CN112129919A - Intelligent compaction quality monitoring system and method based on acceleration sensor - Google Patents

Intelligent compaction quality monitoring system and method based on acceleration sensor Download PDF

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CN112129919A
CN112129919A CN202010955640.3A CN202010955640A CN112129919A CN 112129919 A CN112129919 A CN 112129919A CN 202010955640 A CN202010955640 A CN 202010955640A CN 112129919 A CN112129919 A CN 112129919A
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rolling machine
acceleration sensor
acquisition module
module
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CN112129919B (en
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崔博
王晓玲
王佳俊
吴斌平
关涛
时梦楠
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Tianjin University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B7/00—Barrages or weirs; Layout, construction, methods of, or devices for, making same
    • E02B7/02—Fixed barrages
    • E02B7/04—Dams across valleys
    • E02B7/06—Earth-fill dams; Rock-fill dams
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/366—Image reproducers using viewer tracking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

The invention discloses an intelligent compaction quality monitoring system based on an acceleration sensor, which comprises a data processing module, a grinding wheel vibration state acquisition module, a grinding machine pose acquisition module, an image acquisition module and a display module, wherein the grinding wheel vibration state acquisition module, the grinding machine pose acquisition module, the image acquisition module and the display module are all in signal transmission with the data processing module; the roller vibration state acquisition module is used for acquiring transverse and longitudinal acceleration signals of the roller; the rolling machine pose acquisition module is used for acquiring position and posture data of the rolling machine; the image acquisition module is used for acquiring construction site images around the rolling machine; the display module is used for displaying the data output by the data processing module; and the data processing module receives the acquisition signals from the rolling wheel vibration state acquisition module, the rolling machine pose acquisition module and the image acquisition module, and transmits the processed data to the display module for display. The invention also discloses an intelligent compaction quality monitoring method based on the acceleration sensor. The invention provides a more intuitive rolling construction operation monitoring mode.

Description

Intelligent compaction quality monitoring system and method based on acceleration sensor
Technical Field
The invention relates to the field of rolling construction quality control, in particular to an intelligent compaction quality monitoring system and method based on an acceleration sensor.
Background
At present, with the research, development and construction of a batch of 300 m-level high-core rock-fill dams, the expansion of the body types of the dams brings new tests on the safety of the dams, and the quality of construction quality is directly related to the safety of the dams in the operation period of the dams. Therefore, the method has important practical significance for carrying out omnibearing control on the dam construction quality. The construction quality in the rolling operation process is the key for determining the whole construction quality of the earth-rock dam project.
The compaction of the dam body of the earth and rockfill dam is realized mainly by adopting a method of rolling earth and rockfill materials for multiple times through rolling machines of corresponding models in the compaction operation construction process. At present, the control on the rolling construction operation process mainly goes through three stages of traditional compaction control, digital compaction control and intelligent compaction control.
The traditional compaction control method comprises the following steps: in the rolling construction process, firstly, rolling parameters such as: the method comprises the following steps of paving material thickness, rolling times, traveling speed, roller exciting force and the like, then performing construction operation on a specified rolling surface through the cooperation of site construction organization personnel and a rolling machine driver, and then performing sampling inspection on the compactness of the rolling surface after construction, wherein the inspection method mainly comprises the following steps: a pit test method, a nuclear density method, and the like.
The digital compaction control method comprises the following steps: the digital control method firstly determines the rolling parameters through the field rolling experiment, such as: paving material thickness, rolling times, traveling speed, roller exciting force and the like, and then realizing real-time monitoring on the running parameters of the rolling machine by erecting GPS positioning equipment, an RTK base station, a satellite, a master control center and the like on the rolling machine.
The intelligent compaction control method comprises the following steps: an intelligent compaction control method is a hot spot of research in the field of current compaction control. The current research idea of intelligent compaction control mainly comprises the steps of installing a sensor on a rolling wheel of a rolling machine, installing equipment such as a GPS (global positioning system) on the rolling machine, and extracting indexes reflecting the soil compaction degree through real-time analysis of signals of the sensor. And then integrating the indexes and GPS information to generate a visual rolling surface compaction degree cloud picture to guide field constructors to carry out compaction operation. The method is characterized in that indexes capable of better reflecting the compaction degree of the soil and the stone are searched. And the information is displayed to a driver or a construction manager through a better visualization system to guide construction operation.
The indexes for reflecting the compaction degree of soil and stone materials are researched and developed at home and abroad at present and comprise: the CMV value reflects the compaction degree of the soil body mainly by the ratio of the vibration harmonic components of the grinding wheel detected by an acceleration sensor arranged on the grinding wheel; a CCV value which determines a relative stiffness index of the soil mass based on the acceleration data of the harmonic frequency measured pair; the Omega value is derived through a longitudinal two-degree-of-freedom model of a rolling wheel-soil material to input an energy index formula of a soil body, the formula is substituted through real-time accelerometer data on the rolling wheel to be solved, the Omega value is solved in real time, and tests prove that the Omega value can well reflect the soil body compaction degree; and the transverse acting power MDP is used for modeling the transverse pushing and rolling action of the rolling wheel of the rolling machine on the soil body and deducing the transverse acting power of the rolling wheel for overcoming the resistance of the soil and stone materials. As the road surface is compacted, the lateral resistance of the soil to the compactor is less and less. By detecting changes in lateral resistance to reflect the degree of compaction of the soil material), etc. Regarding the visualization system of the intelligent compaction control method, various large road roller manufacturers at home and abroad produce respective visualization systems, such as: the Baoma onboard BCM05 system is internally provided with an Evib compaction index algorithm, a two-dimensional index cloud picture and a track picture are displayed through an onboard display screen of a cockpit, and a driver conducts compaction operation through an observation system interface; the DCA system of Dynapex is internally provided with a CMV compaction index algorithm, calculates the vibration signal of the grinding wheel in real time, displays the vibration signal to a driver in a two-dimensional graph mode through a visual airborne display, can store and copy data, and is easy to check and analyze; CMV and CCV compaction index algorithms are built in the AccuGrade system of Tianbao, and display output of the two indexes is supported at the same time.
