CN114151062A - WEB end cantilever crane type construction operation equipment state monitoring method - Google Patents
WEB end cantilever crane type construction operation equipment state monitoring method Download PDFInfo
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- CN114151062A CN114151062A CN202111623996.8A CN202111623996A CN114151062A CN 114151062 A CN114151062 A CN 114151062A CN 202111623996 A CN202111623996 A CN 202111623996A CN 114151062 A CN114151062 A CN 114151062A
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- 238000010276 construction Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 239000011159 matrix material Substances 0.000 claims abstract description 55
- 230000009466 transformation Effects 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims abstract description 13
- 238000013519 translation Methods 0.000 claims description 22
- 239000011435 rock Substances 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000012217 deletion Methods 0.000 claims description 4
- 230000037430 deletion Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000009877 rendering Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 6
- 238000004088 simulation Methods 0.000 abstract description 2
- 238000005553 drilling Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
Abstract
The invention provides a WEB end cantilever type construction operation equipment state monitoring method, which combines a position sensor state value during actual construction of construction operation equipment with a pose transformation matrix at the current moment to update a pose transformation matrix, and the pose transformation matrix drives an assembly body model of a three-dimensional WebGIS system (namely a webpage end) to act, namely the actual simulation of the equipment working state is realized in a data driving model mode, and the action of the assembly body model in the three-dimensional WebGIS system is consistent with the action during the actual construction of the construction operation equipment, so that the monitoring of the construction operation equipment state at the webpage end can be realized, and the three-dimensional visual display management is realized.
Description
Technical Field
The invention relates to the technical field of tunnel construction equipment, in particular to a method for monitoring the state of construction operation equipment based on WEB end booms.
Background
With the continuous improvement of the economic level of China, the traffic construction industries such as railways and roads and the like have been greatly developed in recent years, and the excavation of tunnels is difficult to avoid in the railway and road construction under general conditions. The construction of the tunnel needs to use arm support type construction operation equipment, the arm support type construction operation equipment mainly refers to equipment taking arm support joints as main operation or key components, such as rock drilling trolleys, concrete wet spraying trolleys, arch frame trolleys, anchor rod trolleys and other equipment used for the tunnel construction by a drilling and blasting method, the arm supports are formed by all levels of joints, and the construction operation is carried out through the movement and the movement of the arm supports.
In the current tunnel construction process, the intelligent degree of the arm support type construction operation equipment is low, the operation level and quality of equipment operators are greatly depended on in one line of work, the posture change in the equipment construction process is complex, the cooperative operation of a plurality of parts is involved, and the requirement on the operators is high. Meanwhile, more manual monitoring blind areas exist in the equipment construction process, monitoring personnel are difficult to monitor comprehensively and timely, and the monitoring accuracy is difficult to guarantee. At present, few researches are carried out in the field of monitoring the state of equipment for arm support type construction operation, most of the researches are carried out on attitude parameters, the three-dimensional visual display of the equipment state is not carried out, and managers cannot intuitively and accurately know the working condition of the equipment.
In summary, there is an urgent need for a method for monitoring the state of equipment for construction work based on WEB end booms to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a method for monitoring the state of construction operation equipment based on WEB end booms, which aims to solve the problem that the state of the existing boom construction operation equipment cannot be displayed in a three-dimensional visual manner, and the specific technical scheme is as follows:
a method for monitoring the state of construction operation equipment based on WEB end booms comprises the following steps:
the method comprises the following steps: model processing, namely identifying a kinematic joint by using three-dimensional software according to a robot standard DH modeling method, saving each basic component as a part file, and simultaneously carrying out lightweight processing;
step two: assembling the base components after the lightweight treatment to generate a complete machine assembly body, sequentially adding a coordinate system to each motion joint component according to a robot standard DH modeling method, and obtaining a urdf file; the urdf file includes the positional relationship between adjacent kinematic joint components;
step three: rendering and format conversion are carried out on the basic component subjected to the lightweight processing in the step one;
step four: uploading the basic component and the kinematic parameter file processed in the third step to a three-dimensional WebGIS (Web geographic information System), wherein the kinematic parameter file is obtained according to the position relationship between adjacent kinematic joint components in the urdf file;
step five: obtaining a positioning matrix, and loading a base in a basic member in a three-dimensional WebGIS system according to the positioning matrix;
step six: calculating a pose transformation matrix between two adjacent motion joint members according to the kinematics parameter file; completing the loading of the rest basic components according to the pose transformation matrix;
step seven: after the assembly model of the construction operation equipment is loaded in the three-dimensional WebGIS system, updating a pose transformation matrix at the next moment according to the actual state value of the position sensor of the construction operation equipment and the pose transformation matrix at the current moment, and driving the action of the assembly model of the construction operation equipment at the next moment by the updated pose transformation matrix.
