CN115795580A - Intelligent excavation construction management system based on cloud computing - Google Patents
Intelligent excavation construction management system based on cloud computing Download PDFInfo
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Abstract
The invention provides an intelligent excavation construction management system based on cloud computing, which comprises: the GNSS positioning device is arranged on the excavator; the angle sensors are respectively arranged on each motion node of the excavator; the GNSS positioning device is used for determining a first position of the excavator; the angle sensor is used for acquiring angle data on each motion node of the excavator; the vehicle-mounted transmission end is connected with the GNSS positioning device and the angle sensor and is used for transmitting the first position of the excavator determined by the GNSS positioning device and the angle data of each motion node of the excavator acquired by the angle sensor at the first position to the control server; the control server establishes an excavator kinematic model based on the first position of the excavator determined by the GNSS positioning device and the angle data of the excavator on each motion node acquired by the angle sensor at the first position, wherein the excavator kinematic model is used for acquiring real-time coordinates of bucket tooth tips and bucket attitude angles in the excavation process.
Description
Technical Field
The invention relates to the technical field of excavation construction management, in particular to an intelligent excavation construction management system based on cloud computing.
Background
At present, the hydraulic engineering of China is in a period of high-speed development, but at the same time, high requirements on engineering construction quality, operation safety and maintenance in the hydraulic engineering construction, requirements and dependence of engineering science research on basic data and the like put forward urgent requirements on efficient management of basic data of the engineering construction of China.
The excavator is one of the most typical, most widely used and most complex engineering machines. It plays an important role in the construction of industrial and civil buildings, transportation, mine excavation, water conservancy and electric power engineering, military engineering and the like. However, due to the complexity of the operation of the excavator, the leveling work needs to ensure the work precision, the operator needs to have sufficient experience and judgment, and the operation of operating several handles simultaneously has high requirements on the operation level of the driver. Particularly, in the case of high requirements on engineering quality and precision, a driver and engineering technicians are often required to coordinate to complete the work while performing construction and measurement.
The intelligent research and development work of the excavator in all countries in the world is very important, and the more typical research and development work is as follows: the method is characterized in that a John Deere excavator is transformed by Book W J and the like of the university of Georgia in the United states, and a magnetostrictive displacement sensor is adopted to measure the stroke of a hydraulic cylinder so as to realize the attitude parameter detection of the device. The computer realizes the control of the manipulator by modeling the kinematics and dynamics of the excavator and combining the inverse kinematics solution and the force feedback from the end of the bucket. An Autonomous Loading System (ALS) of Carnegie MeIlon University in the United states of America brings forward a complex excavation robot motion parameterization control method based on a real-time attitude measurement System. The system uses two laser scanning range finders to observe the soil surface, identify obstacles and confirm and accurately position the vehicle. A PC200R type hydraulic excavator developed by japan komatsu corporation carries a posture detection system composed of a three-dimensional position sensor, a displacement sensor, and an inclination sensor. The rotation angle of a tower of the excavator and the inclination angle of a chassis relative to the ground are measured by using a three-dimensional position sensor and an inclination angle sensor, the relative positions of a movable arm, an arm and a bucket are calculated by a displacement sensor through measuring the length of a hydraulic cylinder, so that the overall attitude of the excavator is determined, and on the basis, an automatic excavating system is controlled by using a laser guide device. The unmanned driving can be realized in a severe environment, and meanwhile, the automatic leveling and structure and body inclination keeping functions of the bucket are achieved. In order to solve the problem of power mismatching caused by sudden load change in the excavator operation process, the three-in-one industry resources company has developed a set of excavator attitude detection system based on an inclination angle sensor. Measuring an included angle between a movable arm and a bucket rod relative to a horizontal plane by using an angle sensor, and solving the position relation of a bucket rod terminal relative to a chassis and the horizontal plane by adopting a kinematics method; the distance between the tooth tip and the working plane can be solved by combining angle information fed back by an angle sensor arranged on the bucket. Therefore, whether the excavator is about to perform excavating action or not is accurately identified, the rotating speed of an engine of the excavator can be adjusted to a preset rotating speed in advance, and the problems of power lag and the like caused by too low rotating speed are avoided. The Guangxi willow mechanical corporation provides an attitude detection system composed of a rotation angle sensor, a digital signal processor and a calculation processor in the patent of a track control system and a method for a hydraulic excavator working device. The angle sensors are used for respectively measuring relative angles between the movable arm and the rotary table, between the bucket rod and the movable arm, and between the bucket and the bucket rod, the digital signal processor converts analog signals fed back by the sensors into digital signals and sends the digital signals to the resolving processor for positive kinematic analysis, and therefore attitude parameters of all devices of the excavator are obtained. The position command sent by the operator can also be subjected to inverse kinematics solution, the relative angle of each device is obtained, and the monitoring and control of the excavator are realized.