Augmented Reality (AR), also called Augmented Reality, is a new technology that integrates real world information and virtual world information "seamlessly", and real environment and virtual objects are superimposed on the same picture or space in real time and exist simultaneously. The augmented reality technology not only shows real world information, but also displays virtual information simultaneously, and the two kinds of information are mutually supplemented and superposed. At present, most of intelligent compaction visualization systems are two-dimensional graphical interfaces, the augmented reality technology is applied to the intelligent compaction visualization systems, through the fusion of three-dimensional scenes and real scenes, a driver can see the real scenes superimposed with construction information (compaction cloud pictures) through the system, the method is favorable for better guiding compaction operation, the fine control of the operation process is realized, and the prospect is good.
Disclosure of Invention
The invention provides an intelligent compaction quality monitoring system and method based on an acceleration sensor for solving the technical problems in the prior art.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: an intelligent compaction quality monitoring system based on an acceleration sensor comprises a data processing module, a rolling wheel vibration state acquisition module, a rolling machine pose acquisition module, an image acquisition module and a display module, wherein the rolling wheel vibration state acquisition module, the rolling machine pose acquisition module, the image acquisition module and the display module are all in signal transmission with the data processing module; the roller vibration state acquisition module is used for acquiring transverse and longitudinal acceleration signals of the roller; the rolling machine pose acquisition module is used for acquiring position and posture data of the rolling machine; the image acquisition module is used for acquiring construction site images around the rolling machine; the display module is used for displaying the data output by the data processing module; the data processing module receives the collected signals from the rolling wheel vibration state collecting module, the rolling machine pose collecting module and the image collecting module, and performs the following processing on the received signals: correcting errors of the acquired position and posture data of the rolling machine; processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and obtaining compaction quality data; integrating the position and attitude data of the roller with the compaction quality data to form an integrated data stream; drawing a compaction quality cloud picture in a three-dimensional virtual scene in real time based on the integrated data stream; fusing the collected construction site image with a compaction quality cloud picture in a three-dimensional virtual scene in real time; the data obtained after processing is sent to a display module for displaying.
Further, the grinding wheel vibration state acquisition module comprises: the system comprises a first acceleration sensor, a second acceleration sensor and a data acquisition instrument; the first acceleration sensor is used for acquiring the transverse vibration acceleration of the steel wheel of the rolling machine; the second acceleration sensor is used for acquiring the longitudinal vibration acceleration of the steel wheel of the rolling machine; the data acquisition instrument is used for integrating the signals of the first acceleration sensor and the second acceleration sensor and sending the signals to the data processing module.
Further, arranging a cubic iron block, and respectively arranging a first acceleration sensor and a second acceleration sensor on two adjacent surfaces of the iron block; one side adjacent to the two sides at the same time is vertically connected with a wheel shaft of the steel wheel of the rolling machine.
Further, the bucker pose collection module comprises: an RTK base station, a vehicle-mounted positioner and an electronic compass; the RTK base station is used for providing a differential signal to a vehicle-mounted positioner arranged on the rolling machine, and the vehicle-mounted positioner is used for acquiring the coordinates of the position of the top of the rolling machine; the electronic compass is arranged on the top of the rolling machine through a bracket and is 50cm higher than the top of the rolling machine, and is used for collecting the course angle of the rolling machine; and the vehicle-mounted positioner and the electronic compass send the acquired signals to the data processing module.
Further, the image acquisition module comprises: the system comprises a first camera and a second camera which are arranged at the top of a rolling machine, wherein the first camera is used for acquiring construction site images in front of the rolling machine, and the second camera is used for acquiring construction site images behind the rolling machine; the first camera and the second camera send the collected images to the data processing module.
Further, the data transmission device also comprises a data transmission module, wherein the data transmission module comprises DTU wireless data transmission; and the data processing module transmits the position and attitude data and the compaction quality data of the integrated rolling machine to an application server of the field command center through DTU wireless data transmission.
The invention also provides an intelligent compaction quality monitoring method based on the acceleration sensor, which is characterized in that a grinding wheel vibration state acquisition module is arranged and used for acquiring transverse and longitudinal acceleration signals of the grinding wheel; arranging a rolling machine pose acquisition module for acquiring the position and posture information of a rolling machine; an image acquisition module is arranged and used for acquiring construction site images around the rolling machine; setting a display module for displaying the data output by the data processing module; the data processing module is arranged to receive the acquisition signals from the rolling wheel vibration state acquisition module, the rolling machine pose acquisition module and the image acquisition module, and the received signals are processed as follows: correcting errors of the acquired position and posture data of the rolling machine; processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and obtaining compaction quality data; integrating the position and attitude data of the roller with the compaction quality data to form an integrated data stream; drawing a compaction quality cloud picture in a three-dimensional virtual scene in real time based on the integrated data stream; fusing the collected construction site image with a compaction quality cloud picture in a three-dimensional virtual scene in real time; and sending the processed data to a display module for display.
