A digital waste dump construction method

Abstract

The present invention discloses a digital waste dump construction method, comprising the following steps: step S1: determining a waste dump area to be leveled, performing aerial photogrammetry by an unmanned aerial vehicle (UAV) to obtain a regional image, performing image analysis on the regional image to obtain directional distribution data, and generating a primary leveling route of an unmanned bulldozer according to the directional distribution data; step S2: controlling the unmanned bulldozer to perform leveling along the primary leveling route, while a detection device installed on the unmanned bulldozer detects the route that has been leveled once to obtain primary leveling data and a primary leveling image, and planning and generating a secondary leveling route and a blade height adjustment curve according to the primary leveling data and the primary leveling image.

Description

Technical Field

[0001] The present invention relates to the technical field of waste dump construction, and in particular to a digital waste dump construction method. Background Art

[0002] In recent years, the construction of water conservancy and hydropower projects has seen large investments and numerous projects, often generating waste slag. Therefore, waste slag landfill and soil and water conservation have become particularly critical, especially with the sandstorms and even "returned sand" phenomenon that have hit many parts of the country this year, seriously impacting residents' living environment and physical and mental health. Refined waste slag landfill construction is a permanent solution, ensuring strict quality control and environmental protection during construction, eliminating potential hazards such as soil erosion, dust, collapse, waterlogging, and landslides.

[0003] To prevent soil erosion, many waste dumps are currently being reclaimed for cultivation after completion to protect the environment and prevent soil erosion. Existing waste dumps undergo bulldozing and compaction before reclamation. However, the size of the waste particles and the method of dumping them can lead to uneven distribution of the waste particles. Even after subsequent leveling and compaction, the conditions at different locations remain different, resulting in inconsistent stability, which can affect subsequent reclamation. Summary of the Invention

[0004] The purpose of the present invention is to provide a digital waste dump construction method, which has the advantages of uniform density distribution throughout the waste dump, improved efficiency of reclamation, and improved effect of preventing soil erosion.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A digital waste dump construction method comprises the following steps:

[0007] Step S1: Determine the waste area to be leveled, perform aerial photogrammetry using a drone to obtain an image of the area, perform image analysis on the area image to obtain directional distribution data, and generate a leveling route for the unmanned bulldozer based on the directional distribution data;

[0008] Step S2: Controlling the unmanned bulldozer to perform leveling along the primary leveling route. Simultaneously, a detection device installed on the unmanned bulldozer detects the primary leveling route to obtain primary leveling data and a primary leveling image. Based on the primary leveling data and the primary leveling image, a secondary leveling route and a blade height adjustment curve are planned and generated.

[0009] Step S3: The unmanned bulldozer performs secondary leveling according to the secondary leveling route and the blade height adjustment curve, and uses a detection device to detect the leveled area during the secondary leveling process to obtain secondary leveling data and regional flatness;

[0010] Step S4: After the flatness of the area meets the preset flatness standard, a compaction route is generated based on the width of the roller wheel, the secondary leveling route, and the blade height adjustment curve. The roller performs compaction work according to the compaction route and detects the compaction degree of the area after the compaction work is completed;

[0011] Step S5: After all the land in the waste area meets the preset compaction standard, the waste area is recultivated.

[0012] It is further configured that: the directional distribution data includes dumping direction data and gravity screening distribution data, the dumping direction data characterizing the dumping frequency and dumping direction of the waste slag at each location when filling the waste slag area; the gravity screening distribution data characterizing the distribution of waste slag particles of different sizes after being dumped into the waste slag area under the action of gravity.

[0013] Further configuration: the step of generating a leveling route of the unmanned bulldozer according to the direction distribution data specifically includes the following steps:

[0014] Determine multiple dumping nodes according to the dumping direction data, and select the dumping node with the highest dumping frequency from the multiple dumping nodes as a starting point, and the dumping node with the lowest dumping frequency as an end point;

[0015] Determine the distribution direction of the waste particles corresponding to each dumping node based on the gravity screening distribution data, and generate the corresponding travel route based on the distribution direction of the waste particles;

[0016] A leveling route is generated according to the dumping nodes and the travel routes corresponding to each dumping node, wherein the leveling route points from a starting point to an end point.

[0017] It is further configured that the primary leveling data includes water content and regional density, the water content represents the water content in each preset interval area on the primary leveling route, and the regional density represents the density in each preset interval area on the primary leveling route.

[0018] It is further configured that the one-time leveling image is an image of the soil surface of the waste area after one-time leveling.

[0019] Further configuration: the generating of the secondary leveling route and the blade height curve according to the primary leveling data and the primary leveling image planning specifically includes the following steps:

[0020] According to the data of the first leveling, the density distribution model of the waste area after the first leveling is obtained;

[0021] Determine the density and water content in each preset interval area according to the density distribution model, and generate a reserved height corresponding to each preset interval area according to the density and water content of each preset interval area;

[0022] Generate a secondary leveling route according to the reserved height of each preset interval area;

[0023] A blade height adjustment curve is generated according to the secondary leveling route and the reserved height of each preset interval area.

[0024] In summary, the present invention has the following beneficial effects: first, a regional image of the area to be leveled is obtained by a drone, and the dumping direction and the distribution of particles of different sizes of the waste are obtained by analyzing the regional image. A leveling route is generated based on the obtained direction distribution data. Because of the dumping direction and the screening of gravity, smaller particles are often accumulated at the dumping point, and larger particles are distributed in the direction away from the dumping point under the action of gravity. Therefore, the generated leveling route is for the unmanned bulldozer to initially make the surface waste more evenly distributed during a leveling process. At the same time, the first leveling data and the first leveling image are detected during the first leveling process, and the second leveling route and the blade height adjustment curve are generated by the acquired data. The density and moisture content of the waste slag filling in each preset interval area can be obtained through the first leveling data. Different densities and moisture contents will have different effects on subsequent compaction or recultivation. When the density is too small and the moisture content is too high, the compaction degree of the same size area may be too low. Therefore, different heights are set for different preset interval areas according to the specific detection conditions. The unmanned bulldozer adjusts the height of the waste slag left in different positions by controlling the height of the blade during the second leveling process. The waste slag left with lower density is higher. When compaction operations are performed, more waste slag fills the density of the area under the squeezing of the pressure wheel, making the density distribution of the entire fraud area more uniform, avoiding soil erosion caused by high density in some places and low density in others, affecting the planting of plants after recultivation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flowchart of the steps of the digital waste dump construction method in the present invention. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to the accompanying drawings.

[0027] like Figure 1 As shown:

[0028] A digital spoil dump construction method involves reading the spoil dump's construction design drawings before construction begins, clarifying the construction content, and investigating the topography and construction environment along the route.

[0029] Drones were used to inspect surrounding water systems and ponds within the affected area, allowing for pre-planned drainage systems in the construction area and implementing diversion and anti-seepage measures. Bulldozer and roller operators were briefed on the digital monitoring system.

[0030] Considering the large area of ​​the slag dump, the topsoil stripping method is adopted in a zoned and block-by-block manner. The topsoil stripped from Block A is temporarily piled in Block B. After the slag dumping of Block A is completed, the topsoil temporarily stored in Block B and the topsoil stripped from Block B are transported back to the top of Block A for centralized stacking. After the slag dumping of Block B is completed, the topsoil from Block C is stripped and transported to the top of Block B for centralized stacking. Temporary water conservation measures are implemented for the topsoil piles. This process is repeated in this manner. While reducing the number of earthwork transport processes and the investment in transportation equipment, it also achieves the goals of dust reduction, environmental protection, and soil and water conservation. The process is carried out sequentially to ensure the streamlined construction of subsequent operations.