However, with the increase of the intelligent degree of the excavator, the attitude detection system embodies the foundation and the necessity thereof in order to realize the functions of trajectory planning, power matching, beyond-the-horizon remote control and the like. Through the analysis of the research conditions of the attitude detection system at home and abroad, the existing excavator attitude detection system still has some defects:
(1) The attitude detection target is mainly a working device of the excavator, and the influence of the rotation of the rotary table relative to the chassis and the surface relief on the excavator is ignored on the premise of researching that the chassis of the excavator is parallel to the horizontal plane. The actual working environment of the excavator is very fluctuant, and the difference of topography and landform is very large, so that only the attitude detection system aiming at the movable arm, the bucket rod and the bucket can be only used as an auxiliary operation system of the existing common excavator, the normal operation can be carried out only by the on-site judgment of a driver, and the requirements of the beyond-visual-distance remote control excavator and the intelligent excavator on the full attitude detection function cannot be met;
(2) The conventional attitude detection system mainly uses mechanical sensors such as an encoder, a potentiometer, a position sensor and the like to directly measure the rotation angle between the hinge devices. Because the mechanical structure of these sensors is accurate, the volume is great, is damaged easily in the violent environment that the excavator faced that the shock is violent, dust concentration is high, hardly guarantees its job stabilization nature. And the sensors need to be connected with two rotating mechanisms, the installation process is complex, the structure of mechanical parts needs to be changed, and the application cost of the attitude detection system and the design cost of the excavator are increased invisibly.
(3) The existing attitude detection system is mainly used for railways, highways and the like, and is difficult to apply to hydraulic engineering due to the limitation of the specificity of the hydraulic engineering; in addition, the existing attitude detection system can not provide more visual and effective guidance for the excavation of the earth and stone of the hydraulic engineering; particularly, in the aspects of slope excavation and slope control, the conventional attitude detection system cannot provide the slope of the slope in real time, and the slope control is still performed by the excavation experience of an excavator driver and the construction measurement of field technicians; in addition, the existing attitude detection system is only an excavator attitude detection system, and cannot generate a hydraulic engineering unit engineering evaluation table in real time after the excavation of the earth and stone is finished, so that important reference and support data are provided for ensuring the inspection and evaluation of the construction quality of the excavation of the earth and stone of the hydraulic engineering.
Disclosure of Invention
In view of this, the main object of the present invention is to provide an intelligent excavation construction management system based on cloud computing.
The technical scheme adopted by the invention is as follows:
intelligent excavation construction management system based on cloud includes:
the GNSS positioning device is arranged on the excavator;
the angle sensors are respectively arranged on each motion node of the excavator;
the GNSS positioning device is used for determining a first position of the excavator;
the angle sensor is used for acquiring angle data on each motion node of the excavator;
the vehicle-mounted transmission end is connected with the GNSS positioning device and the angle sensor and is used for transmitting the first position of the excavator determined by the GNSS positioning device and the angle data of each motion node of the excavator acquired by the angle sensor at the first position to the control server;
the control server establishes an excavator kinematic model based on a first position of the excavator determined by the GNSS positioning device and angle data of each motion node of the excavator acquired by the angle sensor at the first position, wherein the excavator kinematic model is used for acquiring real-time coordinates of a tooth tip of a bucket and a bucket attitude angle in the excavation process, measuring the slope of a side slope at the first position in real time, controlling the slope of the side slope in real time and generating a measurement report, and the control server transmits the measurement report to a cloud network;
and the mobile terminal is used for interacting with the control server, acquiring the measurement report and acquiring a real-time excavation progress based on the measurement report.