Further, the method for correcting errors of the collected position and posture data of the rolling machine comprises the following steps: the method comprises the steps of acquiring transverse and longitudinal inclination angles of a rolling machine by an inertial navigator, acquiring position coordinates and course angles of the rolling machine by a known rolling machine size and rolling machine pose acquisition module, acquiring errors of position and posture data of the rolling machine by a geometric algorithm, and compensating the acquired data by the acquired errors.
Further, the method for processing the acquired lateral acceleration signal and the acquired longitudinal acceleration signal of the grinding wheel in real time and acquiring compaction quality data comprises the following steps: respectively carrying out fast Fourier transform on the acquired signals of the first acceleration sensor and the second acceleration sensor, setting ECP as a comprehensive index for reflecting soil compaction quality data, and setting CMV1 as a longitudinal component of the compaction index; assuming CMV2 as the transverse component of the compaction index, the calculation formula is as follows:
Figure BDA0002678490800000041
Figure BDA0002678490800000042
ECP＝CMV1+CMV2
in the formula: a is1、a2Is a constant and takes the value of 100-300; a. the12The signal amplitude is a fast Fourier transform signal base amplitude corresponding to the longitudinal acceleration sensor; a. the14The second-order amplitude of the fast Fourier transform signal corresponding to the longitudinal acceleration sensor is obtained; a. the22The signal base amplitude is the fast Fourier transform signal base amplitude of the corresponding transverse acceleration sensor; a. the24And the second-order amplitude of the fast Fourier transform signal of the corresponding transverse acceleration sensor.
Further, a method of integrating the position and attitude data of the compactor with the compaction quality data to form an integrated data stream includes: synchronously sampling the position coordinates of the rolling machine, the course angle of the rolling machine and the ECP value; sampling intervals are all 1S; synthesizing the sampled data into a data stream (X, Y, Z, H, ECP, T), wherein X, Y and Z are coordinates of the center position of the grinding wheel; h is the heading angle of the rolling machine; ECP is a comprehensive index reflecting soil compaction quality data; t is the sampling time.
Further, the method for drawing the compaction quality cloud picture in the three-dimensional virtual scene in real time based on the integrated data stream comprises the following steps: analyzing the data stream (X, Y, Z, H, ECP, T) in real time, setting the Z value as a certain value, sequentially connecting coordinate points of each group of data in a three-dimensional scene according to the T value sequence, forming a plane with colors after connecting the coordinate points, wherein the normal direction of the plane is parallel to the Z axis, the width of the plane is the width of a grinding wheel, and the colors of the plane are related to the ECP value.
Further, the method for fusing the real-time collected construction site image with the compaction quality cloud picture in the three-dimensional virtual scene comprises the following steps: firstly, establishing a rolling machine model in three-dimensional graphic software, and then assigning position coordinates and course angle data of a rolling machine to the rolling machine model in real time through a script, so that the pose of the rolling machine model in a three-dimensional scene is synchronous with the pose of an actual rolling machine in real time; newly building a virtual camera in the three-dimensional graphic software; the position of the virtual camera relative to the roller mill model is the same as the position of the actual camera relative to the actual roller mill; inputting the real scene picture collected by the real camera into the virtual camera, and drawing the compaction quality cloud picture and the real scene picture in real time in the three-dimensional virtual scene for superposition.
The invention has the advantages and positive effects that:
by adopting the intelligent compaction quality monitoring system based on the acceleration sensor, a driver can see real-time pictures of operation in front of and behind the rolling machine through the client display screen and can also see compaction quality information of the bin surface. The video contains rich information, the real-time performance is strong, and the construction information is attached to the video monitoring picture, so that a more visual rolling construction operation monitoring mode is provided for a rolling machine driver.
By adopting the intelligent compaction quality monitoring method based on the acceleration sensor, the transverse and longitudinal dynamic response with the soil body in the operation process of the grinding wheel can be comprehensively considered, and more accurate compaction quality detection is realized. Once the area with the compaction degree not meeting the requirement is found, the driver of the rolling machine can accurately drive the rolling machine to advance to the area with the compaction degree defect through the display screen of the client side to perform rolling repairing operation, and the construction quality control level in the process of the compaction operation is improved.
Drawings
FIG. 1 is a schematic diagram of an acceleration sensor based intelligent compaction quality monitoring system according to the present invention.
Detailed Description
For further understanding of the contents, features and effects of the present invention, the following embodiments are enumerated in conjunction with the accompanying drawings, and the following detailed description is given:
referring to fig. 1, an intelligent compaction quality monitoring system based on an acceleration sensor comprises a data processing module, a grinding wheel vibration state acquisition module, a grinding machine pose acquisition module, an image acquisition module and a display module, wherein the grinding wheel vibration state acquisition module, the grinding machine pose acquisition module, the image acquisition module and the display module are all in signal transmission with the data processing module; the roller vibration state acquisition module is used for acquiring transverse and longitudinal acceleration signals of the roller; the rolling machine pose acquisition module is used for acquiring position and posture data of the rolling machine; the image acquisition module is used for acquiring construction site images around the rolling machine; the display module is used for displaying the data output by the data processing module; the data processing module receives the collected signals from the rolling wheel vibration state collecting module, the rolling machine pose collecting module and the image collecting module, and performs the following processing on the received signals: correcting errors of the acquired position and posture data of the rolling machine; processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and obtaining compaction quality data; integrating the position and attitude data of the roller with the compaction quality data to form an integrated data stream; drawing a compaction quality cloud picture in a three-dimensional virtual scene in real time based on the integrated data stream; fusing the collected construction site image with a compaction quality cloud picture in a three-dimensional virtual scene in real time; the data obtained after processing is sent to a display module for displaying.