[0031] The slag stacking strictly follows the principle of "blocking first and then abandoning". The foot of the slope is blocked by a slag retaining embankment. Trapezoidal cast-in-place drainage ditches, grit chambers and stepped waterfalls are set up on the outside of the slag retaining embankment along the terrain to ensure the stability of the slope. Blind ditches are laid along the direction of the original ditch flow according to the design, and are extended from the inside to the outside in a timely manner as the stacking area expands, forming an effective internal drainage system for the slag body. The slag stacking sequence is strictly carried out according to the zoning blocks. When filling, the stone slag is piled at the bottom, followed by the light silt loam and sandy loam, and then the heavy silt loam is piled up. During the slag stacking process, the thickness of each layer does not exceed 1m, and the next layer can only be filled after passing the inspection. 1. The thickness of the topsoil stripping is controlled at 30 to 50cm. The stripped topsoil is piled in a designated temporary soil dump. After the construction is completed, it is used to cover the topsoil or restore vegetation. The waste was filled in strict layers according to graded levels, with each layer 1.0m thick. Bulldozers were used to spread and level the waste in two passes, ensuring a compaction degree of no less than 0.88. Digital testing of the flatness and compaction of the waste using construction equipment met design requirements. Compaction data from waste rolling met specifications. Soil and water conservation measures at the waste site met design requirements.

[0032] After the filling is completed, the digital leveling and compaction process is carried out, including the following steps:

[0033] Step S1: Determine the waste area to be leveled, perform aerial photogrammetry using a drone to obtain an image of the area, perform image analysis on the area image to obtain directional distribution data, and generate a leveling route for the unmanned bulldozer based on the directional distribution data;

[0034] Step S2: Controlling the unmanned bulldozer to perform leveling along the primary leveling route. Simultaneously, a detection device installed on the unmanned bulldozer detects the primary leveling route to obtain primary leveling data and a primary leveling image. Based on the primary leveling data and the primary leveling image, a secondary leveling route and a blade height adjustment curve are planned and generated.

[0035] Step S3: The unmanned bulldozer performs secondary leveling according to the secondary leveling route and the blade height adjustment curve, and uses a detection device to detect the leveled area during the secondary leveling process to obtain secondary leveling data and regional flatness;

[0036] Step S4: After the flatness of the area meets the preset flatness standard, a compaction route is generated based on the width of the roller wheel, the secondary leveling route, and the blade height adjustment curve. The roller performs compaction work according to the compaction route and detects the compaction degree of the area after the compaction work is completed;

[0037] Step S5: After all the land in the waste area meets the preset compaction standard, the waste area is recultivated.

[0038] The directional distribution data includes dumping direction data and gravity screening distribution data. The dumping direction data characterizes the dumping frequency and direction of waste at various locations during the filling of the waste area. The gravity screening distribution data characterizes the distribution of waste particles of different sizes after being dumped into the waste area under the action of gravity. Smaller waste particles accumulate near the dumping point, resulting in a relatively high density there. Larger waste particles, however, roll along the slope under the action of gravity and are distributed away from the dumping point. Consequently, the density in these areas is relatively low, with larger gaps between particles.

[0039] The step of generating a leveling route for the unmanned bulldozer according to the direction distribution data specifically includes the following steps:

[0040] Determine multiple dumping nodes according to the dumping direction data, and select the dumping node with the highest dumping frequency from the multiple dumping nodes as a starting point, and the dumping node with the lowest dumping frequency as an end point;

[0041] Determine the distribution direction of the waste particles corresponding to each dumping node based on the gravity screening distribution data, and generate the corresponding travel route based on the distribution direction of the waste particles;

[0042] A leveling route is generated based on the dumping nodes and the routes corresponding to each dumping node, and the leveling route points from a starting point to an end point. The density of waste slag at each dumping node is high and the amount is large, so the route of each section starts from the dumping node, the unmanned bulldozer drives in the direction away from the dumping node and then returns to the dumping node to complete a complete route, and then proceeds to the route of the next dumping node. Dumping nodes with higher dumping frequencies and more times accumulate more, and during the operation of the unmanned bulldozer, waste slag will escape to the surrounding areas. Therefore, the dumping nodes are sorted by dumping frequency, starting from a starting point to the last end point, so that the waste slag distribution in each area after leveling is more even, which is convenient for subsequent work.

[0043] The primary leveling data includes moisture content and regional density. The moisture content represents the moisture content within each preset interval along the primary leveling route, and the regional density represents the density within each preset interval along the primary leveling route. The entire waste area can be divided into a number of preset intervals based on the primary leveling route and the travel route, with each preset interval having a width equal to a preset interval. Therefore, when detecting density and moisture content, the detection device detects each preset interval after the unmanned bulldozer passes through each preset interval, thereby obtaining data corresponding to each preset interval.

