CN113077119A - Automatic identification method for concrete blanking and leveling - Google Patents

Automatic identification method for concrete blanking and leveling Download PDF

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CN113077119A
CN113077119A CN202110234645.1A CN202110234645A CN113077119A CN 113077119 A CN113077119 A CN 113077119A CN 202110234645 A CN202110234645 A CN 202110234645A CN 113077119 A CN113077119 A CN 113077119A
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blanking
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谭尧升
朱永亮
陈文夫
尹习双
郭增光
张志伟
杨宁
徐建江
刘春风
王飞
高世奎
刘涛
乔雨
瞿振寰
冯博
冯奕
杨小龙
张志豪
龚攀
万甜
裴磊
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PowerChina Chengdu Engineering Co Ltd
China Three Gorges Projects Development Co Ltd CTG
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Abstract

The invention provides a method for automatically identifying concrete blanking leveling, which comprises the following steps: step one, installing positioning monitoring equipment on a nose, a tail and a cable crane of a bin leveling machine; step two, monitoring the information of the bin leveling machine and the blanking point in real time: the coordinate information of the machine head and the machine tail is
Figure DEST_PATH_IMAGE002
、
Figure DEST_PATH_IMAGE004
At an interval of t1Obtaining the position information of the leveling machine after time, wherein the coordinate information of the head and the tail are respectively
Figure DEST_PATH_IMAGE006
、
Figure DEST_PATH_IMAGE008
(ii) a Real-time monitoring cable machine blanking point position coordinate X
Figure DEST_PATH_IMAGE010
. And step three, the server calculates the information. The method can monitor the whole operation process of the leveling machine, analyze the leveling state of the leveling machine, automatically judge whether the leveling machine performs leveling operation and the normalization of the leveling process, further judge the timeliness of dam concrete blanking leveling, and realize intelligent monitoring and accurate management of the whole process of dam concrete blanking leveling.