The data processing module can be constructed by adopting an industrial personal computer or a vehicle-mounted traveling computer and other devices with processors by adopting conventional technical means, and the industrial personal computer can be an industrial tablet computer.
The display module can adopt a display such as a liquid crystal display. It can also be the display screen of an industrial tablet computer.
Preferably, the grinding wheel vibration state acquisition module may include: the system comprises a first acceleration sensor, a second acceleration sensor and a data acquisition instrument; the first acceleration sensor can be used for acquiring the transverse vibration acceleration of the steel wheel of the rolling machine; the second acceleration sensor can be used for acquiring the longitudinal vibration acceleration of the steel wheel of the rolling machine; the data acquisition instrument can be used for integrating signals of the first acceleration sensor and the second acceleration sensor and sending the signals to the data processing module.
Preferably, a cubic iron block can be arranged, and a first acceleration sensor and a second acceleration sensor can be respectively distributed on two adjacent surfaces of the iron block; one side of the roller, which is adjacent to both sides, can be connected perpendicularly to the axle of the steel wheel of the roller.
Preferably, the compactor pose acquisition module may include: an RTK base station, a vehicle-mounted positioner and an electronic compass; the RTK base station is used for providing a differential signal for a vehicle-mounted positioner arranged on the rolling machine, and the vehicle-mounted positioner can be used for acquiring the coordinates of the position of the top of the rolling machine; the electronic compass can be arranged on the top of the rolling machine through a bracket and is 50cm higher than the top of the rolling machine, and is used for collecting the heading angle of the rolling machine; and the vehicle-mounted positioner and the electronic compass send the acquired signals to the data processing module.
Preferably, the image acquisition module may include: the system comprises a first camera and a second camera which are arranged at the top of the rolling machine, wherein the first camera can be used for acquiring construction site images in front of the rolling machine, and the second camera can be used for acquiring construction site images behind the rolling machine; the first camera and the second camera send the collected images to the data processing module.
Preferably, the intelligent compaction quality monitoring system based on the acceleration sensor can further comprise a data transmission module, and the data transmission module can comprise DTU wireless data transmission; the data processing module can transmit the position, posture data and compaction quality data of the integrated rolling machine to the field command center application server and the field command center database server through DTU wireless data transmission.
The invention also provides an embodiment of an intelligent compaction quality monitoring method based on the acceleration sensor, which is characterized in that a grinding wheel vibration state acquisition module is arranged and used for acquiring transverse and longitudinal acceleration signals of the grinding wheel; arranging a rolling machine pose acquisition module for acquiring the position and posture information of a rolling machine; an image acquisition module is arranged and used for acquiring construction site images around the rolling machine; setting a display module for displaying the data output by the data processing module; the data processing module is arranged to receive the acquisition signals from the rolling wheel vibration state acquisition module, the rolling machine pose acquisition module and the image acquisition module, and the received signals are processed as follows: correcting errors of the acquired position and posture data of the rolling machine; processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and obtaining compaction quality data; integrating the position and attitude data of the roller with the compaction quality data to form an integrated data stream; drawing a compaction quality cloud picture in a three-dimensional virtual scene in real time based on the integrated data stream; fusing the collected construction site image with a compaction quality cloud picture in a three-dimensional virtual scene in real time; and sending the processed data to a display module for display.
Preferably, the method for error correction of the collected position and posture data of the roller mill may include: the method can adopt an inertial navigator to acquire the transverse and longitudinal inclination angles of the rolling machine, can acquire the position coordinates and the course angle of the rolling machine by the known size of the rolling machine and the rolling machine pose acquisition module, can acquire the errors of the position and the attitude data of the rolling machine by geometrical algorithms such as trigonometric functions and the like, and can compensate the acquired data by the acquired errors.
Preferably, the method for processing the acquired lateral and longitudinal acceleration signals of the grinding wheel in real time and obtaining the compaction quality data can comprise the following steps: the acquired signals of the first acceleration sensor and the second acceleration sensor can be subjected to fast Fourier transform respectively, the ECP can be set as a comprehensive index for reflecting soil compaction quality data, and the CMV1 can be set as a longitudinal component of the compaction index; CMV2 may be assumed to be the transverse component of the compaction index and may be calculated as follows:
Figure BDA0002678490800000071
Figure BDA0002678490800000072
ECP＝CMV1+CMV2
in the formula: a is1、a2The value is constant and can be 100-300, preferably 300; a. the12The signal amplitude is a fast Fourier transform signal base amplitude corresponding to the longitudinal acceleration sensor; a. the14For corresponding longitudinal acceleration transmissionThe second-order amplitude of the fast Fourier transform signal of the sensor; a. the22The signal base amplitude is the fast Fourier transform signal base amplitude of the corresponding transverse acceleration sensor; a. the24And the second-order amplitude of the fast Fourier transform signal of the corresponding transverse acceleration sensor.
