CN114373013A - Filling rolling speed rapid statistical method based on image processing - Google Patents
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- 238000005096 rolling process Methods 0.000 title claims abstract description 121
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Abstract
The invention discloses a rapid statistical method for the running speed of a filling and rolling vehicle based on image processing. The method is characterized in that: the method comprises the steps of using an image processing mode to realize rapid calculation and statistics of average rolling speed of each position in rolling construction, converting actual engineering plane coordinates into image coordinates, designing an algorithm on the images for calculation, and finally obtaining the average rolling speed of each pixel point. The invention can quickly and accurately obtain the high-precision average rolling speed map of the whole rolling construction bin, realizes the real-time, accurate and corresponding average rolling speed statistics in the filling and rolling construction process of the spatial position, truly and intuitively reflects the real-time quality information in the filling and rolling construction process of the earth and stone, so that a supervisor, an owner and a constructor can know the real-time quality information in time, the construction quality is controlled in real time, the engineering safety is ensured, and the invention has important market value.
Description
Technical Field
The invention belongs to the technical field of rolling construction quality process control management of earth and stone filling engineering, and particularly relates to a rapid statistical method for the running speed of a filling rolling vehicle based on image processing.
Background
In an earth and rockfill filling project, the compaction quality of filling materials is crucial to the stability and durability of the structure. Therefore, the quality control in the earth and stone filling and rolling construction process is a key link for ensuring the construction quality and safety of the structure body. At present, the quality management in the filling and rolling construction mainly adopts a 'dual control' mode of controlling rolling parameters in the construction process and pit testing sampling detection after the construction is finished, namely, the quality management mainly depends on means of manually controlling construction rolling process parameters (mainly comprising the running speed of a rolling machine, rolling times, bin surface flatness and the like) and manually digging pit sampling detection on site and the like. However, the manual control of the rolling parameters by means of supervision and constructors is an extensive management mode, and is greatly interfered by human factors in the implementation process, so that the precise control of the rolling construction process parameters is difficult to realize, and finally the rolling construction quality cannot be ensured to meet the design requirements. Moreover, with the increase of construction scale and construction strength, higher requirements are provided for the quality control of earth and stone filling construction, and the traditional manual quality management mechanism cannot meet the requirements of current large-scale mechanized construction and construction progress.
The real-time, continuous and high-precision automatic monitoring of the rolling machine in construction can be realized by utilizing modern advanced GNSS, measuring robot and other positioning technologies, the three-dimensional coordinate data of the rolling machine in construction operation can be obtained, and the calculation of important rolling construction parameters can be realized through the data, so that the purpose of monitoring the rolling construction quality is achieved. Wherein the rolling speed is the distance between two spatial positions through which the rolling machine travels per unit time. The rolling speed has obvious influence on the compactness of the filling material layer, and the rolling speed is too high, so that the flatness of the pressed layer is easy to deteriorate. The rolling speed affects the compaction time of the vibrating wheel to the material in unit area. At a low rolling speed, the number of vibrations per unit area is greater than at a high rolling speed, and therefore the energy applied to the material to be pressed is greater in the former than in the latter. In fact, the energy transferred into the layer of material being pressed is inversely proportional to the crushing speed. Given that the compaction energy required to achieve a given compaction of a layer of roller compacted material is not changed, the number of passes will be approximately doubled when the speed of the passes is doubled. Therefore, how to quickly and accurately obtain the average rolling speed of the current area is one of the important concerns of the rolling quality monitoring system. At present, the monitoring of the rolling speed in the rolling monitoring system in application mainly includes statistics and control in a time dimension, that is, the rolling speed at a certain time period or a certain moment. The construction rolling is to construct a planar area, so that the rolling speed can be more accurately and effectively counted and controlled in a spatial domain. Therefore, how to quickly and accurately obtain the average rolling speed at each position of a construction area is one of the key problems to be solved by further improving the rolling construction quality real-time monitoring system in response to the actual demands.
Disclosure of Invention
Aiming at the defects of the existing statistical method, the invention changes the statistics and control of the rolling speed from a one-dimensional time domain to a two-dimensional space domain, and provides a rapid statistical method for the running speed of a filling rolling vehicle based on image processing.