Description

Automatic identification method for concrete blanking and leveling
Technical Field
The invention relates to the field of concrete pouring construction of hydraulic engineering, in particular to a method for automatically identifying concrete blanking and leveling.
Background
The blanking and leveling refers to a process that dam concrete is hoisted to a bin surface through a cable crane, the concrete is thrown to a specified position according to planning requirements, and then a leveling machine (a bulldozer) is used for paving.
In the construction process of hydraulic engineering, particularly concrete dams such as arch dams and gravity dams and the like, the construction method has the characteristics of tight construction period, huge engineering quantity, severe construction environment, complex working procedures and the like, and how to ensure the fine management and the standardized operation of concrete construction machinery is directly related to whether the dam can be constructed with high quality and high efficiency.
The leveling machine is used as key equipment for dam concrete engineering construction, bears dam concrete material piles to push and level the paving work, and if the dam engineering construction needs to be met, the leveling machine needs to level each concrete material pile in time, and the material pile paving range needs to meet the design of a warehouse strip. Therefore, in the dam concrete construction process, how to finely manage and control the operation process of the leveling machine through the construction process of the leveling machine, the timely and standard leveling of the leveling machine on the bin surface is realized, and the dam concrete construction process and quality guarantee device is important work.
The traditional construction operation management of the leveling machine standardizes the material pile leveling construction process of a driver on a bin surface through operation training of the driver of the leveling machine. On the other hand, the on-site command of the cabin surface management personnel enables a driver to carry out blanking leveling operation according to the cabin surface pouring requirement. In the traditional management mode, on one hand, the requirements on the construction experience and the operation responsibility of a bin leveling machine driver and field management personnel are high, and the timely leveling of the concrete pouring on the bin surface and the leveling by a strip cannot be guaranteed. On the other hand, because there is no construction process record, there is the problem that it can not be determined whether the warehouse surface concrete is to carry out leveling construction according to the designed concrete grading, and meanwhile, the blanking leveling process can not be traced afterwards. Therefore, refined and intelligent technical means and equipment are needed to be adopted to carry out real-time monitoring on the whole process of blanking leveling of the leveling machine, so that the leveling machine can be leveled in time and leveled according to the requirements of the construction process, and the construction progress and quality requirements of the dam are met to the maximum extent.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for automatically identifying concrete blanking and leveling, which is used for monitoring the whole operation process of a leveling machine, analyzing the leveling state of the leveling machine, automatically judging whether the leveling machine performs leveling operation and the normalization of the leveling process, further judging the timeliness of dam concrete blanking and leveling, and realizing intelligent monitoring and accurate management of the whole process of dam concrete blanking and leveling.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for automatically identifying concrete blanking leveling comprises the following steps:
step one, installing positioning monitoring equipment on a nose, a tail and a cable crane of a leveling machine, wherein the positioning monitoring equipment on the leveling machine is installed on a central axis of the leveling machine;
step two, monitoring the information of the bin leveling machine and the blanking point in real time:
the coordinate information of the machine head and the machine tail is P1(Px1，Py1，Pz1)、P2(Px2，Py2，Pz2) At an interval of t1Obtaining the position information of the leveling machine after time, wherein the coordinate information of the machine head and the machine tail are respectively P'1(P′x1，P′y1，P′z1)、P′2(P′x2，P′y2，P′z2) (ii) a Real-time monitoring cable machine blanking point position coordinate X (X)x，Xy，Xz)；
And step three, the server calculates the information.
In a preferred scheme, in the third step, a leveling area of the leveling machine is calculated: the width of the leveling machine is set to be L, and the position P of the nose of the leveling machine is1(Px1，Py1，Pz1) The coordinates of the boundary points in the direction perpendicular to the central axis are calculated as follows:
the included angle between the straight line of the nose and the tail of the bin leveling machine on the xy plane and the y axis is theta, then
Figure BDA0002960177470000021
Figure BDA0002960177470000022
Machine head left side boundary point b of leveling area of leveling machine1Comprises the following steps:
Figure BDA0002960177470000023
Figure BDA0002960177470000024
b1z＝Pz1；
right boundary point b of machine head of leveling area of leveling machine2Comprises the following steps:
Figure BDA0002960177470000025
Figure BDA0002960177470000026
b1z＝Pz1；
the boundary point b on the right side of the tail of the leveling area of the leveling machine can be obtained by the same method3And left boundary point b4Boundary point b on left side of tail of leveling area of leveling machine3Comprises the following steps:
Figure BDA0002960177470000027
Figure BDA0002960177470000031
b3z＝Pz2；
right boundary point b of tail of leveling area of leveling machine4Comprises the following steps:
Figure BDA0002960177470000032
Figure BDA0002960177470000033
b4z＝Pz2；
the boundary of the leveling area of the leveling machine is B (B)1，b2，b3，b4)。
In a preferred scheme, in the third step, a direction vector a of the tail and the nose of the leveling machine is as follows:
a(Px1-Px2，Py1-Py2)
the direction vector a' of the head of the leveling machine at two times is as follows:
a′(P′x1-Px1，P′y1-Py1)
then, the cross product k of a and a' is:
k＝a*a′＝(P′x1-Px1)*(Px1-Px2)+(P′y1-Py1)*(Py1-Py2)
and judging the advancing direction of the leveling machine based on the positive and negative values of the k, wherein if k is larger than 0, the leveling machine is in a forward motion, and if k is smaller than 0, the leveling machine is in a backward motion.