Preferably, the method of integrating the mill's position and attitude data with the compaction quality data to form an integrated data stream may comprise: the position coordinates of the rolling machine, the course angle of the rolling machine and the ECP value can be synchronously sampled; the sampling intervals may all be 1S; the sampled data can be synthesized into a data stream (X, Y, Z, H, ECP, T), wherein X, Y and Z are the coordinates of the center position of the grinding wheel; h is the heading angle of the rolling machine; ECP is a comprehensive index reflecting soil compaction quality data; t is the sampling time.
Preferably, the method for real-time rendering of the compacted mass cloud in the three-dimensional virtual scene based on the integrated data stream may comprise: the data stream (X, Y, Z, H, ECP, T) is analyzed in real time, the Z value can be set as a certain value, coordinate points of all groups of data can be sequentially connected in a three-dimensional scene according to the T value sequence, a plane with colors is formed after the connection, the normal direction of the plane is parallel to the Z axis, the width of the plane can be the width of a grinding wheel, and the colors of the plane can be related to the ECP value.
Preferably, the method for fusing the real-time collected construction site image with the compaction quality cloud picture in the three-dimensional virtual scene may include: firstly, a roller machine model is built in three-dimensional graphic software, and then the position coordinates and the course angle data of the roller machine are assigned to the roller machine model in real time through scripts, so that the position and the posture of the roller machine model in a three-dimensional scene are synchronous with the position and the posture of an actual roller machine in real time; a virtual camera can be newly built in the three-dimensional graphic software; the position of the virtual camera relative to the roller mill model is the same as the position of the actual camera relative to the actual roller mill; the real scene pictures collected by the actual camera can be input into the virtual camera, and the compacted quality cloud picture and the real scene pictures are drawn in the three-dimensional virtual scene in real time to be superposed.
The industrial personal computer, the vehicle-mounted traveling computer, the industrial tablet personal computer, the liquid crystal display screen, the first speed sensor, the second acceleration sensor, the first camera, the second camera, the vehicle-mounted positioner, the electronic compass, the DTU wireless data transmission module or element can adopt products in corresponding technologies.
The data processing module, the grinding wheel vibration state acquisition module, the grinding machine pose acquisition module, the image acquisition module, the display module, the data transmission module and the like which are in signal transmission with the data processing module can be constructed by adopting software and hardware in the prior art and adopting conventional technical means.
The structure, the working process and the working principle of the present invention are further explained by a preferred embodiment of the present invention as follows:
referring to fig. 1, an intelligent compaction quality monitoring system based on an acceleration sensor comprises a data processing module, a grinding wheel vibration state acquisition module, a grinding machine pose acquisition module, an image acquisition module, a display module, a data transmission module, a power supply module, a field command center application server, a field command center database server and the like, wherein the grinding wheel vibration state acquisition module, the grinding machine pose acquisition module, the image acquisition module, the display module, the data transmission module, the power supply module, the field command center application server, the field command center database server and; the roller vibration state acquisition module is used for acquiring transverse and longitudinal acceleration signals of the roller; the rolling machine pose acquisition module is used for acquiring position and posture data of the rolling machine; the image acquisition module is used for acquiring construction site images around the rolling machine; the display module is used for displaying the data output by the data processing module; the data processing module receives the collected signals from the rolling wheel vibration state collecting module, the rolling machine pose collecting module and the image collecting module, and performs the following processing on the received signals: correcting errors of the acquired position and posture data of the rolling machine; processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and obtaining compaction quality data; integrating the position and attitude data of the roller with the compaction quality data to form an integrated data stream; drawing a compaction quality cloud picture in a three-dimensional virtual scene in real time based on the integrated data stream; fusing the collected construction site image with a compaction quality cloud picture in a three-dimensional virtual scene in real time; the data obtained after processing is sent to a display module for displaying. The data processing module and the display module can be realized by adopting an industrial tablet computer, the image acquisition module can comprise a high-definition camera and the like, the grinding wheel vibration state acquisition module can comprise an acceleration sensor and the like, and the grinding machine pose acquisition module can comprise an electronic compass, a vehicle-mounted positioner and the like.
The data processing module is used for analyzing and processing the received data to convert the data into more visual construction information and adding the construction information to a scene video picture to present the construction information to a driver to guide construction operation; a data transmission module: the remote transmission and storage device is used for remotely transmitting and storing the information of the data processing module, so that the post analysis is convenient; the power module is used for supplying power to each module.
The grinding wheel vibration state acquisition module includes: two acceleration sensors and a data acquisition instrument. The two acceleration sensors are respectively a first acceleration sensor and a second acceleration sensor, the first acceleration sensor and the second acceleration sensor are installed on a rolling machine rolling wheel according to a vertical orthogonal installation scheme and are used for acquiring transverse and longitudinal vibration acceleration of the rolling machine steel wheel, and the data acquisition instrument is used for integrating signals of the two acceleration sensors and transmitting the signals to an industrial tablet computer in the data processing module through a network port according to set frequency.
