Intelligent rolling construction method and system for concrete face rockfill dam and computer readable storage medium

Abstract

According to the intelligent rolling construction method and system for the concrete face rockfill dam and the computer readable storage medium, self-adaptive adjustment of the rolling speed and frequency is achieved through three-dimensional digital elevation model generation, optimal rolling path planning, rolling parameter dynamic optimization model and real-time compaction degree prediction. The system integrates satellite positioning, BIM model verification, cloud data management and an abnormal protection mechanism, can correct path deviation in real time, generates a pressure supplementing instruction and stores construction data, provides an intelligent solution for high-precision and high-reliability rock-fill dam construction, and is suitable for popularization and application. The technical problems that in traditional rolling construction, manual experience is relied on, parameters are static, monitoring lags behind, and the rework rate is high can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of rolling construction of rockfill dams, and in particular to an intelligent rolling construction method, system and computer-readable storage medium for a concrete panel rockfill dam. Background Art

[0002] With the rapid development of water conservancy and hydropower projects, concrete face rockfill dams have become a widely used dam type in high dam construction due to their local material resources, good economy and strong earthquake resistance.

[0003] Conventional rockfill dam compaction construction relies on manual experience. This includes setting compaction parameters such as compaction speed and vibration frequency based on fixed empirical values, which fail to fully consider the dynamic matching of filler characteristics and equipment performance. For example, when moisture content fluctuates, traditional methods cannot adjust equipment parameters in real time, which can easily lead to compaction quality issues. Furthermore, the rockfill dam compaction construction process is typically manually monitored, which suffers from issues such as poor timeliness and destructive sampling. Real-time feedback on compaction quality is impossible during construction, and unsatisfactory areas often require rework after the fill layer is completed, resulting in wasted resources and construction delays.

[0004] Therefore, how to improve the accuracy of the rolling construction process through dynamic matching of rolling parameters and improve construction efficiency through real-time monitoring of construction quality has become an urgent problem to be solved in this field. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention proposes an intelligent rolling construction method, system and computer-readable storage medium for concrete panel rockfill dams to solve the technical problems of low rolling construction accuracy and lack of real-time monitoring of construction quality in the existing technology.

[0006] The technical solution adopted by the present invention is a method and system for intelligent rolling construction of concrete panel rockfill dam. In a first feasible mode, the method includes: generating a three-dimensional digital elevation model based on the terrain data of the construction area collected by surveying and mapping equipment; setting the rolling path according to the three-dimensional digital elevation model; setting the rolling parameters according to the rolling system parameter optimization model, the rolling parameters including the optimal travel speed and vibration parameters; and controlling the operation of the roller according to the preset target number of rolling passes, the rolling parameters and the rolling path.

[0007] Furthermore, the method of generating a three-dimensional digital elevation model based on the terrain data of the construction area collected by the surveying and mapping equipment includes: obtaining the original measurement lattice data of the construction area collected by the surveying and mapping equipment; correcting the original measurement lattice data according to the differential signal provided by the satellite positioning base station to obtain the corrected measurement lattice data; and converting the corrected measurement lattice data into a three-dimensional digital elevation model. Furthermore, setting the rolling path according to the three-dimensional digital elevation model includes: comparing the design elevation in the building information model with the three-dimensional digital elevation model to determine the grid units of the area to be filled; generating a gridded rolling path within the grid units of the area to be filled based on a path planning algorithm; The grid cells in the area to be filled must meet the following requirements: Among them: S represents the set of areas to be filled, Indicates coordinate points The design terrain elevation at Indicates the coordinate point The actual terrain elevation at Indicates the minimum fill thickness threshold.

[0008] Preferably, the rolling system parameter optimization model is: in: represents the optimal rolling speed, is the rated power of the equipment, represents the efficiency coefficient, Indicates the exciting force, a indicates the amplitude, and N indicates the current number of rolling times. Indicates setting the number of rolling passes. Indicates the overlap width; represents the optimal vibration frequency, E represents the elastic modulus of the filler, Indicates the relative density of the filler, Indicates the dry density of the filler, Indicates equivalent mass.