The invention adopts the technical scheme that the method for rapidly counting the running speed of the filling and rolling vehicle based on image processing specifically comprises the following steps:
step 1, designing a functional relation C (R, G, B) f (v) corresponding to color values and speed values;
step 2, determining the size of an image for calculation according to the size and the shape of a construction bin surface, and establishing a conversion relation between an engineering coordinate system and an image coordinate system;
step 3, initializing the background color of the image by using the color value (0, 0, 0), namely initializing the average rolling speed of any position of the construction bin surface to be 0;
step 4, acquiring the t position of the rolling vehicle in the filling construction process through a space positioning technologyiThree-dimensional spatial coordinate data (x) of time of dayi,yi,hi) Where i is the number in the sequence of consecutively sampled spatial position data, xi、yiIs the plane coordinate of the rolling vehicle in the engineering coordinate system, hiIs rolling vehicle elevation data; calculating the left end point L of the roller compaction wheel at the moment through the geometric position relationshipiAnd a right end point RiTo finally determine ti-1Time tiTemporally rolled strip Li-1LiRiRi-1And average velocity
Step 5, drawing a quadrangle L in the image through the coordinate transformation relation in the step 2i-1LiRiRi-1And calculating and judging which pixel points are contained in the quadrangle, and then increasing color values on the color values of the pixel points
Thereby obtaining an accumulated rolling speed map of which the color value corresponds to the accumulated value of the speed values when all the rolling machines pass by the position;
step 6, synchronously obtaining a full-bin rolling pass image with the same size by using a rolling pass calculation method based on image processing;
step 7, scanning the accumulated rolling speed graph and the rolling times graph to obtain the speed color value C of each pixel pointi,jAnd number of passes N of rollingi,jCalculating to obtain the average rolling speed of each pixel point
Thereby obtaining the average rolling speed value of the construction bin surface at any position at the moment;
and 8, continuously repeating the processes of the steps 4 to 7 in the construction process to obtain real-time average rolling speed information of the whole bin surface in rolling construction, and comparing the construction quality control requirements to obtain a distribution map of qualified conditions of the average rolling speed of the whole bin surface.
Further, in step 1, a functional relationship C between color values and speed values is (R, G, B) ═ f (v), where R, G, B is a numerical value of three channels in the RGB color model, which is specifically as follows:
when v < 2.55,
when the v is 2.55 < 5.10,
when v is greater than 5.10, the ratio,
further, the size of the image in the step 2 is determined according to the size of the actual rolling bin surface, the larger the image is, the higher the spatial resolution corresponding to each pixel is, the more accurate and finer the obtained average rolling speed distribution is, but the larger the calculated amount is, the higher the requirements on computer hardware are, so that the image is reasonably determined after the actual requirements are comprehensively considered.
Further, in the step 2, a plane coordinate mutual conversion relation between an engineering coordinate system of the construction bin surface and an image coordinate system is established, and conversion parameters are obtained through calculation, wherein a calculation formula is as follows;
wherein X, Y is the plane coordinate of any point in the image coordinate system, X and y are the plane coordinates of any point in the engineering coordinate system, and X0、Y0The deviation of the origin of the image coordinate system relative to the origin of the engineering coordinate system, theta is a rotation angle converted from the engineering coordinate system to the image coordinate system, and m is a scale factor converted from the engineering coordinate system to the image coordinate system; the engineering coordinate system is defined according to the actual site requirement in engineering, and the image coordinate system is defined in computer graphics.
Further, in step 4, the average speed in the rolling strip is calculated by using the following formula
Wherein (x)i-1,yi-1,hi-1) Is rolling vehicle at ti-1Three-dimensional space of timeAnd (4) inter-coordinate data.
Further, step 7 includes defining a function relationship between the gray value and the average speed
And generating an average rolling speed gray scale map, and obtaining the average rolling speed value at any position of the construction bin surface at the moment in the gray scale map.