Firstly, manufacturing a cubic iron block, vertically installing a first acceleration sensor at the top of the iron block, and installing a second acceleration sensor at the side surface of the iron block; and then welding the cubic iron block on a steel plate directly connected with a roller shaft of the rolling machine, so that the first acceleration sensor and the second acceleration sensor can respectively acquire the transverse vibration acceleration and the longitudinal vibration acceleration of the rolling machine roller. The bucker position appearance collection module includes: RTK base station, on-vehicle locator, electron compass. The RTK base station is used for providing a differential signal for a vehicle-mounted positioner arranged on the rolling machine, so that centimeter-level accurate positioning of the position of the top of the rolling machine is realized; the electronic compass is installed on the top of the rolling machine, and is erected by 50cm through the aluminum alloy bracket, so that the magnetic interference is avoided, and the heading of the rolling machine is accurately acquired.
The image acquisition module includes: install two high definition digtal camera of direction around rolling machine top. The high-definition camera is used for collecting real-time pictures in the front and back directions of the rolling machine and sending the real-time picture data to the data processing module. The data processing module comprises: an industrial tablet personal computer arranged in a cab of the rolling machine and an intelligent compaction quality monitoring system software client end arranged in an industrial tablet. The industrial tablet computer receives data output by the position and posture acquisition module of the rolling machine through a serial port connecting line; receiving data output by the grinding wheel vibration state acquisition module through a network port connecting line; and receiving the real-time picture data output by the image acquisition module through the USB connecting line.
The data transmission module includes: DTU wireless data transmission. The data processing module can transmit the position, posture data and compaction quality data of the integrated rolling machine to the field command center application server and the field command center database server through DTU wireless data transmission.
DTU wireless data transmission: the transmitting end is arranged on the rolling machine and connected with the airborne industrial personal computer, and the receiving end is arranged in the field command center. The data streams (X, Y, Z, H, ECP and T) integrated in the industrial tablet personal computer of the rolling machine can be wirelessly transmitted to the on-site command center application server and the on-site command center database server in real time through DTU wireless data transmission.
The application server of the on-site command center: and the system is arranged in a machine room and used for receiving real-time data transmitted back by DTU wireless data transmission through a network and sending the real-time data to a database server of the field command center for standby storage. The on-site command center application server can also visually display the on-line condition of the rolling machine, so that on-site maintenance personnel can conveniently check the on-line condition of the rolling machine.
The database server of the on-site command center: and the system is arranged in a machine room and used for storing data sent by an application server of the field command center.
The power module includes: the 24V changes 12V transformation module. The device is used for converting a 24V power supply of the rolling machine into a 12V power supply to be output, and supplying power to airborne hardware equipment such as a rolling wheel vibration state acquisition module, a rolling machine pose acquisition module, an image acquisition module, a data transmission and storage module, a data processing module and the like.
The data processing module is internally provided with an attitude correction algorithm to carry out error correction on the acquired position and attitude data of the rolling machine so as to obtain high-precision positioning coordinates of the rolling machine; an acceleration signal analysis algorithm is built in, collected lateral and longitudinal acceleration signals of the grinding wheel are processed in real time, compaction mass data are obtained, and an ECP value reflecting soil compaction mass is obtained through formula calculation; a built-in data integration algorithm can integrate the position and posture data of the rolling machine and the compaction quality data to form an integrated data stream; based on a three-dimensional game development engine and a built-in three-dimensional drawing algorithm, a compaction quality cloud picture can be drawn in a three-dimensional virtual scene in real time based on integrated data flow; the built-in augmented reality plug-in can fuse the construction site image collected in real time with the compaction quality cloud picture in the three-dimensional virtual scene, and the fused picture is presented to a rolling machine driver to guide construction.
The method for correcting the errors of the collected position and posture data of the rolling machine specifically comprises the following steps: the positioning signal measured by the RTK-GPS is the coordinate of the center of the top of the roller mill, the roller mill can incline in the operation process due to local unevenness of a construction operation surface on a dam, and therefore the accurate position of the roller mill can not be obtained by subtracting the relative height from the roller mill from the GPS coordinate of the top of the roller mill. According to the method, an inertial navigator is adopted to acquire the transverse and longitudinal inclination angles of the rolling machine, the transverse and longitudinal compensation errors of GPS positioning are calculated by a trigonometric function according to the known size and transverse and longitudinal inclination angles of the rolling machine, and the centimeter-level high-precision positioning coordinates of the contact surface of the rolling wheel and the compacted material are obtained by subtracting the compensation errors from the GPS positioning value.
The method for processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and acquiring compaction quality data specifically comprises the following steps: and respectively carrying out Fast Fourier Transform (FFT) on the signals of the two acceleration sensors, and respectively taking the fundamental amplitude A2 and the second-order amplitude A4 after the FFT as the characteristic signal values of the corresponding acceleration sensors.
ECP can be set as a comprehensive index reflecting soil compaction quality data, and CMV1 can be set as a longitudinal component of the compaction index; CMV2 may be assumed to be the transverse component of the compaction index and may be calculated as follows:
Figure BDA0002678490800000101
Figure BDA0002678490800000102
CMVS＝CMV1+CMV2
in the formula: a is1、a2Taking 300 as a constant; a. the12The signal amplitude is a fast Fourier transform signal base amplitude corresponding to the longitudinal acceleration sensor; a. the14The second-order amplitude of the fast Fourier transform signal corresponding to the longitudinal acceleration sensor is obtained; a. the22The signal base amplitude is the fast Fourier transform signal base amplitude of the corresponding transverse acceleration sensor; a. the24And the second-order amplitude of the fast Fourier transform signal of the corresponding transverse acceleration sensor.