Further, the excavator kinematics model is established by the following method:
the method comprises the steps of establishing a robot kinematics model method by using a D-H method according to a first position of the excavator determined by a GNSS positioning device and angle data obtained by the angle sensor at each motion node of the excavator at the first position, establishing a local coordinate system at each joint of the excavator, mapping coordinates of the bucket tooth tip of the excavator onto a coordinate system of a revolving base of the excavator through a transformation matrix of the coordinate system, and solving real-time coordinates of the bucket tooth tip and a bucket attitude angle in the excavation process.
Further, when the vehicle-mounted transmission terminal and the control server perform data transmission, the control server starts a data receiving service instruction, and a long connection is established between the vehicle-mounted transmission terminal and the control server based on the data receiving service instruction to communicate with the vehicle-mounted transmission terminals on the excavators.
Further, when the mobile terminal interacts with the control server, the control server starts a data interaction service instruction, a short connection is established between the mobile terminal and the control server based on the data interaction service instruction, the short connection is communicated with each mobile terminal, and after the communication is finished, the short connection is closed.
Further, the long connection means that a plurality of data packets can be transmitted on one TCP connection.
Further, the short connection refers to establishing a TCP connection when data interaction is performed, and disconnecting the TCP connection after the data interaction is completed.
Further, the control server further includes:
the method comprises the following steps of (1) obtaining an excavation calculation model based on the following method:
creating an original landform model according to the unmanned aerial vehicle or the terrain contour map;
utilizing CAD to create a landform model;
the method comprises the steps of forming an original landform terrain polyhedron and a design landform terrain polyhedron with a ground horizontal plane within a construction range through an original landform terrain model and a design landform terrain model, obtaining shovel action data after data sparseness is completed, and connecting each shovel action data front and back to form a shovel model.
Further, the data sparseness refers to that a certain number of data are extracted on average in a given area during data analysis to perform three-dimensional model calculation analysis.
Furthermore, the three-dimensional model calculation means that the current elevation, whether underexcavation and overexcitation of the current position are carried out in real time by utilizing an original landform terrain model, a designed landform terrain model, a completed model, an unfinished model and an overexcitation model, so that the real-time monitoring of the excavated earthwork and the excavated section of the earthwork is realized, and real-time guidance is provided for an excavator driver.
The beneficial effects are that:
(1) The method comprises the steps that instrument equipment such as an angle sensor and a GNSS positioning receiver are distributed at key positions of the excavator, so that the angles of a vehicle body, a movable arm, a bucket rod and a bucket and the real-time position of the excavator are detected in real time; a robot kinematics model establishment method is implemented by a D-H (Denavit-Hartenberg) method, a local coordinate system is established at each joint of an excavator working device, then coordinates of the tooth tip of a bucket of the excavator are mapped onto the coordinate system of an excavator rotating base through a transformation matrix of the coordinate system, and the real-time coordinates of the tooth tip of the bucket and the bucket attitude angle in the excavation process are obtained (the slope of the slope at the position can be measured in real time by horizontally placing the bucket on the slope, so that the purpose of controlling the slope in real time is achieved;
(2) By utilizing the cloud computing technology and arranging the servers on the cloud, hardware facilities such as a sub-control center, a main control center, an on-site server and the like are omitted, and the safety performance and the reliability performance of the server system are improved;
(3) Aiming at the application aspects of high-efficiency analysis, real-time display and the like of mass data, the current elevation, whether underexcavation and overexcavation of the current position are calculated in real time, the current elevation, whether underexcavation and overexcavation of the current position are guided for an excavator driver, the excavation construction result of the earthwork is reflected in real time, the excavation guide is provided for the driver, the construction flow of elevation control and gradient control in the excavation construction is greatly simplified, the excavation construction difficulty is reduced, the excavation operation is basically formed in one step, and manpower and material resources are effectively saved;
(4) The system has the advantages that the functions of real-time monitoring, quality monitoring, engineering statistics, automatic generation of unit reports and the like of earth and stone engineering excavation are realized, important data can be provided for engineering construction units and supervision units, particularly field engineering management and construction dynamic scheduling of construction units, system management of different engineering construction units can be realized, and the management efficiency of the whole engineering construction is improved.
Drawings
The invention is illustrated and described only by way of example and not by way of limitation in the scope of the invention as set forth in the following drawings, in which:
FIG. 1 is a system framework schematic of the present invention;
FIG. 2 is a non-schematic view of an angle sensor according to the present invention;
FIG. 3 is a model of the excavator under a D-H coordinate system in the present invention.
Detailed Description
In order to make the objects, technical solutions, design methods, and advantages of the present invention more apparent, the present invention will be further described in detail by specific embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 3, the present invention provides an intelligent excavation construction management system based on cloud computing, including: the GNSS positioning device is arranged on the excavator;
the angle sensors are respectively arranged on each motion node of the excavator;
the GNSS positioning device is used for determining a first position of the excavator;
the angle sensor is used for acquiring angle data on each motion node of the excavator;
the vehicle-mounted transmission end is connected with the GNSS positioning device and the angle sensor and is used for transmitting the first position of the excavator determined by the GNSS positioning device and the angle data of each motion node of the excavator acquired by the angle sensor at the first position to the control server;
the control server establishes an excavator kinematic model based on a first position of the excavator determined by the GNSS positioning device and angle data of each motion node of the excavator acquired by the angle sensor at the first position, wherein the excavator kinematic model is used for acquiring real-time coordinates of a tooth tip of a bucket and a bucket attitude angle in the excavation process, measuring the slope of a side slope at the first position in real time, controlling the slope of the side slope in real time and generating a measurement report, and the control server transmits the measurement report to a cloud network;
and the mobile terminal is used for interacting with the control server, acquiring the measurement report and acquiring a real-time excavation progress based on the measurement report.
In the above, the GNSS positioning apparatus includes an antenna, a vehicle-mounted receiver, a radio station, and the like.
In the above, the angle sensor is a high-precision dynamic inclination angle sensor, two horizontal and vertical inclination angle measuring program modes are built in the north micro BW-VG527, and the angle sensor mounted on the vehicle body adopts a horizontal program mode for detecting whether the vehicle body inclines left or right, and inclines forwards or backwards. And angle sensors arranged on the bucket, the arm and the movable arm select a vertical program mode to dynamically detect the inclination angles of the bucket, the arm and the movable arm.
Referring to fig. 2, in the above, the angle sensors are arranged as follows: the excavator is abstracted into a four-bar linkage mechanism with four degrees of freedom. The excavator is driven by the rotary platform to rotate, and the movable arm is driven by the movable arm hydraulic cylinder to rotate around the point A; the bucket rod is driven by the bucket rod hydraulic cylinder to rotate around a hinge point C of the bucket rod and the movable arm; the bucket is driven by the bucket hydraulic cylinder to perform rotary motion around a hinge point Q of the bucket rod and the bucket. In this application, it is exemplarily described that the angle sensors are provided at points a, C, and G, but the present invention is not limited to the points a, C, and G, and may include more points.
In the above, the excavator kinematics model is established by the following method:
the method comprises the steps of establishing a kinematic model of the excavator by using a D-H method according to a first position of the excavator determined by a GNSS positioning device and angle data of each motion node of the excavator acquired by an angle sensor under the first position, establishing a local coordinate system at each joint of the excavator, mapping coordinates of the bucket tooth tip of the excavator onto the coordinate system of a rotary base of the excavator through a transformation matrix of the coordinate system, and solving real-time coordinates of the bucket tooth tip and a bucket attitude angle in the excavation process.
Referring to fig. 3, in the foregoing, the excavator kinematics model specifically includes:
local coordinate systems are established at all joints of the excavator working device, then the relation of all the coordinate systems is analyzed and calculated, real-time coordinates of the bucket tooth tips of the excavator are mapped onto the coordinate system of the excavator rotation base from the bucket, the bucket rod and the movable arm in sequence through matrix transformation, and the real-time coordinates of the bucket tooth tips are obtained.
Based on the analysis of the geometry of the excavating structure device, a D-H coordinate system is established as shown in fig. 3.
Wherein: a is a i is-Z i−1 To Z i Around X i The distance of the translation is such that,
d i -is X i−1 To X i Around Z i−1 The distance of the translation is such that,
θ i is-Z i−1 To Z i Around X i RotateUsed of the angle of the angle is set to be,
q i -is X i−1 To X i Around X i The angle of rotation.