[0044] The primary leveling image is an image of the soil surface of the waste area after primary leveling. The image of the soil surface of the waste area can reflect the particle situation of the soil surface of each preset interval area, and can assist in determining relevant data of the area.

[0045] The generation of the secondary leveling route and the blade height curve according to the primary leveling data and the primary leveling image planning specifically includes the following steps:

[0046] The density distribution model of the waste area after the first leveling is obtained according to the first leveling data and the first leveling image;

[0047] Determine the density and water content in each preset interval area according to the density distribution model, and generate a reserved height corresponding to each preset interval area according to the density and water content of each preset interval area;

[0048] Generate a secondary leveling route according to the reserved height of each preset interval area;

[0049] A blade height adjustment curve is generated based on the secondary leveling route and the reserved height of each preset interval area. As the unmanned bulldozer moves along the secondary leveling route, the blade height is adjusted based on the unmanned bulldozer's position and the blade height adjustment curve to leave different heights for the waste residue in different preset interval areas.

[0050] The bulldozer control system primarily includes GNSS three-dimensional positioning sensors, angle sensors, rotation sensors, a system controller, and a wireless gateway. The GNSS sensor located on the blade determines the elevation and three-dimensional coordinates of the leveling operation. During construction, the operator starts the machine, opens the tablet in the cab, and selects a pre-entered design file. The system confirms the machine's position via GNSS, compares the blade's position information with the designed position in real time, and converts the correction signal into an electrical control signal for the blade to automatically adjust the leveling blade's position, bringing the blade's bottom elevation to the designed elevation. This enables precise control of the slag dump's elevation leveling through pile-free construction, meeting design specifications. Operators are primarily responsible for monitoring the actual construction progress and making necessary adjustments. Post-construction data is uploaded to the digital construction management platform for management personnel to review and track construction quality.

[0051] During the process of completing the secondary leveling route, the detection device is continued to be used to obtain the secondary leveling data and regional flatness. Because the height left by each preset interval area is different, each preset interval area has different flatness requirements. The preset interval areas that are detected to not meet the regional flatness are marked. After completing the entire secondary leveling route, detailed leveling work is performed on the marked positions to meet the requirements.

[0052] The system obtains construction parameters through digitalization and can be constructed in a completely non-stakeout environment. Construction can be carried out day and night even in complex design surfaces, quickly and accurately achieving leveling to the design elevation, avoiding rework and improving work efficiency. After leveling, the flatness is tested. In addition to relying on information reference of the cross-section of the operating machinery and traditional ruler detection methods, during the on-site construction process, surveyors use handheld PDA + GNSS antennas for real-time monitoring. The data from on-site detection can quickly identify whether the operating flatness meets the design and specification requirements, and the mechanical operation status and parameters can be adjusted in a timely manner to ensure that the on-site flatness meets the expected requirements. After the flatness meets the requirements, a 22t roller is used for layered rolling, with the thickness of each layer not exceeding 1m.

[0053] The roller's compaction system consists of a GNSS receiver mounted on the roller body, a data transmission radio, compaction sensors on the roller bearings, a display in the operator's cab, and a communication hub (including a wireless gateway) mounted on the roller body. The GNSS radio confirms the roller's position and, using the body's geometric parameters, determines the elevation of the compacting wheel base, i.e., the fill height at the current compaction location. To record compaction passes and wheel tracks, a GNSS receiver and radio receiver mounted on top of the vibratory roller locate and record the roller's movements in real time, down to the centimeter level, by receiving GPS satellite signals and differential signals transmitted by a base station. The GNSS receiver's linear motion trajectory, combined with the roller's wheel width, is converted into a two-dimensional graphic, completing the recording of the wheel tracks. A color-coded image superimposed on the wheel tracks displays the number of compaction passes to the operator and management. A compaction route is generated based on the width of the roller's wheel, the secondary leveling route, and the blade height adjustment curve. The roller performs compaction work according to the compaction route and detects the compaction degree of the area where the compaction work has been completed. Since the fill heights left in different preset interval areas are different, the speed trajectory of the roller when passing through different preset interval areas is also different, and the number of times each preset interval area needs to be rolled is also different. The higher the fill area, the more times the rolling operation is required. Therefore, a compaction route is generated, and the roller performs precise work according to the compaction route to ensure the compaction effect.

