logical rule summary of the large-circulation blending construction method is as follows: when the blending mechanical boom node is lower than the set relative height, judging that the blending mechanical shovels materials, wherein the position of the bucket at the moment is regarded as the shoveling area position, the shoveling area position is rectangular, the length is the width of the bucket, and the width is the depth of the bucket; when the bucket is opened, the blending machine is judged to throw materials, the position of the bucket at the moment is regarded as the position of a material throwing area, the position of the material throwing area is circular, and the size of the material throwing area is converted according to the equal area principle.
6. The gravel soil large circulation blending process monitoring and analyzing method as claimed in claim 1, wherein the calculation method of the material throwing times of the material throwing area position is shown as the following formula:
in the formula (I), the compound is shown in the specification,
the average material throwing times of the material shoveling area position are obtained; x is the number ofiMarking the material throwing times of the ith grid in the material shoveling area position; a isiThe area of the grid is divided for the blending construction bin surface; m is the total number of marked grids in the shoveling area position;
the average material throwing times of the grids at the position of each material throwing area are calculated; y isiMarking the material throwing times of the ith grid in the material throwing area position; n is the total number of marked grids within the position of the throwing area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910607116.4A CN110426995B (en) | 2019-07-06 | 2019-07-06 | Monitoring and analyzing method for large-circulation blending process of gravel soil material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910607116.4A CN110426995B (en) | 2019-07-06 | 2019-07-06 | Monitoring and analyzing method for large-circulation blending process of gravel soil material |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110426995A CN110426995A (en) | 2019-11-08 |
| CN110426995B true CN110426995B (en) | 2021-06-29 |
Family
ID=68410329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910607116.4A Active CN110426995B (en) | 2019-07-06 | 2019-07-06 | Monitoring and analyzing method for large-circulation blending process of gravel soil material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110426995B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116863091B (en) * | 2023-06-30 | 2024-01-19 | 中水珠江规划勘测设计有限公司 | Method and device for creating three-dimensional model of earth-rock dam and extracting engineering quantity |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833771A (en) * | 2016-05-17 | 2016-08-10 | 中国电建集团成都勘测设计研究院有限公司 | Gravelly soil core material blending device |
| CN106774097A (en) * | 2017-02-24 | 2017-05-31 | 天津大学 | Gravel earth material is mixed with procedural information automatic acquisition device |
| CN107026898A (en) * | 2017-02-20 | 2017-08-08 | 四川大唐国际甘孜水电开发有限公司 | Core-wall is mixed gravel earth material backhoe and mixed with long-range action acquisition system and method |
| CN108427343A (en) * | 2018-03-07 | 2018-08-21 | 天津大学 | Compacting operation construction quality intelligent monitor system and method based on AR technologies |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100001151A1 (en) * | 2001-07-31 | 2010-01-07 | Wheatley Alan J | Frictional dash mount for a global positional system |
| CN206639018U (en) * | 2017-02-24 | 2017-11-14 | 天津大学 | Gravel earth material is mixed with procedural information automatic acquisition device |
-
2019
- 2019-07-06 CN CN201910607116.4A patent/CN110426995B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833771A (en) * | 2016-05-17 | 2016-08-10 | 中国电建集团成都勘测设计研究院有限公司 | Gravelly soil core material blending device |
| CN107026898A (en) * | 2017-02-20 | 2017-08-08 | 四川大唐国际甘孜水电开发有限公司 | Core-wall is mixed gravel earth material backhoe and mixed with long-range action acquisition system and method |
| CN106774097A (en) * | 2017-02-24 | 2017-05-31 | 天津大学 | Gravel earth material is mixed with procedural information automatic acquisition device |
| CN108427343A (en) * | 2018-03-07 | 2018-08-21 | 天津大学 | Compacting operation construction quality intelligent monitor system and method based on AR technologies |
Non-Patent Citations (3)
| Title |
|---|
| Rockfill dam compaction quality evaluation based on cloud-fuzzy model;Fei WANG,ect.;《Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)》;20180430;第19卷(第4期);全文 * |
| Three-Dimensional Visual Analysis for Construction Layout of Reservoir Project;ZHONG Denghua，ect.;《Transactions of Tianjin University》;20121231;第18卷(第6期);全文 * |
| 基于增强现实的堆石坝工程三维可视化场景构建研究;王志宁，崔博，任炳昱，吴斌平，关涛;《水力发电》;20180531;第44卷(第5期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110426995A (en) | 2019-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110411370A (en) | A kind of the risk of tunnel construction managing and control system based on space time parameter | |
| CN102494667B (en) | Characterizing method of land subsidence | |
| CN109783924A (en) | The Numerical Analysis methods that Groundwater iron shield tunnel construction influences | |
| CN109000158A (en) | Pipe leakage early warning system, method and its application based on Internet of Things and BIM | |
| CN105203158A (en) | Automatic horizontal displacement and sedimentation monitoring system based on GPRS | |
| CN111399403B (en) | Remote cooperative monitoring system and method suitable for earthwork pushing and leveling operation of inclined roadbed | |
| CN110426995B (en) | Monitoring and analyzing method for large-circulation blending process of gravel soil material | |
| CN103031862A (en) | Three-dimensional digital prewarning method and facility for remote intelligent monitoring of deep foundation pit deformation stability | |
| Zhong et al. | A real-time analysis and feedback system for quality control of dam foundation grouting engineering | |
| CN113532369A (en) | Method and early warning system for monitoring construction state of foam concrete roadbed along subway line | |
| CN112627245A (en) | Abandoned dreg site surveying and ecological restoration method based on in-situ recognition | |
| CN106052553A (en) | Civil engineering temporary works design optimization method and device based on three-dimensional laser scanning | |
| CN103046526A (en) | Method and system for remote intelligent monitoring and three-dimensional digital early warning of deep foundation pit bottom surface upheavals | |
| CN113946980B (en) | Step earth and stone volume calculation method and system for large strip mine excavation engineering | |
| CN114036625A (en) | Intelligent construction method and system suitable for in-situ reinforcement of large-area soft foundation | |
| CN113887010B (en) | Traffic planning organization method in water conservancy water electric field based on live-action modeling and BIM | |
| CN203034434U (en) | Remote intelligent monitoring three-dimensional digital comprehensive early warning system for stability of deep foundation pit | |
| CN202757649U (en) | A dam body monitoring and early warning system | |
| CN113010997B (en) | Early warning treatment method for pile foundation impact hole forming construction accidents in karst development area | |
| CN109593958A (en) | The method of 3 D Remote Sensing technology assisting ion type rare earth ore in-situ lixiviation processing | |
| CN203012914U (en) | Integral stability remote 3-D digital safety early warning system for high slope | |
| CN106968254A (en) | A kind of hydroelectric project cubic metre of earth and stone based on laser scanner fills out digging looks monitoring method | |
| CN110782628A (en) | Mountain landslide monitoring system based on Beidou system and monitoring method thereof | |
| CN103614996B (en) | The liquefaction Judgment Method of replacement stone pile composite foundation | |
| Yuan et al. | Intelligent paving and rolling construction technology of asphalt pavement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |