An auxiliary robot construction method and system for hydraulic engineering block masonry

Abstract

This invention discloses an auxiliary robot construction method and system for boulders masonry in water conservancy projects, relating to the field of data processing technology. The method includes the following steps: acquiring the morphological data of the boulders to be laid and the data of the existing masonry structure, and analyzing to obtain the initial placement position; performing position correspondence analysis based on the initial placement position and the current masonry structure to obtain a centroid offset parameter set; combining the data of the existing masonry structure to perform inter-layer attitude influence analysis, obtaining an inter-layer attitude influence parameter set, and performing cumulative analysis along the extension direction of the current masonry layer to obtain the cumulative change value of inter-layer attitude; determining inter-layer stability based on the cumulative change value of inter-layer attitude; if the inter-layer is stable, the initial placement position is used as the final placement position; otherwise, the initial placement position is corrected to obtain the final placement position, which is then sent to the auxiliary robot. This invention can reduce the risk of masonry tilting caused by the cumulative offset of irregular boulders' inter-layer attitude.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, specifically to an auxiliary robot construction method and system for paving stone in water conservancy projects. Background Technology

[0002] With the continuous expansion of the construction scale of riverbank protection, masonry retaining walls, and slope protection structures in water conservancy projects, the masonry construction method, which uses natural boulders to form retaining walls or slope protection structures layer by layer, is widely used in river protection, dam reinforcement, and slope stabilization. In existing technologies, in addition to traditional manual masonry methods, automated construction equipment such as retaining wall construction robots, automatic mortar supply equipment, and robotic arm-assisted masonry equipment is used to automate operations such as boulder handling, automatic mortar supply, and autonomous movement of the mobile chassis.

[0003] However, existing automated construction equipment mainly focuses on the automated control of stone handling, path movement, and construction execution, lacking targeted stability analysis for issues such as the irregular shape, random contact surface, and uneven centroid distribution of natural stones. In actual hydraulic slope protection and masonry retaining wall construction, there are significant differences in contact area, contact flatness, and centroid projection position corresponding to different stone placement directions. If there is a large centroid offset between the placed stones and the underlying supporting structure, a continuous accumulation of interlayer stress offset can easily occur during subsequent multi-layer stacking, leading to problems such as local settlement, wall tilting, internal through-joints, and structural stress concentration. Under long-term water and soil pressure, this may even cause the retaining wall to crack or the overall structure to become unstable. Therefore, existing technologies suffer from poor stability of hydraulic masonry structures due to the centroid offset after irregular stone placement and the continuous accumulation of interlayer posture offset. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an auxiliary robot construction method and system for riprap masonry in water conservancy projects.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention discloses an auxiliary robot construction method for boulders masonry in water conservancy projects, comprising the following steps: acquiring the boulder morphology data of the boulders to be masonred and the data of the existing masonry structure, and analyzing the initial placement position of the boulders to be masonred; performing position correspondence analysis based on the initial placement position and the current masonry structure to obtain a set of centroid offset parameters for the boulders to be masonred; performing inter-layer attitude influence analysis based on the centroid offset parameter set and the data of the existing masonry structure to obtain a set of inter-layer attitude influence parameters; performing cumulative analysis of the inter-layer attitude influence parameters along the extension direction of the current masonry layer to obtain a cumulative change value of inter-layer attitude; performing inter-layer stability determination based on the cumulative change value of inter-layer attitude to obtain an inter-layer attitude stability determination result; if the inter-layer attitude stability determination result is inter-layer stable, then the initial placement position is taken as the final placement position; otherwise, the initial placement position is corrected based on the cumulative change value of inter-layer attitude to obtain the final placement position, and the final placement position information is sent to the auxiliary robot.

[0007] Secondly, this invention discloses an auxiliary robot construction system for boulders masonry in water conservancy projects, comprising the following modules: an initial placement position analysis module, used to acquire the boulders morphology data and the already constructed structure data of the current masonry structure, and analyze to obtain the initial placement position of the boulders to be laid; a centroid offset analysis module, used to perform position correspondence analysis based on the initial placement position and the current masonry structure, and obtain a centroid offset parameter set for the boulders to be laid; an inter-layer attitude accumulation analysis module, used to perform inter-layer attitude influence analysis based on the centroid offset parameter set and the already constructed structure data, and obtain an inter-layer attitude influence parameter set, and accumulate the inter-layer attitude influence parameter set along the extension direction of the current masonry layer to obtain an inter-layer attitude accumulation change value; and a final placement position determination module, used to determine inter-layer stability based on the inter-layer attitude accumulation change value, and obtain an inter-layer attitude stability determination result. If the inter-layer attitude stability determination result is inter-layer stable, the initial placement position is taken as the final placement position; otherwise, the initial placement position is corrected based on the inter-layer attitude accumulation change value to obtain the final placement position, and the final placement position information is sent to the auxiliary robot.