[0054] The system displays operating parameters through the controller in the cab, which can help the driver complete compaction operations quickly and accurately, record the rolling operation status, monitor and display information including speed, trajectory, overlap, number of passes, compaction degree, etc., to prevent missed vibration and excessive vibration, and improve operating efficiency while ensuring the quality of the operation.

[0055] Compaction testing: The harmonic components of the vertical acceleration of the vibrating wheel exhibit different characteristics depending on the compaction condition of the material being pressed. Leveraging this characteristic, a compaction sensor is installed on the roller bearing. The system collects the vibration wheel acceleration signal in real time at a specific frequency. The acceleration amplitude and the dynamic response of the compacting wheel are measured to reflect the holding force of the compacted layer and, indirectly, the compaction condition of the material. Signal processing and algorithms are used to determine the CMV (Compaction Meter Value). The CMV is displayed on a tablet computer to inform the operator of the current wheel bottom compaction meter value, helping them confirm the compaction quality of the current rolling area. The earthwork compaction degree is no less than 0.88.

[0056] Soil and water conservation measures: After the slag is abandoned, the slopes, horse roads and tops are trimmed and covered with topsoil, which comes from the topsoil stripped in the early stage, with a thickness of not less than 50cm. A rectangular cast-in-place concrete intercepting ditch is set on the inside of the horse road, and slope drainage ditches and waterfalls are set between the horse roads to discharge the water from the slag yard.

[0057] Intelligent reclamation: After soil covering is completed, a rotary tiller equipped with the Beidou Driving System follows a planned path. A seeding drone then travels back and forth along a pre-programmed route, precisely and evenly spreading grass seeds across the reclaimed soil. Drone seeding not only saves time and labor, significantly reducing labor costs, but also ensures a uniform distribution of seeds, allowing for better ventilation for the roots and increasing the emergence and survival rate of reclaimed grass. Trees and shrubs are also planted on slopes, along horse paths, and along debris retaining banks.

[0058] Intelligent sprinkler systems and sprinkler sensors have been installed along transportation routes in completed reclaimed areas. These systems can be intelligently switched on and off through intelligent sensing of soil moisture monitoring modules and automatic dust warning alarms. This not only ensures irrigation water for sowing grass seeds and planting seedlings, achieving soil and water conservation and dust reduction goals, but also ensures continued soil and water conservation and the survival rate of transplanted greening seedlings.

[0059] First, the regional image of the area to be leveled is obtained through the drone. The dumping direction and the distribution of particles of different sizes of the waste are obtained by analyzing the regional image. A leveling route is generated based on the obtained directional distribution data. Because of the dumping direction and gravity screening, smaller particles tend to accumulate at the dumping point, and larger waste particles are distributed in the direction away from the dumping point under the action of gravity. Therefore, the generated leveling route is to make the surface waste more evenly distributed during the unmanned bulldozer's leveling process. At the same time, the first leveling data and the first leveling image are detected during the first leveling process, and the second leveling route and the blade height adjustment curve are generated by the acquired data. The density and moisture content of the waste slag filling in each preset interval area can be obtained through the first leveling data. Different densities and moisture contents will have different effects on subsequent compaction or recultivation. When the density is too small and the moisture content is too high, the compaction degree of the same size area may be too low. Therefore, different heights are set for different preset interval areas according to the specific detection conditions. The unmanned bulldozer adjusts the height of the waste slag left in different positions by controlling the height of the blade during the second leveling process. The waste slag left with lower density is higher. When compaction operations are performed, more waste slag fills the density of the area under the squeezing of the pressure wheel, making the density distribution of the entire fraud area more uniform, avoiding soil erosion caused by high density in some places and low density in others, affecting the planting of plants after recultivation.