Coordinate systems are respectively established in each pose space, joint space and driving mechanism space related in the D-H coordinate system, and the details are as follows: the base rotation center point O of the excavator is used for establishing a coordinate system O-X 0 Y 0 Z 0 (ii) a Establishing a coordinate system A-X at a hinged point A of a movable arm and a rotary platform 1 Y 1 Z 1 (ii) a Establishing a coordinate system C-X at a hinged point C of the bucket rod and the movable arm 2 Y 2 Z 2 (ii) a Establishing a coordinate system Q-X at a hinged point Q of the bucket rod and the bucket 3 Y 3 Z 3 (ii) a Establishing a coordinate system N-X at the middle point N of the bucket tooth tip 4 Y 4 Z 4 。
The forward kinematics of the excavator is that the space rotation angle value of each joint space of the excavator working device is known, and the space coordinate of the bucket tooth tip of the excavator bucket is solved. According to the D-H method, coordinates of the bucket tip are projected from the bucket, the arm, and the boom to the rotation center coordinate system in this order by matrix conversion of the coordinate system. The transformation matrix of the coordinate system i and the coordinate system i-1 of two adjacent connecting rods is as follows:
i -1 A i : and (3) a transformation matrix of a coordinate system i and a coordinate system i-1 of two adjacent connecting rods.
The matrix in the formula (1) is subjected to block analysis, and the method can be seen as follows:
ii-1 R i : recording a matrix of the attitude change of the joint of the excavator;
i−1 P i : and recording a matrix of the position change of the joints of the excavator.
Successively arrange all joints of the excavatorMultiplying the transformation matrix of the partial coordinate system, and calculating to obtain the relation of a bucket tooth tip coordinate system relative to a rotation center coordinate system in the excavator working device 0 A n ：
Taking a point on the bucket tooth tip coordinate system, and calculating the coordinate of the point in the rotation center coordinate system by the above formula 0 p= 0 A n n p（n=4）。
Wherein: 0 A n = 0 A 1 1 A 2 2 A 3 3 A 4 and is made of n p =[0,0,0,1] T And coordinates of the bucket point in a bucket point coordinate system. 0 p is a coordinate description of the bucket tip relative to the base center of rotation coordinate system.
For the i-1 A i ：
By the formula (3):
wherein:
the bucket tooth point is arranged at N-X 4 Y 4 Z 4 Coordinates of (5) n p = [0,0,0,1] T Substitution into 0 p = 0 A n n p (n = 4): [ x, y, z, β ]] T = 0 A 4 [0,0,0,1] T 。
According to equation (5), the spatial coordinates of the bucket tip relative to the base center of rotation coordinate system are calculated as follows:
carrying out angle analysis on the geometric relation in the excavator structure, and knowing the attitude angle of the tooth tip of the bucket, namely the included angle beta between the connecting line of the bucket and the bucket rod hinged point Q and the middle point N of the bucket tooth tip and the horizontal line:
when the excavator is installed and modified, related parameters of components such as a rotary chassis, a movable arm, an arm, a bucket and the like of the excavator are accurately measured according to the structural characteristics of the excavator and by matching with an advanced measuring means, and spatial coordinates of the tooth tip of the excavating bucket relative to a base rotary center coordinate system can be obtained through a formula (6); in the construction process of the excavator, the shovel back is attached to the side slope, and the side slope ratio of the position can be calculated in real time through a formula (7).
In the above, when the vehicle-mounted transmission terminal performs data transmission with the control server, the control server starts the data receiving service instruction, and creates a long connection between the vehicle-mounted transmission terminal and the control server based on the data receiving service instruction, so as to communicate with the vehicle-mounted transmission terminals on the excavators.
In the above, when the mobile terminal interacts with the control server, the control server starts the data interaction service instruction, creates a short connection between the mobile terminal and the control server based on the data interaction service instruction, and communicates with each mobile terminal, and after the communication is completed, the short connection is closed.
In the above, the long connection means that a plurality of data packets can be transmitted over one TCP connection.
In the above, the short connection means that a TCP connection is established when data interaction is performed, and the connection is disconnected after the data interaction is completed.
The communication mode is divided into long connection and short connection, wherein the long connection means that a plurality of data packets can be sent on one TCP connection; the short connection means that a TCP connection is established when data interaction is performed, and the connection is disconnected after the data interaction is completed. The long connection has the advantage of saving more operations of establishing and closing the connection, saving resources and time. In the intelligent excavation construction management system based on cloud computing, due to the continuity of construction data and the continuity of construction processes, data transmission is frequent, and in order to achieve faster response, the system adopts long-connection TCP for communication.
Further, the control server further includes:
the method comprises the following steps of (1) excavating a calculation model, wherein the excavating calculation model is obtained based on the following method:
creating an original landform model according to the unmanned aerial vehicle or the terrain contour map;
utilizing CAD to create a landform model;
the method comprises the steps of forming an original landform terrain polyhedron and a design landform terrain polyhedron with a ground horizontal plane within a construction range through an original landform terrain model and a design landform terrain model, obtaining shovel action data after data sparseness is completed, and connecting each shovel action data front and back to form a shovel model.
Further, the data sparseness refers to that a certain number of data are extracted and analyzed in a given area on average when data analysis is performed. Data sparsity implementation: in the actual earth and rockfill excavation construction process, the coordinate data amount of the construction process acquired by the GNSS is huge, and under the condition of poor network environment, the cloud computing-based intelligent excavation construction management system may have data query, quality analysis blockage and even system breakdown. Therefore, before actual data processing, construction data collected in a database should be subjected to thinning processing in advance, that is, when data analysis is performed, a certain number of data are extracted in a given area on average for analysis. In addition, the rarefaction operation can remove redundant and invalid construction data in the database, and comprehensively carry out data sparse analysis on the valid data according to fixed time and distance under the same overall effect. The data are divided into a plurality of shovel action data according to the movement track of the shovel, and the translation and rotation action part is removed.
4) Three-dimensional model computation
The model refers to a set of one or more polyhedrons, and the system performs Boolean operation by using the polyhedrons. During model calculation, the polyhedron is decomposed into a plurality of tetrahedrons according to certain rules. When the two models are subjected to Boolean operation, whether the models have intersection or not is judged in advance. If the two models do not have intersection, the two models are not processed; if the intersection exists, the intersection point of the two tetrahedrons is solved, and the polyhedron is divided again.
The model calculation comprises a difference set by Boolean operation, an intersection set by Boolean operation, a collection set by Boolean operation and a complement set by Boolean operation. An original landform and topographic model is created according to an unmanned aerial vehicle or a topographic contour map, a designed landform and topographic model is created by utilizing CAD, and the two models and a ground horizontal plane form an original landform polyhedron and a designed landform polyhedron within a construction range, namely the original model and the designed model for short. And after the data are sparse, obtaining shovel action data, and connecting the shovel action data front and back to form a shovel model.
Obtaining a finished model by utilizing a difference set of Boolean operation of an original model and a current model; solving a difference set by using Boolean operation of a current model and a design model to obtain an incomplete model; solving a difference set by using Boolean operation of the design model and the current model to obtain an over-excavation model; and calculating the current elevation, whether undermining and overetching exist and the current position of the excavator in real time by using the finished model, the unfinished model and the overetching model, and providing real-time guidance for an excavator driver.
5) Calculation of earth and stone
The calculation of the earth and stone square amount can be simplified into the calculation of the volume of a polyhedral model, the model (i.e. polyhedron) decomposes a plurality of tetrahedrons according to a certain rule, the volume of each polyhedron is calculated respectively, and the volume is summed to obtain the earth and stone square amount which is excavated.
Tetrahedral volume algorithm:
suppose there are 4 vertices a, b, c, D (3-D vectors). Then the volume is:
6) Elevation calculation
(1) Elevation of design
The position of the vehicle is collected in real time through a GNSS positioning system, and the position of the center of the shovel tip is calculated according to parameters such as the angle of a sensor and the arm length of the excavator. Through which point a straight line is drawn perpendicular to the ground. And solving an intersection point by using the straight line and each plane in the design model to obtain a set of a group of points, and taking the maximum elevation value in the group of points as the design elevation.
(2) Current elevation
The position of the vehicle is collected in real time through a GNSS positioning system, and the position of the center of the shovel tip is calculated according to parameters such as the angle of a sensor and the arm length of the excavator. A straight line is made through the point and perpendicular to the ground. And solving an intersection point between the straight line and each plane in the current model to obtain a set of a group of points, and taking the maximum elevation value in the group of points as the current elevation.
(3) Fill/dig
And subtracting the design elevation value from the current elevation to obtain a filling/digging value. When the value is greater than 0, it represents the height that needs to be dug. When the value is less than 0, it represents the height to be filled.
7) Planar analysis
(1) Within the construction range, the current elevation and fill/dig are calculated at regular intervals (default 5 cm) in both XY directions.
(2) And (3) selecting interpolation algorithms such as bilinear interpolation or bicubic interpolation, interpolating the intermediate data, and drawing a current elevation cloud picture and a filling/digging cloud picture according to the values and the color table.