[0009] Furthermore, the control of the roller operation according to the target rolling number, the rolling parameters and the rolling path includes: adjusting the working state of the roller according to the rolling parameters; controlling the cyclic operation of the roller according to the rolling path; obtaining the position information of the roller in real time; correcting the rolling path in real time according to the position information; recording the cumulative rolling times of the current area; judging whether the cumulative rolling times of the current area have reached the target rolling number: if not, returning to the step of adjusting the working state of the roller according to the rolling parameters; if it has been reached, obtaining the compaction degree of the current area; judging whether the cumulative rolling times of the current area have reached the target rolling number; if not, judging whether the cumulative rolling times of the current area have reached the target rolling number; if not, returning to the step of adjusting the working state of the roller according to the rolling parameters; if it has been reached, obtaining the compaction degree of the current area; judging whether the cumulative rolling times of the current area have reached the target rolling number; judging whether the cumulative rolling times of the current area have reached the target rolling number; if not, ... Determine whether the rolling work in the current area meets the standards; if so, record the current area as a qualified area and generate a construction report; if not, record the current area as an unqualified area; store the cumulative rolling times and the compaction degree of the current area in the cloud; generate a compaction pass statistics chart based on the cumulative rolling times; generate a compaction degree heat map based on the compaction degree of the current area; increase the set value to the target rolling pass for the unqualified area; update the rolling parameters and the rolling path based on the unqualified area; return to the step of adjusting the working state of the roller according to the rolling parameters.

[0010] Furthermore, based on the position information, the rolling path is corrected in real time, including: calculating the lateral deviation between the current waypoint in the rolling path and the position information; generating a control instruction for adjusting the lateral deviation; and adjusting the rolling path according to the control instruction.

[0011] Furthermore, obtaining the compaction degree of the current area includes: obtaining the vibration signal of the vibration wheel collected by the acceleration sensor; extracting the harmonic characteristics of the vibration signal; judging whether the harmonic characteristics are normal; if abnormal, triggering the protection mechanism; if normal, inputting the harmonic characteristics and preset filler characteristics into the multi-source nonlinear regression model to obtain the compaction degree of the current area; the filler characteristics include the optimal vibration frequency, the optimal rolling speed and the filler moisture content.

[0012] Furthermore, the triggering protection mechanism also includes: determining whether the vibration signal is normal; if abnormal, switching the vibration mode to a safe mode of intermittent vibration; activating an audible and visual alarm; and outputting an abnormal event report to the cloud.

[0013] In combination with the first feasible method, in the second feasible method, the system is used to implement the steps of the method, including: a topographic mapping subsystem, used to generate a three-dimensional digital elevation model based on the terrain data of the construction area collected by the surveying and mapping equipment, including: a surveying and mapping equipment, used to collect the terrain data of the construction area, the surveying and mapping equipment includes a surveying and mapping drone or a ground mobile measuring vehicle; a satellite positioning base station, used to provide a differential signal to correct the original measurement lattice data and obtain the corrected measurement lattice data; a path planning subsystem, used to set the rolling path according to the three-dimensional digital elevation model; a roller control subsystem, used to set the rolling parameters according to the rolling system parameter optimization model, and control the roller operation according to the target number of rolling passes, the rolling parameters and the rolling path.

[0014] In combination with the first possible implementation method, a third possible implementation method includes a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed, a method for intelligent rolling construction of a concrete panel rockfill dam can be implemented.

[0015] It can be seen from the above technical solution that the beneficial technical effects of the present invention are as follows: 1. By building a rolling system parameter optimization model, the optimal rolling speed and optimal vibration frequency are calculated in real time, solving the problem of low precision in traditional rolling construction.

[0016] 2. By dynamically monitoring the number of rolling passes and rolling quality, the problem of traditional construction relying on manual inspection, poor timeliness and low efficiency is solved.

[0017] 3. Through vibration harmonic characteristic analysis, the equipment status is monitored in real time and the protection mechanism is triggered, thus improving the safety of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0019] Figure 1 This is a flow chart of the construction method of Example 1 of the present invention; Figure 2 This is a flow chart of the operation control of the roller compactor according to embodiment 1 of the present invention; Figure 3 This is a statistical graph of compaction passes in Example 1 of the present invention; Figure 4 This is a thermodynamic diagram of the compaction degree of Example 1 of the present invention. DETAILED DESCRIPTION

[0020] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0021] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0022] Example 1 This embodiment provides a method for intelligent rolling construction of a concrete face rockfill dam. The working principle of embodiment 1 is described in detail below: The construction method flow chart of this embodiment is as follows Figure 1 As shown, the method includes: generating a three-dimensional digital elevation model based on the terrain data of the construction area collected by the surveying and mapping equipment; setting the rolling path according to the three-dimensional digital elevation model; setting the rolling parameters according to the rolling system parameter optimization model, the rolling parameters including the optimal travel speed and vibration parameters; controlling the operation of the roller according to the preset target number of rolling passes, the rolling parameters and the rolling path.