[0060] During the slag disposal process, there are problems such as high slope instability, uneven settlement of the slag disposal site, poor drainage, water accumulation during the flood season, water shortage during the dry season, muddy temporary lines, potholes and unevenness in the site. These problems must be discovered, prevented and treated early. By using the drone's fixed-time and fixed-track cruise comparison and the real-time dynamic and all-weather three-dimensional monitoring of the site, combined with regular personnel patrols, we can timely grasp the on-site situation, summarize and report, issue warnings, and respond to rectification in a timely manner to ensure the long-term stability of the slag disposal site.

[0061] This method not only overcomes the difficulties encountered in quality, safety, environmental protection, etc. during construction, but also ensures that the slag dump remains stable for a long time during operation, with a high rate of reclamation, thus avoiding soil erosion, reducing geological disasters and dust hazards, and ensuring that the slag dump can play its existing functions while also adding value to the project construction.

[0062] The above-described embodiments do not constitute a limitation on the scope of protection of this technical solution. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the above-described embodiments shall be included in the scope of protection of this technical solution.

Claims

1. A digital waste dump construction method, characterized in that: The following steps are involved: Step S1: Determine the waste area to be leveled, perform aerial photogrammetry using a drone to obtain an image of the area, perform image analysis on the area image to obtain directional distribution data, and generate a leveling route for the unmanned bulldozer based on the directional distribution data; Step S2: Controlling the unmanned bulldozer to perform leveling along the primary leveling route. Simultaneously, a detection device installed on the unmanned bulldozer detects the primary leveling route to obtain primary leveling data and a primary leveling image. Based on the primary leveling data and the primary leveling image, a secondary leveling route and a blade height adjustment curve are planned and generated. Step S3: The unmanned bulldozer performs secondary leveling according to the secondary leveling route and the blade height adjustment curve, and uses a detection device to detect the leveled area during the secondary leveling process to obtain secondary leveling data and regional flatness; Step S4: After the flatness of the area meets the preset flatness standard, a compaction route is generated based on the width of the roller wheel, the secondary leveling route, and the blade height adjustment curve. The roller performs compaction work according to the compaction route and detects the compaction degree of the area after the compaction work is completed; Step S5: After all areas of the waste residue area meet the preset compaction standards, the waste residue area is recultivated; The directional distribution data includes dumping direction data and gravity screening distribution data, wherein the dumping direction data represents the dumping frequency and dumping direction of the waste slag at each location when filling the waste slag area; The gravity screening distribution data characterizes the distribution of waste particles of different sizes after being dumped into the waste area under the action of gravity; The step of generating a leveling route for the unmanned bulldozer according to the direction distribution data specifically includes the following steps: Determine multiple dumping nodes according to the dumping direction data, and select the dumping node with the highest dumping frequency from the multiple dumping nodes as a starting point, and the dumping node with the lowest dumping frequency as an end point; Determine the distribution direction of the waste particles corresponding to each dumping node based on the gravity screening distribution data, and generate the corresponding travel route based on the distribution direction of the waste particles; A leveling route is generated according to the dumping nodes and the travel routes corresponding to each dumping node, wherein the leveling route points from a starting point to an end point.

2. A digital waste dump construction method according to claim 1, characterized in that: The primary leveling data includes water content and regional density. The water content represents the water content in each preset interval area on the primary leveling route, and the regional density represents the density in each preset interval area on the primary leveling route.

3. A digital waste dump construction method according to claim 2, characterized in that: The primary leveling image is an image of the soil surface of the waste area after primary leveling.

4. A digital waste dump construction method according to claim 1, characterized in that: The generation of the secondary leveling route and the blade height curve according to the primary leveling data and the primary leveling image planning specifically includes the following steps: According to the data of the first leveling, the density distribution model of the waste area after the first leveling is obtained; Determine the density and water content in each preset interval area according to the density distribution model, and generate a reserved height corresponding to each preset interval area according to the density and water content of each preset interval area; Generate a secondary leveling route according to the reserved height of each preset interval area; A blade height adjustment curve is generated according to the secondary leveling route and the reserved height of each preset interval area.

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