Preferably, in the above technical solution, in the first step, the lightening process includes removing vertices, folding patches, and deleting internal models of the base member.
Preferably, in the second step, a constraint relation between adjacent motion joint components is added, and displacement and rotation change are both in zero positions, so that the whole assembly body is obtained.
Preferably, in the third step, the format conversion is to convert the format of the basic component into a model format that can be loaded by the three-dimensional WebGIS system.
Preferably, in the fourth step, the kinematic parameter file includes kinematic parameters between two adjacent kinematic joint components, and the kinematic parameters include a rotation angle θ around the X axisxAngle of rotation theta around Y axisyAngle of rotation theta around Z axiszAn amount of translation X along the X-axis, an amount of translation Y along the Y-axis, and an amount of translation Z along the Z-axis.
Preferably, in the above technical solution, in the sixth step, a pose transformation matrix between two adjacent kinematic joint members is calculated according to formula 1), specifically:
T＝Rot(X,θx)Rot(Y,θy)Rot(Z,θz) Trans (X, X) Trans (Y, Y) Trans (Z, Z) formula 1),
wherein T is a pose transformation matrix, Rot (X, theta)x) Representing the angle of rotation theta about the X-axisxOf Rot (Y, theta)y) Indicating the angle of rotation theta about the Y axisyOf the homogeneous matrix, Rot (Z, theta)z) Indicating the angle of rotation theta about the Z axiszIs given, Trans (X, X) represents a homogeneous matrix of translation X along the X axis, Trans (Y, Y) represents a homogeneous matrix of translation Y along the Y axis, and Trans (Z, Z) represents a homogeneous matrix of translation Z along the Z axis.
Preferred in the above technical solution, wherein Rot (X, θ)x)、Rot(Y,θy)、Rot(Z,θz) Trans (X, X), Trans (Y, Y) and Trans (Z, Z) are calculated as in formula 2):
preferably, in the seventh step, the actions of the assembly model of the construction equipment include boom yawing, boom pitching, boom telescoping, feed beam pitching, feed beam yawing, feed beam rotating, anchor shaft rotating, feed beam telescoping, and rock drill telescoping.
In the above aspect, it is preferable that the position sensor state value includes an actual amount of rotation and an actual amount of translation between the adjacent moving joint members.
Preferably, in the fifth step, the construction operation equipment sends a positioning matrix to the three-dimensional WebGIS system during each operation, the three-dimensional WebGIS system performs coordinate conversion according to the positioning matrix to obtain a geographic coordinate, and then the base is loaded to the corresponding geographic coordinate position.
The technical scheme of the invention has the following beneficial effects:
the monitoring method of the invention combines the state value of the position sensor during the actual construction of the construction operation equipment with the pose transformation matrix at the current moment to update the pose transformation matrix, and the pose transformation matrix drives the action of the assembly body model of the three-dimensional WebGIS system (namely, a webpage end), namely, the data drive model mode is used for realizing the real simulation of the working state of the equipment, and the action of the assembly body model in the three-dimensional WebGIS system is consistent with the action during the actual construction of the construction operation equipment, so that the monitoring of the state of the construction operation equipment at the webpage end can be realized, and the three-dimensional visual display management is realized.