[0023] Generating a three-dimensional digital elevation model based on the construction area terrain data collected by the surveying and mapping equipment includes: obtaining original measurement point matrix data of the construction area collected by the surveying and mapping equipment, i.e., the terrain data of the construction area; correcting the original measurement point matrix data based on the differential signal provided by the satellite positioning base station to obtain corrected measurement point matrix data for eliminating common errors such as ionospheric delay and tropospheric delay in the satellite signal; and converting the corrected measurement point matrix data into a three-dimensional digital elevation model, i.e., continuous terrain surface data, using a Kriging interpolation algorithm.

[0024] The step of setting a compaction path based on the three-dimensional digital elevation model includes comparing the design elevation in the building information model (BIM) with the three-dimensional digital elevation model to determine the grid cells of the area to be filled. In this embodiment, a gridded compaction path is generated within the grid cells of the area to be filled based on an improved ant colony algorithm. The grid cells of the area to be filled must meet the following requirements: Among them: S represents the set of areas to be filled, Indicates coordinate points The design terrain elevation at Derived from the 3D design model of the dam in BIM, Indicates the coordinate point The actual terrain elevation at Indicates the minimum fill thickness threshold, which is used to determine whether rolling is required.

[0025] In this embodiment, a high-precision three-dimensional digital elevation model is generated; based on the improved ant colony algorithm, the optimal rolling path is automatically generated, and combined with the BIM model, the matching of the filling thickness and the design elevation is verified in real time, realizing intelligent planning of the construction path.

[0026] The rolling system parameter optimization model is: in: represents the optimal rolling speed, is the rated power of the equipment, represents the efficiency coefficient, Reflects the conversion efficiency from rated power to actual effective power. It is derived from the mechanical efficiency of the equipment and needs to be calibrated through experiments or manufacturer data. It is usually 0.6-0.8. That means effective power, which refers to the power required to overcome the resistance of the filler and complete the compaction. Indicates the exciting force, a indicates the amplitude, and N indicates the current number of rolling times. Indicates the set number of rolling passes. As the number of rolling passes increases, the speed needs to be reduced to ensure the compaction quality. Indicates the overlap width.

[0027] Calculating the optimal rolling speed in the rolling system parameter optimization model The formula is based on the energy transfer model, and the optimal travel speed is derived from the balance between the effective power of the equipment and the construction parameters (excitation force, amplitude, and number of rolling passes).

[0028] Indicates the optimal vibration frequency, E indicates the elastic modulus of the filler, which is obtained through experiments and is used to reflect the filler's ability to resist deformation. Indicates the relative density of the filler. Relative density is used to describe the degree of compactness of particles in cohesive soil (such as sand and gravel). It indicates the relationship between the actual dry density and the maximum and minimum dry densities measured in the laboratory. Indicates the dry density of the filler, that is, the mass per unit volume of the filler in a completely dry state. Indicates equivalent mass, which is calibrated through experiments.

[0029] Calculating the optimal vibration frequency in the rolling system parameter optimization model The formula is based on the principle of resonance. The vibration frequency needs to match the natural frequency of the filler-equipment system and is derived by equivalent stiffness and mass modeling.

[0030] The rolling parameters in traditional rolling construction rely on fixed empirical values ​​and are not dynamically adapted to filler properties such as moisture content, gradation, and equipment performance. In this embodiment, a rolling system parameter optimization model is constructed to calculate the optimal rolling speed and optimal vibration frequency in real time based on dynamic parameters such as filler elastic modulus, relative density, and equipment power, thereby improving the accuracy of rolling construction.

[0031] Figure 2 The figure shows the roller operation control flow chart of the present embodiment, which controls the roller operation according to the target rolling number, the rolling parameters and the rolling path, including: adjusting the working state of the roller according to the rolling parameters; controlling the cyclic operation of the roller according to the rolling path; obtaining the position information of the roller in real time; correcting the rolling path in real time according to the position information; recording the cumulative rolling times of the current area; judging whether the cumulative rolling times of the current area reaches the target rolling times: if not reached, returning to the step of adjusting the working state of the roller according to the rolling parameters; if reached, obtaining the compaction degree of the current area; judging whether the rolling operation of the current area meets the standard according to the compaction degree; if met, recording the current area as a qualified area and generating a construction report; if not met, recording the current area as an unqualified area; storing the cumulative rolling times and the compaction degree of the current area in the cloud; generating a compaction pass statistics chart according to the cumulative rolling times, as shown in FIG. Figure 3 As shown; Generate a compaction heat map based on the compaction of the current area, as shown Figure 4 As shown; increase the set value to the target number of rolling passes of the unqualified area; update the rolling parameters and the rolling path according to the unqualified area; return to the step of adjusting the working state of the roller according to the rolling parameters.