The invention provides a rapid statistical method for the running speed of a filling and rolling vehicle based on image processing, which can rapidly and accurately obtain a high-precision average rolling speed map of the whole rolling construction bin, realizes the statistics of the average rolling speed in the filling and rolling construction process which is real-time, accurate and corresponding to the spatial position, truly and intuitively reflects the real-time quality information in the filling and rolling construction process of the earth and rocky fill, and is used for a supervisor, an owner and a constructor to know in time, the construction quality is controlled in real time, the engineering safety is ensured, and the method has important market value.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic view of a rolled strip of an embodiment of the invention.
Fig. 3 is a diagram of the cumulative rolling speed of the full deck according to the embodiment of the present invention.
Fig. 4 is a gray scale diagram of the average rolling speed of the full bin plane according to the embodiment of the invention.
FIG. 5 is a distribution diagram of the qualified situation of the average rolling speed of the full bin surface according to the embodiment of the invention.
Detailed Description
The method provided by the invention can realize the process by using computer software technology, and is shown in figure 1. In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments, as follows:
step 1, in this embodiment, a functional relationship C (R, G, B) f (v) between color values and speed values is defined, where R, G, B is a numerical value of three channels in an RGB color model, which is specifically as follows:
when v < 2.55,
when the v is 2.55 < 5.10,
when v is greater than 5.10, the ratio,
step 2, the size of the construction bin surface in this embodiment is about 20m × 100m, the size of the image for calculation is determined to be 1100 × 400px in consideration of the actual situation, and then the conversion relationship between the engineering plane coordinate system and the image coordinate system is established, and the calculation formula is as follows
Wherein X, Y is the plane coordinate of any point in the image coordinate system, X and y are the plane coordinates of any point in the engineering coordinate system, and X0、Y0The deviation of the origin of the image coordinate system relative to the origin of the engineering coordinate system, theta is a rotation angle converted from the engineering coordinate system to the image coordinate system, and m is a scale factor converted from the engineering coordinate system to the image coordinate system; the project coordinate system is generally defined according to the actual needs of a field in the project, and the image coordinate system is defined in computer graphics.
Step 3, initializing the background color of the image by using a color value (0, 0, 0), namely f (0) defined in the step 1, and initializing the average rolling speed of any position of the construction bin surface to be 0;
step 4, acquiring the t position of the rolling vehicle in the filling construction process through a space positioning technologyiThree-dimensional spatial coordinate data (x) of time of dayi,yi,hi) Where i is the number in the sequence of consecutively sampled spatial position data, xi、yiIs the plane coordinate of the rolling vehicle in the engineering coordinate system, hiIs rolling vehicle elevation data; tong (Chinese character of 'tong')Calculating the geometric position relationship to obtain the left end point L of the roller compaction wheel at the momentiAnd a right end point RiTo finally obtain ti-1Time tiTemporally rolled strip Li-1LiRiRi-1An example of a rolled strip is shown in fig. 2, and the average speed in the rolled strip is calculated using the following formula
Wherein (x)i-1,yi-1,hi-1) Is rolling vehicle at ti-1Three-dimensional space coordinate data of a moment;
step 5, drawing a quadrangle L in the imagei-1LiRiRi-1And calculating and judging which pixel points are contained in the quadrangle, and then increasing color values on the color values of the pixel points
Thereby obtaining an accumulated rolling speed map with color values corresponding to the accumulated value of the speed values when all the rolling machines pass by the position, as shown in fig. 3;
step 6, synchronously obtaining a full-bin rolling pass image with the same size by using a rolling pass calculation method based on image processing;
step 7, scanning the accumulated rolling speed graph and the rolling times graph to obtain the speed color value C of each pixel pointi,jAnd number of passes N of rollingi,jCalculating to obtain the average rolling speed of each pixel point
Defining a function of gray value and average speed
Thereby generating an average rolling speed gray scale map, and as shown in fig. 4, obtaining the average rolling speed value at any position of the construction bin surface at the moment from the map;
and 8, continuously repeating the processes of the steps 4 to 7 in the construction process to obtain real-time whole-bin-surface average rolling speed information in rolling construction, and comparing the construction quality control requirements to obtain a distribution map of qualified whole-bin-surface average rolling speed, as shown in fig. 5.
The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A rapid statistical method for the running speed of a filling and rolling vehicle based on image processing is characterized by comprising the following steps:
step 1, designing a functional relation C (R, G, B) f (v) corresponding to color values and speed values;
step 2, determining the size of an image for calculation according to the size and the shape of a construction bin surface, and establishing a conversion relation between an engineering coordinate system and an image coordinate system;
step 3, initializing the background color of the image by using the color value (0, 0, 0), namely initializing the average rolling speed of any position of the construction bin surface to be 0;
step 4, acquiring the t position of the rolling vehicle in the filling construction process through a space positioning technologyiThree-dimensional spatial coordinate data (x) of time of dayi,yi,hi) Where i is the number in the sequence of consecutively sampled spatial position data, xi、yiIs the plane coordinate of the rolling vehicle in the engineering coordinate system, hiIs rolling vehicle elevation data; calculating the left end point L of the roller compaction wheel at the moment through the geometric position relationshipiAnd a right end point RiTo finally determine ti-1Time tiTemporally rolled strip Li-1LiRiRi-1PeaceMean velocity
Step 5, drawing a quadrangle L in the image through the coordinate transformation relation in the step 2i-1LiRiRi-1And calculating and judging which pixel points are contained in the quadrangle, and then increasing color values on the color values of the pixel points
Thereby obtaining an accumulated rolling speed map of which the color value corresponds to the accumulated value of the speed values when all the rolling machines pass by the position;
step 6, synchronously obtaining a full-bin rolling pass image with the same size by using a rolling pass calculation method based on image processing;
step 7, scanning the accumulated rolling speed graph and the rolling times graph to obtain the speed color value C of each pixel pointi,jAnd number of passes N of rollingi,jCalculating to obtain the average rolling speed of each pixel point
And 8, continuously repeating the processes of the steps 4 to 7 in the construction process to obtain real-time average rolling speed information of the whole bin surface in rolling construction, and comparing the construction quality control requirements to obtain a distribution map of qualified conditions of the average rolling speed of the whole bin surface.
2. The rapid statistical method for driving speed of image processing-based filling and rolling vehicle according to claim 1, wherein: in step 1, a functional relationship C between color values and speed values is (R, G, B) f (v), where R, G, B is a numerical value of three channels in the RGB color model, and the specific relationship is as follows:
when v < 2.55,
when the v is 2.55 < 5.10,
when v is greater than 5.10, the ratio,
3. the rapid statistical method for driving speed of image processing-based filling and rolling vehicle according to claim 1, wherein:
the size of the image in the step 2 is determined according to the size of the actual rolling bin surface, the larger the image is, the higher the spatial resolution corresponding to each pixel is, the more accurate and finer the obtained average rolling speed distribution is, but the larger the calculated amount is, the higher the requirements on computer hardware are, so that the image is reasonably determined after the actual requirements are comprehensively considered.
4. The rapid statistical method for driving speed of image processing-based filling and rolling vehicle according to claim 1, wherein: establishing a planar coordinate mutual conversion relation between an engineering coordinate system and an image coordinate system of the construction bin surface in the step 2, and calculating to obtain conversion parameters, wherein a calculation formula is as follows;
wherein X, Y is the plane coordinate of any point in the image coordinate system, X and y are the plane coordinates of any point in the engineering coordinate system, and X0、Y0The deviation of the origin of the image coordinate system relative to the origin of the engineering coordinate system, theta is a rotation angle converted from the engineering coordinate system to the image coordinate system, and m is a scale factor converted from the engineering coordinate system to the image coordinate system; the engineering coordinate system is defined according to the actual site requirement in engineering, and the image coordinate system is defined in computer graphics.
5. The rapid statistical method for driving speed of image processing-based filling and rolling vehicle according to claim 1, wherein: in step 4, the average speed in the rolling strip is calculated by using the following formula
Wherein (x)i-1,yi-1,hi-1) Is rolling vehicle at ti-1Three-dimensional spatial coordinate data of a time.
6. The rapid statistical method for driving speed of image processing-based filling and rolling vehicle according to claim 1, wherein: step 7 also includes defining the function relationship between the gray value and the average speed
And generating an average rolling speed gray scale map, and obtaining the average rolling speed value at any position of the construction bin surface at the moment in the gray scale map.
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