The monitoring method can simulate the working process of the cantilever type construction operation equipment in real time and accurately and can be displayed on a browser in a three-dimensional visual manner, and managers can monitor the working condition of the equipment remotely without knowing the working condition on site, thereby reducing the risk of accidents and improving the working efficiency.
The method adopts B/S architecture (namely WEB) construction, has the characteristics of convenient deployment and thin client, and allows a user to log in and acquire authority through a browser and check the real-time working state of the cantilever type construction operation equipment; when the cantilever crane type construction operation equipment model is loaded, lightweight treatment is carried out, and the model loading efficiency is improved.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic model diagram of a rock drilling rig;
FIG. 2 is a schematic flow diagram of the monitoring method of the present invention;
figure 3a is a schematic view of a situation at a moment on the rock drilling rig;
figure 3b is a schematic view of the situation at the next moment of the drill jumbo.
Detailed Description
In order that the invention may be more fully understood, a more particular description of the invention will now be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example 1:
referring to fig. 1, fig. 1 is a schematic diagram of a model of a rock drilling jumbo, and this embodiment describes a method for monitoring a state of a construction operation equipment based on a WEB-end boom by taking the rock drilling jumbo as an example, where the rock drilling jumbo in this embodiment includes a base and three working arms, specifically, a first working arm 1, a second working arm 2, and a third working arm 3, where the first working arm 1, the second working arm 2, and the third working arm 3 are all disposed on the base, and a base member in this embodiment includes the base and the working arms, and a kinematic joint member refers to two components of a kinematic joint in a base member of the rock drilling jumbo, that is, two components that generate relative motion (the kinematic joint may be a kinematic joint in a working arm, or a kinematic joint between a base and a working arm). Referring to fig. 2, the monitoring method of the present embodiment specifically includes the following steps:
the method comprises the following steps: model processing, namely identifying a kinematic joint by using three-dimensional software according to a robot standard DH modeling method, saving each basic component as a part file, and simultaneously carrying out lightweight processing; preferably, the lightening process includes performing vertex deletion, patch folding, and internal model deletion on the base member. In this embodiment, the three-dimensional software preferably adopts Solidworks software, and in addition, three-dimensional software commonly used in industries such as pro or UG can be adopted.
Step two: assembling the lightweight treated basic components to generate a complete machine assembly body, namely adding a constraint relation between adjacent motion joint components, and ensuring that displacement and rotation change are both in zero positions to obtain the complete machine assembly body; then sequentially adding a coordinate system to each motion joint component according to a robot standard DH modeling method to obtain a urdf file; the urdf file includes the positional relationship between adjacent kinematic joint components;
step three: rendering and format conversion are carried out on the basic component subjected to the lightweight processing in the step one; the rendering function is to make the model more vivid; the format conversion is to convert the format of the base component into a model format that can be loaded by the three-dimensional WebGIS system, and in this embodiment, the base component in the fbx format is converted into the gltf format.
Step four: uploading the basic component and the kinematic parameter file processed in the step three to a three-dimensional WebGIS system, wherein the kinematic parameter file is obtained according to a urdf file; namely, the basic components (including the base and the working arm) and the kinematic parameter file are uploaded to the path designated by the three-dimensional WebGIS system, and a foundation is laid for the subsequent loading of the rock drilling jumbo model.
The kinematic parameter file is stored in xml format and is obtained from the positional relationship parameters between the adjacent kinematic joint components in the urdf file, and the obtaining of the kinematic parameter file from the urdf file is common knowledge of those skilled in the art, and therefore, how to implement it will not be further described.
The kinematic parameter file comprises kinematic parameters between two adjacent kinematic joint components, the kinematic parameters comprising a rotation angle θ about the X-axisxAngle of rotation theta around Y axisyAngle of rotation theta around Z axiszA translation X along the X axis, a translation Y along the Y axis, and a translation Z along the Z axis; for the definition of the X, Y, Z axis, refer to the relevant rules of robot standard DH modeling.
Step five: obtaining a positioning matrix, and loading a base in the three-dimensional WebGIS system according to the positioning matrix;
preferably, the construction operation equipment (i.e. the drill jumbo) sends a positioning matrix to the three-dimensional WebGIS system during each operation (i.e. when the working arm starts to work), the three-dimensional WebGIS system performs coordinate conversion according to the positioning matrix to obtain a geographic coordinate, and then the base is loaded to the corresponding geographic coordinate position.
Step six: calculating a pose transformation matrix between two adjacent motion joint members according to the kinematics parameter file; completing the loading of the rest basic components according to the pose transformation matrix, namely completing the loading of the working arm; at the moment, the displacement and the rotation between the loaded adjacent motion joint components are both in zero position;
as is known from the common mathematical knowledge, rotation around the X, Y, Z axis and translation along the X, Y, Z axis can be represented by a homogeneous matrix; in the sixth step, a pose transformation matrix between two adjacent motion joint members is calculated according to formula 1), specifically:
T＝Rot(X,θx)Rot(Y,θy)Rot(Z,θz) Trans (X, X) Trans (Y, Y) Trans (Z, Z) formula 1),
wherein T is a pose transformation matrix, Rot (X, theta)x) Representing the angle of rotation theta about the X-axisxOf Rot (Y, theta)y) Indicating the angle of rotation theta about the Y axisyOf the homogeneous matrix, Rot (Z, theta)z) Indicating the angle of rotation theta about the Z axiszIs given, Trans (X, X) represents a homogeneous matrix of translation X along the X axis, Trans (Y, Y) represents a homogeneous matrix of translation Y along the Y axis, and Trans (Z, Z) represents a homogeneous matrix of translation Z along the Z axis.
Further preferred, wherein Rot (X, θ)x)、Rot(Y,θy)、Rot(Z,θz) Trans (X, X), Trans (Y, Y) and Trans (Z, Z) are calculated as in formula 2):
step seven: after the assembly model of the construction operation equipment (namely the drill jumbo) is loaded in the three-dimensional WebGIS system, updating a pose transformation matrix at the next moment according to the actual state value of the position sensor of the construction operation equipment and the pose transformation matrix at the current moment, and driving the action of the assembly model of the construction operation equipment at the next moment by the updated pose transformation matrix. Referring to fig. 3a and 3b, the schematic of the state change of the first working arm 1, the second working arm 2 and the third working arm 3 from the previous moment to the next moment is shown.
Preferably, the actions of the assembly model of the construction work equipment include boom yaw, boom pitch, boom extension, feed beam pitch, feed beam yaw, feed beam rotation, anchor shaft rotation, feed beam extension, and jack hammer extension. The position sensor state values include actual amounts of rotation and translation between adjacent moving joint members, and are measured by sensors on the construction work equipment.
In the monitoring method in the embodiment, the state value of the position sensor during actual construction of the drill jumbo is combined with the pose transformation matrix at the current moment to update the pose transformation matrix, and the pose transformation matrix drives the assembly body model of the three-dimensional WebGIS (namely, a webpage end) to act, so that the action of the assembly body model in the three-dimensional WebGIS is consistent with the action during actual construction of the drill jumbo, the state of the drill jumbo can be monitored at the webpage end, and three-dimensional visual display management is realized.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for monitoring the state of equipment based on WEB end cantilever type construction operation is characterized by comprising the following steps:
the method comprises the following steps: model processing, namely identifying a kinematic joint by using three-dimensional software according to a robot standard DH modeling method, saving each basic component as a part file, and simultaneously carrying out lightweight processing;
step two: assembling the base components after the lightweight treatment to generate a complete machine assembly body, sequentially adding a coordinate system to each motion joint component according to a robot standard DH modeling method, and obtaining a urdf file; the urdf file includes the positional relationship between adjacent kinematic joint components;
step three: rendering and format conversion are carried out on the basic component subjected to the lightweight processing in the step one;
step four: uploading the basic component and the kinematic parameter file processed in the third step to a three-dimensional WebGIS (Web geographic information System), wherein the kinematic parameter file is obtained according to the position relationship between adjacent kinematic joint components in the urdf file;
step five: obtaining a positioning matrix, and loading a base in a basic member in a three-dimensional WebGIS system according to the positioning matrix;
step six: calculating a pose transformation matrix between two adjacent motion joint members according to the kinematics parameter file; completing the loading of the rest basic components according to the pose transformation matrix;
step seven: after the assembly model of the construction operation equipment is loaded in the three-dimensional WebGIS system, updating a pose transformation matrix at the next moment according to the actual state value of the position sensor of the construction operation equipment and the pose transformation matrix at the current moment, and driving the action of the assembly model of the construction operation equipment at the next moment by the updated pose transformation matrix.
2. The method for monitoring the state of equipment for WEB end cantilever type construction operation according to claim 1, wherein in the first step, the lightening process comprises the steps of top point deletion, surface patch folding and internal model deletion of a base member.
3. The method for monitoring the state of equipment for WEB end boom-based construction operation according to claim 1, wherein in the second step, a constraint relation between adjacent motion joint members is added, and displacement and rotation change are ensured to be at zero positions, so that a complete machine assembly is obtained.
4. The method for monitoring the state of the equipment for construction work based on the WEB end cantilever crane of claim 1, wherein in the third step, the format conversion is to convert the format of a basic component into a model format which can be loaded by a three-dimensional WebGIS system.
5. The method for monitoring the state of equipment for WEB end boom-based construction operation according to claim 1, wherein in the fourth step, the kinematic parameter file comprises kinematic parameters between two adjacent kinematic joint components, and the kinematic parameters comprise a rotation angle theta around an X axisxAngle of rotation theta around Y axisyAngle of rotation theta around Z axiszAn amount of translation X along the X-axis, an amount of translation Y along the Y-axis, and an amount of translation Z along the Z-axis.
6. The method for monitoring the state of the equipment for WEB end boom type construction operation according to claim 5, wherein in the sixth step, a pose transformation matrix between two adjacent kinematic joint members is calculated according to formula 1), and specifically:
T＝Rot(X,θx)Rot(Y,θy)Rot(Z,θz) Trans (X, X) Trans (Y, Y) Trans (Z, Z) formula 1),
wherein T is a pose transformation matrix, Rot (X, theta)x) Representing the angle of rotation theta about the X-axisxOf Rot (Y, theta)y) Indicating the angle of rotation theta about the Y axisyOf the homogeneous matrix, Rot (Z, theta)z) Indicating the angle of rotation theta about the Z axiszIs given, Trans (X, X) represents a homogeneous matrix of translation X along the X axis, Trans (Y, Y) represents a homogeneous matrix of translation Y along the Y axis, and Trans (Z, Z) represents a homogeneous matrix of translation Z along the Z axis.
7. The method for monitoring the state of equipment for WEB end boom-based construction work according to claim 6, wherein Rot (X, θ)x)、Rot(Y,θy)、Rot(Z,θz) Trans (X, X), Trans (Y, Y) and Trans (Z, Z) are calculated as in formula 2):
8. the method for monitoring the state of the construction operation equipment based on the WEB end boom according to claim 1, wherein in the seventh step, the actions of the assembly model of the construction operation equipment comprise boom yawing, boom pitching, boom stretching, propulsion beam pitching, propulsion beam yawing, propulsion beam rotating, anchor shaft rotating, propulsion beam stretching and rock drill stretching.
9. The method for monitoring the state of equipment for construction work based on WEB end booms and the like according to claim 1, wherein the state value of the position sensor comprises the actual rotation amount and the actual translation amount between the adjacent motion joint components.
10. The method for monitoring the state of the construction operation equipment based on the WEB end boom type according to claim 1, wherein in the fifth step, the construction operation equipment sends a positioning matrix to the three-dimensional WebGIS system during each operation, the three-dimensional WebGIS system performs coordinate conversion according to the positioning matrix to obtain a geographic coordinate, and then the base is loaded to the corresponding geographic coordinate position.
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