(3) The elevation distribution of the construction area can be checked through the current elevation cloud picture.
(4) And the filling/digging distribution condition of the construction area can be checked through the filling/digging cloud picture.
The two cloud pictures reflect the construction progress and condition.
8) Profiling analysis
The original section, the designed section and the current section of the earth and stone excavation are displayed in real time through profile analysis, and real-time conditions of the three interfaces are compared, so that the earth and stone excavation process can be monitored in real time.
(1) Original cross section:
and (3) designating a mileage coordinate, making a plane perpendicular to the mileage and the central line, solving an intersection point by using the plane and each plane in the original model to obtain a set of points, and connecting the set of points into one or more closed polygons according to a sequence, namely the original section under the current mileage.
(2) Designing a section:
and (3) designating a mileage coordinate, making a plane perpendicular to the mileage and the center line, solving an intersection point by using the plane and each plane in the design model to obtain a set of points, and connecting the set of points into one or more closed polygons according to a sequence, namely the design section under the current mileage.
(3) Current cross section:
and (3) designating a mileage coordinate, making a plane perpendicular to the mileage and the central line, solving an intersection point by using the plane and each plane in the current model to obtain a set of points, and connecting the set of points into one or more closed polygons according to a sequence, namely the current section of the current mileage.
And drawing the three sections on an interface, so that information such as progress, excavation gradient, ground flatness, underexcavation, overexcavation and the like under the current mileage can be observed.
8) Automatic generation unit engineering construction quality evaluation table
After the excavation of a certain unit project is finished, three-dimensional calculation is carried out by utilizing the acquired data, and a unit project construction quality evaluation table is automatically generated and can be used as an important accessory for construction quality evaluation, so that important reference and support data are provided for ensuring the inspection and evaluation of the earth and stone excavation construction quality.
The automatic generation of the unit engineering construction quality evaluation table comprises the following steps:
(1) and acquiring a group of section data at regular intervals (default is 1 m) according to the mileage range of the unit project. At the designated section, one coordinate is acquired at regular intervals (default 10 cm).
(2) The section data comprises a river channel center coordinate set, a river bottom coordinate set, a river channel side slope (two sides) coordinate set and a beach surface (platform) coordinate set.
(3) Evaluating the quality of the center line of the river bottom: and comparing the coordinates of the center line of the section of the excavated river bottom with the design value of the position. If the deviation value is within the allowable range, the product is qualified, otherwise, the product is not qualified. And (5) integrating all the calculation results to obtain the qualification rate of the river bottom center line.
(4) Evaluating the elevation quality of the river bottom: and comparing the elevation of the section of the excavated river bottom with the designed elevation at the position. If the deviation value is within the allowable range of the specification and design, the river bottom elevation is qualified, otherwise, the river bottom elevation is unqualified, and all calculation results are integrated to obtain the qualification rate of the river bottom elevation.
(5) Evaluating the width quality of the river bottom: comparing the width of the section of the excavated river bottom with the design width at the position. If the deviation value is within the range allowed by the specification and the design, the river bottom is qualified, otherwise, the river bottom is unqualified, and the qualification rate of the river bottom width is obtained by integrating all calculation results.
(6) Evaluating the quality of the slope ratio of the river side slope: and calculating the local slope ratio of the slope by using the coordinates of the adjacent points of the slope of the calculated section, and calculating the overall slope ratio of the slope by using the coordinate of the first point and the coordinate of the last point of the slope. If the local slope ratio is in the allowable range and the overall slope ratio is not greater than the design slope ratio at the position, the river course side slope ratio is qualified, otherwise, the river course side slope ratio is unqualified, and all calculation results are integrated to obtain the qualification rate of the river course side slope ratio.
(7) Evaluating the quality of the river course toe line: the first point and the last point of the slope of each section are connected. And judging whether the steel is straight or not, if so, determining that the steel is qualified, and otherwise, determining that the steel is unqualified.
(8) Elevation quality evaluation of beach surface and platform: and calculating the difference value between the measured elevation of the platform coordinate of the section and the design elevation of the position. If the difference value is within the range allowed by the specification and the design, the standard is qualified, otherwise, the standard is unqualified, and all calculation results are integrated to obtain the qualification rate of the beach surface and the platform elevation.