The method for integrating the position and attitude data of the roller with the compaction quality data to form the integrated data stream specifically comprises the following steps: the value time interval of the high-precision positioning coordinate of the rolling machine, the course value of the rolling machine and the ECP value is 1S, the time is taken as a label, and the high-precision positioning coordinate, the course angle and the ECP value data are integrated. Resulting in a data stream (X, Y, Z, H, ECP, T) with an interval of 1S. Wherein X, Y and Z are coordinates at the position of the grinding wheel; h is the running course angle of the rolling machine; ECP is an index reflecting soil compaction quality; t is the time corresponding to the data.
The method for drawing the compaction quality cloud picture in real time in the three-dimensional virtual scene based on the integrated data stream specifically comprises the following steps: the method comprises the steps of analyzing a data stream (X, Y, Z, H, ECP, T) with a sampling interval of 1S in real time, taking a Z value as a fixed value, connecting coordinate points of two seconds before and after the Z value in a three-dimensional scene, wherein the connecting line is a plane with colors and widths, the normal direction of the plane is parallel to a longitudinal axis, the width of the plane is a grinding wheel width D, the colors of the plane are related to ECP, namely the different colors correspond to ECP values with different sizes, and a new plane is covered on the old plane. By the method, the cloud picture reflecting the compaction quality can be obtained and presented in a three-dimensional scene.
The method for fusing the real-time collected construction site image and the compaction quality cloud picture in the three-dimensional virtual scene specifically comprises the following steps: firstly, a roller mill model is built in unity3D software, and then coordinates and course angle data of the roller mill are given to the roller mill in real time through scripts, so that the position of the roller mill in a three-dimensional scene is synchronized with the position of the roller mill in a real scene in real time. In unity3D, a virtual camera is newly built, the position of the virtual camera relative to the virtual roller mill model is the same as that of the real camera relative to the roller mill, and picture information obtained by the real camera is input into the virtual camera, so that a real scene picture superposed with a virtual scene can be observed from the perspective of the virtual camera. The virtual scene can be selectively rendered as desired. And selecting to render the compacted quality cloud picture, so that the superposition of the compacted quality cloud picture and the live-action picture is realized. The driver of the rolling machine can see the front and rear construction operation live-action pictures superimposed with virtual information (compactness cloud pictures) through a client interface.
The above embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the same, and the scope of the present invention is not limited by the embodiments, i.e. equivalent variations or modifications made within the spirit of the present invention are still within the scope of the present invention.

Claims (12)

1. An intelligent compaction quality monitoring system based on an acceleration sensor is characterized by comprising a data processing module, a grinding wheel vibration state acquisition module, a grinding machine pose acquisition module, an image acquisition module and a display module, wherein the grinding wheel vibration state acquisition module, the grinding machine pose acquisition module, the image acquisition module and the display module are in signal transmission with the data processing module; the roller vibration state acquisition module is used for acquiring transverse and longitudinal acceleration signals of the roller; the rolling machine pose acquisition module is used for acquiring position and posture data of the rolling machine; the image acquisition module is used for acquiring construction site images around the rolling machine; the display module is used for displaying the data output by the data processing module; the data processing module receives the collected signals from the rolling wheel vibration state collecting module, the rolling machine pose collecting module and the image collecting module, and performs the following processing on the received signals: correcting errors of the acquired position and posture data of the rolling machine; processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and obtaining compaction quality data; integrating the position and attitude data of the roller with the compaction quality data to form an integrated data stream; drawing a compaction quality cloud picture in a three-dimensional virtual scene in real time based on the integrated data stream; fusing the collected construction site image with a compaction quality cloud picture in a three-dimensional virtual scene in real time; the data obtained after processing is sent to a display module for displaying.
2. The acceleration sensor-based intelligent compaction quality monitoring system of claim 1 wherein the mill wheel vibration status acquisition module comprises: the system comprises a first acceleration sensor, a second acceleration sensor and a data acquisition instrument; the first acceleration sensor is used for acquiring the transverse vibration acceleration of the steel wheel of the rolling machine; the second acceleration sensor is used for acquiring the longitudinal vibration acceleration of the steel wheel of the rolling machine; the data acquisition instrument is used for integrating the signals of the first acceleration sensor and the second acceleration sensor and sending the signals to the data processing module.
3. The intelligent compaction quality monitoring system based on the acceleration sensor as claimed in claim 2, wherein a cubic iron block is provided, and a first acceleration sensor and a second acceleration sensor are respectively arranged on two adjacent surfaces of the iron block; one side adjacent to the two sides at the same time is vertically connected with a wheel shaft of the steel wheel of the rolling machine.
4. The acceleration sensor-based intelligent compaction quality monitoring system of claim 1 wherein the compactor pose acquisition module comprises: an RTK base station, a vehicle-mounted positioner and an electronic compass; the RTK base station is used for providing a differential signal to a vehicle-mounted positioner arranged on the rolling machine, and the vehicle-mounted positioner is used for acquiring the coordinates of the position of the top of the rolling machine; the electronic compass is arranged on the top of the rolling machine through a bracket and is 50cm higher than the top of the rolling machine, and is used for collecting the course angle of the rolling machine; and the vehicle-mounted positioner and the electronic compass send the acquired signals to the data processing module.