[0032] According to the position information, the rolling path is corrected in real time, including: calculating the lateral deviation between the current waypoint in the rolling path and the position information; generating a control instruction for adjusting the lateral deviation; and adjusting the rolling path according to the control instruction.

[0033] Traditional construction relies on manual inspections and destructive testing, which has the problem of poor timeliness and leads to large-scale rework in unqualified areas. By using real-time satellite positioning and compaction heat map feedback, the number of rolling passes and quality are dynamically monitored, and recompaction instructions for unqualified areas are automatically generated, thereby improving construction efficiency.

[0034] Obtaining the compaction degree of the current area includes: obtaining a vibration signal of a vibration wheel collected by an acceleration sensor; extracting harmonic features of the vibration signal according to Fourier transform; and determining whether the harmonic features are normal.

[0035] In this embodiment, determining whether the harmonic characteristics are normal includes the following situations: 1. The spring stiffness fails, and the high-frequency component in the acceleration spectrum accounts for more than 30%; 2. The shock-absorbing rubber is aging, the signal kurtosis value is less than 3, and it deviates from the Gaussian distribution; 3. Hydraulic drive is unstable and the vibration frequency fluctuation amplitude is >±5Hz.

[0036] If the harmonic characteristics are abnormal, the protection mechanism is triggered; if the harmonic characteristics are normal, the harmonic characteristics and the preset filler characteristics are input into the multi-source nonlinear regression model to obtain the compaction degree of the current area; the filler characteristics include the optimal vibration frequency, the optimal rolling speed and the filler moisture content.

[0037] The trigger protection mechanism also includes: determining whether the vibration signal is normal; if it is abnormal, switching the vibration mode to a safe mode of intermittent vibration; activating an audible and visual alarm; and outputting an abnormal event report to the cloud.

[0038] Establishing multivariate regression models has been extensively studied in this field, so the method for establishing a multivariate regression model based on vibration signals and filler properties will not be discussed in detail. In this embodiment, the harmonic characteristics of the vibration signal and filler properties are combined to achieve online compaction prediction, monitor equipment status in real time, and trigger protection mechanisms, thereby improving construction safety.

[0039] Example 2 This embodiment provides a system for intelligent rolling construction of a concrete face rockfill dam, which is used to implement a method for intelligent rolling construction of a concrete face rockfill dam. The method includes: The topographic mapping subsystem is used to generate a three-dimensional digital elevation model based on the construction area terrain data collected by surveying and mapping equipment. The topographic mapping subsystem includes: surveying and mapping equipment for collecting construction area terrain data, such as surveying and mapping drones or ground mobile survey vehicles; and a satellite positioning base station for providing differential signals to correct the original measurement point matrix data and obtain the corrected measurement point matrix data.

[0040] The path planning subsystem is used to set a rolling path according to the three-dimensional digital elevation model.

[0041] The roller control subsystem is used to set the rolling parameters according to the rolling system parameter optimization model, and control the roller operation according to the target number of rolling passes, the rolling parameters and the rolling path.

[0042] Example 3 This embodiment includes a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed, an intelligent rolling construction method for a concrete panel rockfill dam can be implemented.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A method for intelligent rolling construction of a concrete face rockfill dam, characterized in that: include: Generate a three-dimensional digital elevation model based on the construction area terrain data collected by surveying and mapping equipment; Setting a rolling path according to the three-dimensional digital elevation model; Setting rolling parameters according to a rolling system parameter optimization model, wherein the rolling parameters include an optimal travel speed and vibration parameters; The operation of the roller is controlled according to the preset target number of rolling passes, the rolling parameters and the rolling path.

2. The intelligent rolling construction method for concrete face rockfill dam according to claim 1, characterized in that: Generating a three-dimensional digital elevation model based on the construction area terrain data collected by surveying and mapping equipment includes: Obtain the original measurement point matrix data of the construction area collected by surveying and mapping equipment; Correcting the original measurement lattice data according to the differential signal provided by the satellite positioning reference station to obtain corrected measurement lattice data; Convert the corrected survey point matrix data into a three-dimensional digital elevation model.