(9) Evaluation of width quality of beach surface and platform: and carrying out distance calculation on the first coordinate and the last coordinate measured by the platform of the section to obtain the width of the platform, and comparing the width with the design width of the position. If the deviation value is within the range allowed by the specification and the design, the fracture surface is qualified, otherwise, the fracture surface is unqualified, and finally, the percent of pass of all the fracture surfaces is calculated.
While embodiments of the present invention have been described above, the above description is illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (9)
1. Intelligent excavation construction management system based on cloud calculates, its characterized in that includes:
the GNSS positioning device is arranged on the excavator;
the angle sensors are respectively arranged on each motion node of the excavator;
the GNSS positioning device is used for determining a first position of the excavator;
the angle sensor is used for acquiring angle data on each motion node of the excavator;
the vehicle-mounted transmission end is connected with the GNSS positioning device and the angle sensor and is used for transmitting the first position of the excavator determined by the GNSS positioning device and the angle data of each motion node of the excavator acquired by the angle sensor at the first position to the control server;
the control server establishes an excavator kinematic model based on a first position of the excavator determined by the GNSS positioning device and angle data of each motion node of the excavator acquired by the angle sensor at the first position, the excavator kinematic model is used for acquiring real-time coordinates of a bucket tooth tip and a bucket attitude angle in the excavating process, measuring the slope of a side slope at the first position in real time, controlling the slope of the side slope in real time and generating a measurement report, and the control server transmits the measurement report to a cloud network;
and the mobile terminal is used for interacting with the control server, acquiring the measurement report and acquiring a real-time excavation progress based on the measurement report.
2. The intelligent cloud-computing-based excavation construction management system of claim 1, wherein the excavator kinematic model is established by a method comprising:
the method comprises the steps of establishing a robot kinematics model method by using a D-H method according to a first position of the excavator determined by a GNSS positioning device and angle data obtained by the angle sensor at each motion node of the excavator at the first position, establishing a local coordinate system at each joint of the excavator, mapping coordinates of the bucket tooth tip of the excavator onto a coordinate system of a revolving base of the excavator through a transformation matrix of the coordinate system, and solving real-time coordinates of the bucket tooth tip and a bucket attitude angle in the excavation process.
3. The intelligent excavation construction management system based on cloud computing of claim 1, wherein when the vehicle-mounted transmission terminal performs data transmission with the control server, the control server starts a data receiving service instruction, and a long connection is created between the vehicle-mounted transmission terminal and the control server based on the data receiving service instruction to communicate with the vehicle-mounted transmission terminals on the excavators.
4. The intelligent cloud-computing-based excavation construction management system according to claim 3, wherein the long connection means that a plurality of data packets can be sent over one TCP connection.
5. The intelligent excavation construction management system based on cloud computing of claim 1, wherein when the mobile terminals interact with the control server, the control server starts a data interaction service command, a short connection is established between the mobile terminals and the control server based on the data interaction service command, the short connection is communicated with each mobile terminal, and after the communication is finished, the short connection is closed.
6. The intelligent cloud-computing-based excavation construction management system according to claim 5, wherein the short connection is a TCP connection established when data interaction is performed, and the connection is disconnected after the data interaction is completed.
7. The intelligent cloud-computing-based excavation construction management system of claim 1, wherein the control server further comprises:
the method comprises the following steps of (1) excavating a calculation model, wherein the excavating calculation model is obtained based on the following method:
creating an original landform model according to the unmanned aerial vehicle or the terrain contour map;
utilizing CAD to create a landform model;
the method comprises the steps of enabling an original landform terrain model and a design landform terrain model to form an original landform terrain polyhedron and a design landform terrain polyhedron with a ground horizontal plane in a construction range, obtaining shovel action data after data sparseness is completed, and connecting each shovel action data front and back to form a shovel model.
8. The intelligent cloud-computing-based excavation construction management system according to claim 7, wherein the data sparseness is to perform three-dimensional model computation analysis by extracting a certain number of data in a given area on average during data analysis.
9. The cloud computing-based intelligent excavation construction management system of claim 8, wherein the three-dimensional model computational analysis is real-time monitoring of current elevation, underexcavation, overbreak, excavated earthwork volume, and excavated section of the earthwork in real time at a current location calculated using an original geomorphic model, a design geomorphic model, a completed model, an unfinished model, and an overbreak model.
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