5. The acceleration sensor-based intelligent compaction quality monitoring system of claim 1 wherein the image acquisition module comprises: the system comprises a first camera and a second camera which are arranged at the top of a rolling machine, wherein the first camera is used for acquiring construction site images in front of the rolling machine, and the second camera is used for acquiring construction site images behind the rolling machine; the first camera and the second camera send the collected images to the data processing module.
6. The acceleration sensor-based intelligent compaction quality monitoring system of claim 1 further comprising a data transmission module comprising a DTU wireless data transfer; and the data processing module transmits the position and attitude data and the compaction quality data of the integrated rolling machine to an application server of the field command center through DTU wireless data transmission.
7. An intelligent compaction quality monitoring method based on an acceleration sensor is characterized in that a grinding wheel vibration state acquisition module is arranged and used for acquiring transverse and longitudinal acceleration signals of a grinding wheel; arranging a rolling machine pose acquisition module for acquiring the position and posture information of a rolling machine; an image acquisition module is arranged and used for acquiring construction site images around the rolling machine; setting a display module for displaying the data output by the data processing module; the data processing module is arranged to receive the acquisition signals from the rolling wheel vibration state acquisition module, the rolling machine pose acquisition module and the image acquisition module, and the received signals are processed as follows: correcting errors of the acquired position and posture data of the rolling machine; processing the acquired transverse and longitudinal acceleration signals of the grinding wheel in real time and obtaining compaction quality data; integrating the position and attitude data of the roller with the compaction quality data to form an integrated data stream; drawing a compaction quality cloud picture in a three-dimensional virtual scene in real time based on the integrated data stream; fusing the collected construction site image with a compaction quality cloud picture in a three-dimensional virtual scene in real time; and sending the processed data to a display module for display.
8. The acceleration sensor-based intelligent compaction quality monitoring method of claim 7 wherein the method of error correction of the collected mill position and attitude data comprises: the method comprises the steps of acquiring transverse and longitudinal inclination angles of a rolling machine by an inertial navigator, acquiring position coordinates and course angles of the rolling machine by a known rolling machine size and rolling machine pose acquisition module, acquiring errors of position and posture data of the rolling machine by a geometric algorithm, and compensating the acquired data by the acquired errors.
9. The acceleration sensor-based intelligent compaction quality monitoring method of claim 7 wherein the method of real-time processing of the collected lateral and longitudinal acceleration signals of the grinding wheel and obtaining compaction quality data comprises: respectively carrying out fast Fourier transform on the acquired signals of the first acceleration sensor and the second acceleration sensor, setting ECP as a comprehensive index for reflecting soil compaction quality data, and setting CMV1 as a longitudinal component of the compaction index; assuming CMV2 as the transverse component of the compaction index, the calculation formula is as follows:
Figure FDA0002678490790000021
Figure FDA0002678490790000022
ECP＝CMV1+CMV2
in the formula: a is1、a2Is a constant and takes the value of 100-300; a. the12The signal amplitude is a fast Fourier transform signal base amplitude corresponding to the longitudinal acceleration sensor; a. the14The second-order amplitude of the fast Fourier transform signal corresponding to the longitudinal acceleration sensor is obtained; a. the22The signal base amplitude is the fast Fourier transform signal base amplitude of the corresponding transverse acceleration sensor; a. the24And the second-order amplitude of the fast Fourier transform signal of the corresponding transverse acceleration sensor.
10. The acceleration sensor-based intelligent compaction quality monitoring method of claim 9 wherein integrating the compactor position and attitude data with the compaction quality data to form an integrated data stream comprises: synchronously sampling the position coordinates of the rolling machine, the course angle of the rolling machine and the ECP value; sampling intervals are all 1S; synthesizing the sampled data into a data stream (X, Y, Z, H, ECP, T), wherein X, Y and Z are coordinates of the center position of the grinding wheel; h is the heading angle of the rolling machine; ECP is a comprehensive index reflecting soil compaction quality data; t is the sampling time.
11. The acceleration sensor-based intelligent compaction quality monitoring method of claim 10 wherein the method of real-time rendering of compaction quality clouds in a three-dimensional virtual scene based on integrated data streams comprises: analyzing the data stream (X, Y, Z, H, ECP, T) in real time, setting the Z value as a certain value, sequentially connecting coordinate points of each group of data in a three-dimensional scene according to the T value sequence, forming a plane with colors after connecting the coordinate points, wherein the normal direction of the plane is parallel to the Z axis, the width of the plane is the width of a grinding wheel, and the colors of the plane are related to the ECP value.
12. The intelligent compaction quality monitoring method based on the acceleration sensor as recited in claim 11, wherein the method for fusing the construction site image collected in real time with the compaction quality cloud image in the three-dimensional virtual scene comprises: firstly, establishing a rolling machine model in three-dimensional graphic software, and then assigning position coordinates and course angle data of a rolling machine to the rolling machine model in real time through a script, so that the pose of the rolling machine model in a three-dimensional scene is synchronous with the pose of an actual rolling machine in real time; newly building a virtual camera in the three-dimensional graphic software; the position of the virtual camera relative to the roller mill model is the same as the position of the actual camera relative to the actual roller mill; inputting the real scene picture collected by the real camera into the virtual camera, and drawing the compaction quality cloud picture and the real scene picture in real time in the three-dimensional virtual scene for superposition.
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