3. The intelligent rolling construction method for concrete face rockfill dam according to claim 2 is characterized in that: The step of setting a rolling path according to the three-dimensional digital elevation model includes: Comparing the design elevation in the building information model with the three-dimensional digital elevation model to determine the grid cells of the area to be filled; Based on the path planning algorithm, a gridded rolling path is generated within the grid cells of the area to be filled; The grid cells in the area to be filled must meet the following requirements: Among them: S represents the set of areas to be filled, Indicates coordinate points The design terrain elevation at Indicates the coordinate point The actual terrain elevation at Indicates the minimum fill thickness threshold.

4. The intelligent rolling construction method for concrete face rockfill dam according to claim 1, characterized in that: The rolling system parameter optimization model is: in: represents the optimal rolling speed, is the rated power of the equipment, represents the efficiency coefficient, That is, effective power. Indicates the exciting force, a indicates the amplitude, and N indicates the current number of rolling times. Indicates setting the number of rolling passes. Indicates the overlap width; represents the optimal vibration frequency, E represents the elastic modulus of the filler, Indicates the relative density of the filler, Indicates the dry density of the filler, express, Indicates equivalent mass.

5. The intelligent rolling construction method for concrete face rockfill dam according to claim 1 is characterized in that: The control of the rolling machine operation according to the target rolling passes, the rolling parameters and the rolling path includes: Adjusting the working state of the roller compactor according to the compaction parameters; Controlling the rolling machine to operate cyclically according to the rolling path; Get the location information of the roller compactor in real time; Correcting the rolling path in real time according to the position information; Record the cumulative number of crushing times in the current area; Determine whether the cumulative number of rolling times in the current area reaches the target number of rolling times: If not, returning to the step of adjusting the working state of the roller compactor according to the rolling parameters; If it has been reached, get the compaction degree of the current area; Determine whether the rolling work in the current area meets the standards based on the compaction degree; If the standards are met, the current area is recorded as a qualified area and a construction report is generated; If the standard is not met, the current area is recorded as an unqualified area; Storing the accumulated rolling times and the compaction degree of the current area in the cloud; Generate a compaction pass statistics graph based on the cumulative rolling times; generating a compaction heat map according to the compaction of the current area; Increase the set value to the target number of rolling passes for the unqualified area; updating the rolling parameters and the rolling path according to the unqualified area; Return to the step of adjusting the working state of the roller compactor according to the roller compaction parameters.

6. The intelligent rolling construction method for concrete face rockfill dam according to claim 5, characterized in that: Correcting the rolling path in real time according to the position information includes: Calculating a lateral deviation between a current waypoint in the rolling path and the position information; generating a control instruction for adjusting the lateral deviation; The rolling path is adjusted according to the control instruction.

7. The intelligent rolling construction method for concrete face rockfill dam according to claim 5, characterized in that: The method of obtaining the compaction degree of the current area includes: Obtaining a vibration signal of the vibration wheel collected by an acceleration sensor; extracting harmonic features of the vibration signal; determining whether the harmonic characteristics are normal; If it is abnormal, the protection mechanism will be triggered; If normal, the harmonic characteristics and the preset filler characteristics are input into a multi-source nonlinear regression model to obtain the compaction degree of the current area; The filler characteristics include optimal vibration frequency, optimal rolling speed and filler moisture content.

8. The intelligent rolling construction method for concrete face rockfill dam according to claim 7, characterized in that: The trigger protection mechanism further includes: Determining whether the vibration signal is normal; If it is abnormal, switch the vibration mode to the safe mode of intermittent vibration; Activate the sound and light alarm; Output abnormal event reports to the cloud.

9. An intelligent rolling compaction construction system for a concrete face rockfill dam, used to implement the steps of any one of the methods of claims 1 to 8, characterized in that: include: The topographic mapping subsystem is used to generate a three-dimensional digital elevation model based on the construction area terrain data collected by surveying and mapping equipment, including: Surveying and mapping equipment, used to collect topographic data of the construction area, including surveying and mapping drones or ground mobile survey vehicles; A satellite positioning reference station is used to provide a differential signal to correct the original measurement lattice data and obtain the corrected measurement lattice data; A path planning subsystem, configured to set a rolling path according to the three-dimensional digital elevation model; The roller control subsystem is used to set the rolling parameters according to the rolling system parameter optimization model, and control the roller operation according to the target number of rolling passes, the rolling parameters and the rolling path.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed, the intelligent rolling construction method for concrete panel rockfill dam according to any one of claims 1 to 7 can be implemented.

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