In a preferred scheme, in the third step, whether the concrete blanking pile starts to level is judged: setting the volume of concrete per tank as G, the blanking pile as a cone, the radius of the bottom surface of the pile as R, the thickness of the blank layer as H, and flattening a boundary point position data set PbThe leveling area of the leveling machine is intersected with the bottom surface of the material pile for the first time, and four boundary points B (B) of the leveling area can be pushed by the leveling machine1，b2，b3，b4) And a blanking point X (X)x，Xy，Xz) Is a minimum distance LminIf L isminIf R is greater than R, the leveling machine does not start leveling, and if L is greater than R, the leveling machine does not start levelingminIf R is less than R, the leveling machine starts leveling.
In the preferred scheme, in the third step, the blanking leveling time of the leveling machine is calculated: recording the time T1 for finishing the blanking at the blanking point X of the cable machine, and when the flat bin machine LminWhen R is less than R, recording the starting bin leveling time T2 of the bin leveling machine, and then the blanking bin leveling interval of the blanking point bin leveling machine is T2-T1.
In an optimal scheme, when the blanking leveling interval T is larger than a control index value, overtime early warning is given to the operation of the leveling machine through a server.
In a preferred embodiment, t is1The time period was 3 seconds.
The method can monitor the positions of all blanking points and the leveling machine, can judge whether the leveling interval of the leveling machine to each blanking point is overtime, and if the leveling interval is overtime, the method reports the overtime to field command and rear management personnel, monitors the leveling process, judges whether the running state, the leveling area and the concrete blanking pile of the leveling machine start leveling, and realizes intelligent monitoring, analysis and early warning of the leveling operation of the leveling machine based on the statistics and analysis of the whole blanking leveling process of the operation track of the leveling machine.
Drawings
The invention is further illustrated with reference to the accompanying drawings and examples:
FIG. 1 is a schematic illustration of the position of a bundler;
Detailed Description
A method for automatically identifying concrete blanking leveling comprises the following steps:
step one, installing positioning monitoring equipment on a nose, a tail and a cable crane of a leveling machine, wherein the positioning monitoring equipment on the leveling machine is installed on a central axis of the leveling machine;
step two, monitoring the information of the bin leveling machine and the blanking point in real time:
as shown in FIG. 1, the coordinate information of the head and tail is P1(Px1，Py1，Pz1)、P2(Px2，Py2，Pz2) And acquiring the position information of the leveling machine after t1 time interval, wherein in view of the short moving distance of the leveling machine within 1s time interval, the frequency of acquiring the position information by the leveling machine is 1/3 s in the application process, namely after the leveling machine moves for 3s, the coordinate information of the nose and the tail are respectively P'1(P′x1，P′y1，P′z1)、P′2(P′x2，P′y2，P′z2) (ii) a Real-time monitoring cable machine blanking point position coordinate X (X)x，Xy，Xz)。
And step three, the server calculates the information.
The direction vector a of the tail and the head of the leveling machine is as follows:
a(Px1-Px2，Py1-Py2)
the direction vector a' of the head of the leveling machine at two times is as follows:
a′(P′x1-Px1，P′y1-Py1)
then, the cross product k of a and a' is:
k＝a*a′＝(P′x1-Px1)*(Px1-Px2)+(P′y1-Py1)*(Py1-Py2)
and judging the advancing direction of the leveling machine based on the positive and negative values of the k, wherein if k is larger than 0, the leveling machine is in a forward motion, and if k is smaller than 0, the leveling machine is in a backward motion.
Calculating a leveling area of the leveling machine: the width of the leveling machine is set to be L, and the position P of the nose of the leveling machine is1(Px1，Py1，Pz1) The coordinates of the boundary points in the direction perpendicular to the central axis are calculated as follows:
the included angle between the straight line of the nose and the tail of the bin leveling machine on the xy plane and the y axis is theta, then
Figure BDA0002960177470000051
Figure BDA0002960177470000052
Machine head left side boundary point b of leveling area of leveling machine1Comprises the following steps:
Figure BDA0002960177470000053
Figure BDA0002960177470000054
b1z＝Pz1；
right boundary point b of machine head of leveling area of leveling machine2Comprises the following steps:
Figure BDA0002960177470000055
Figure BDA0002960177470000056
b1z＝Pz1；
the boundary point b on the right side of the tail of the leveling area of the leveling machine can be obtained by the same method3And left boundary point b4Boundary point b on left side of tail of leveling area of leveling machine3Comprises the following steps:
Figure BDA0002960177470000057
Figure BDA0002960177470000058
b3z＝Pz2；
right boundary point b of tail of leveling area of leveling machine4Comprises the following steps:
Figure BDA0002960177470000059
Figure BDA00029601774700000510
b4z＝Pz2；
the boundary of the leveling area of the leveling machine is B (B)1，b2，b3，b4)。
Judging whether the concrete blanking pile begins to level: setting the volume of concrete per tank as G, the blanking pile as a cone, the radius of the bottom surface of the pile as R, the thickness of the blank layer as H, and flattening a boundary point position data set PbThe leveling area of the leveling machine is intersected with the bottom surface of the material pile for the first time, and four boundary points B (B) of the leveling area can be pushed by the leveling machine1，b2，b3，b4) And a blanking point X (X)x，Xy，Xz) Is a minimum distance LminIf L isminIf R is greater than R, the leveling machine does not start leveling, and if L is greater than R, the leveling machine does not start levelingminIf R is less than R, the leveling machine starts leveling.
Calculating the averageThe blanking leveling time of the bin machine: recording the time T1 for finishing the blanking at the blanking point X of the cable machine, and when the flat bin machine LminWhen R is less than R, recording the starting bin leveling time T2 of the bin leveling machine, and then the blanking bin leveling interval of the blanking point bin leveling machine is T2-T1.
And when the blanking leveling interval T is larger than the control index value, performing overtime early warning on the operation of the leveling machine through the server.
The identification method for blanking leveling of the leveling machine is constructed according to the requirements of dam concrete pouring efficiency and quality, is successfully applied to dam engineering construction, not only realizes the real-time monitoring of the whole construction process of the leveling machine, but also realizes the process early warning and the afterward tracing function of the operation of the leveling machine, and further completes the fine analysis and statistics of the construction of the leveling machine, thereby providing quantitative data display for commanders and rear managers on the dam construction site and realizing the fine control of the dam engineering construction.

Claims (7)

1. A method for automatically identifying concrete blanking leveling is characterized by comprising the following steps:
step one, installing positioning monitoring equipment on a nose, a tail and a cable crane of a leveling machine, wherein the positioning monitoring equipment on the leveling machine is installed on a central axis of the leveling machine;
step two, monitoring the information of the bin leveling machine and the blanking point in real time:
the coordinate information of the machine head and the machine tail is P1(Px1，Py1，Pz1)、P2(Px2，Py2，Pz2) At an interval of t1Obtaining the position information of the leveling machine after time, wherein the coordinate information of the machine head and the machine tail are respectively P'1(P′x1，P′y1，P′z1)、P′2(P′x2，P′y2，P′z2) (ii) a Real-time monitoring cable machine blanking point position coordinate X (X)x，Xy，Xz)；
And step three, the server calculates the information.
2. A concrete lower according to claim 1The method for automatically identifying material leveling is characterized in that in the third step, the leveling area of the bin leveling machine is calculated: the width of the leveling machine is set to be L, and the position P of the nose of the leveling machine is1(Px1，Py1，Pz1) The coordinates of the boundary points in the direction perpendicular to the central axis are calculated as follows:
the included angle between the straight line of the nose and the tail of the bin leveling machine on the xy plane and the y axis is theta, then
Figure FDA0002960177460000011
Figure FDA0002960177460000012
Machine head left side boundary point b of leveling area of leveling machine1Comprises the following steps:
Figure FDA0002960177460000013
Figure FDA0002960177460000014
b1z＝Pz1；
right boundary point b of machine head of leveling area of leveling machine2Comprises the following steps:
Figure FDA0002960177460000015
Figure FDA0002960177460000016
b1z＝Pz1；
the boundary point b on the right side of the tail of the leveling area of the leveling machine can be obtained by the same method3And left boundary point b4Boundary point b on left side of tail of leveling area of leveling machine3Comprises the following steps:
Figure FDA0002960177460000021
Figure FDA0002960177460000022
b3z＝Pz2；
right boundary point b of tail of leveling area of leveling machine4Comprises the following steps:
Figure FDA0002960177460000023
Figure FDA0002960177460000024
b4z＝Pz2；
the boundary of the leveling area of the leveling machine is B (B)1，b2，b3，b4)。
3. The method for automatically identifying concrete blanking leveling according to claim 1,
in the third step, the direction vector a of the tail and the nose of the leveling machine is as follows:
a(Px1-Px2，Py1-Py2)
the direction vector a' of the head of the leveling machine at two times is as follows:
a′(P′x1-Px1，P′y1-Py1)
then, the cross product k of a and a' is:
k＝a*a′＝(P′x1-Px1)*(Px1-Px2)+(P′y1-Py1)*(Py1-Py2)
and judging the advancing direction of the leveling machine based on the positive and negative values of the k, wherein if k is larger than 0, the leveling machine is in a forward motion, and if k is smaller than 0, the leveling machine is in a backward motion.
4. The method for automatically identifying the pushing of the concrete blanking according to the claim 2, wherein in the third step, whether the concrete blanking pile starts to be leveled is judged: setting the volume of concrete per tank as G, the blanking pile as a cone, the radius of the bottom surface of the pile as R, the thickness of the blank layer as H, and flattening a boundary point position data set PbThe leveling area of the leveling machine is intersected with the bottom surface of the material pile for the first time, and four boundary points B (B) of the leveling area can be pushed by the leveling machine1，b2，b3，b4) And a blanking point X (X)x，Xy，Xz) Is a minimum distance LminIf L isminIf R is greater than R, the leveling machine does not start leveling, and if L is greater than R, the leveling machine does not start levelingminIf R is less than R, the leveling machine starts leveling.
5. The method for automatically identifying concrete blanking and leveling as claimed in claim 4, wherein in the third step, the blanking and leveling time of the leveling machine is calculated as follows: recording the time T1 for finishing the blanking at the blanking point X of the cable machine, and when the flat bin machine LminWhen R is less than R, recording the starting bin leveling time T2 of the bin leveling machine, and then the blanking bin leveling interval of the blanking point bin leveling machine is T2-T1.
6. The method for automatically identifying concrete blanking leveling according to claim 5, wherein when the blanking leveling interval T is greater than a control index value, the server gives an early warning to the leveling machine operation overtime.
7. The method for automatically identifying concrete blanking leveling according to claim 1, wherein t is1The time period was 3 seconds.
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