[0008] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0009] 1. This invention obtains the morphological data of the stones to be laid and the data of the existing masonry structure, analyzes and obtains the initial placement position, and then determines the interlayer stability based on the centroid offset parameter set, the interlayer attitude influence parameter set, and the interlayer attitude cumulative change value. This enables the identification of the interlayer attitude cumulative offset formed by irregular stones during continuous masonry, thereby achieving dynamic correction of the final placement position. This effectively solves the problem in the prior art that it is difficult to control the interlayer attitude cumulative change of irregular stones, which leads to a high risk of masonry structure tilting.

[0010] 2. This invention analyzes the surface flatness of each contact surface and selects the target contact surface. It then uses the plane where the target contact surface is located as the reference plane to perform vertical projection and obtain the projection width. This allows the irregular shape of the stone block to be laid to be converted into an initial placement position that can be used for robot positioning, thereby achieving alignment between the stone block to be laid and the current masonry structure.

[0011] 3. This invention compares and analyzes the centroid offset parameter set with the target local support area, and obtains the inter-layer offset transfer rate by combining the inter-layer attitude influence parameter set. This allows for the quantification of the attitude influence of the masonry block to be constructed on the adjacent masonry block, thereby achieving a coordinated judgment of the influence of eccentric load, slope, and support.

[0012] 4. This invention accumulates and analyzes the set of interlayer attitude influence parameters along the extension direction of the current masonry layer, and makes an interlayer attitude stability determination. This allows the initial placement position to be corrected based on the structural tilt direction and position compensation distance, thereby enabling the auxiliary robot to perform stable masonry according to the final placement position information. Attached Figure Description

[0013] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0014] Figure 1 This is an overall flowchart of the present invention;

[0015] Figure 2 This is a flowchart of the process for generating the interlayer attitude influence parameter set according to the present invention;

[0016] Figure 3 This is a schematic diagram of the angle of the present invention;

[0017] Figure 4 This is a flowchart of the interlayer attitude stability determination and final placement position correction of the present invention;

[0018] Figure 5 This is a schematic diagram of the system structure of the present invention. Detailed Implementation

[0019] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0020] This invention addresses the scenario of riprap construction in water conservancy projects such as slope protection and retaining walls. It addresses the characteristics of irregular riprap shapes, uneven contact surfaces, centroid displacement, and complex slope construction conditions by using an auxiliary robot to acquire riprap shape data and existing masonry structure data. Combined with the structural state of the current masonry layer, the final placement position of the riprap is determined.

[0021] In existing masonry construction, robots or manual labor typically place stones based primarily on their shape, location, or local alignment. This makes it difficult to fully consider the centroidal offset of the stones to be laid, the tilt of adjacent stones, and the cumulative impact of the posture caused by the continuous transfer of multiple stones within the current layer. When irregular stones are laid continuously, a slight off-center load on a single stone can be gradually transferred and amplified along the masonry layer, potentially leading to continuous tilting or local instability of the masonry structure.

[0022] To address the aforementioned issues, this invention first analyzes the morphological data of the stones and the data of the existing masonry structure to determine the initial placement position of the stones to be laid. Then, it performs a positional correspondence analysis between the initial placement position and the current masonry structure to obtain a set of centroid offset parameters. Subsequently, it combines the target local support area, the tilt state of adjacent existing masonry stones, the slope magnification influence value, and the support coverage rate to perform an inter-layer attitude influence analysis, obtaining a set of inter-layer attitude influence parameters. Finally, it performs an cumulative analysis of the inter-layer attitude influence parameters along the extension direction of the current masonry layer to obtain the cumulative change value of the inter-layer attitude, and uses this to determine the inter-layer stability.

[0023] When the inter-layer attitude stability determination result is that the inter-layer attitude is stable, this invention uses the initial placement position as the final placement position. When the inter-layer attitude stability determination result is that the inter-layer attitude is unstable, this invention corrects the initial placement position based on the cumulative change value of the inter-layer attitude and the structural tilt direction to obtain the final placement position, and sends the final placement position information to the auxiliary robot. Through the above methods, this invention can judge and correct potential inter-layer attitude accumulation risks before the robot performs block placement, improve the rationality of the block placement position, reduce the risk of masonry tilting, and enhance the construction stability and automation level of block masonry construction in hydraulic engineering.

[0024] The present invention includes the following steps: acquiring the morphological data of the stones to be laid and the data of the existing masonry structure, and analyzing the initial placement position of the stones to be laid; performing position correspondence analysis based on the initial placement position and the current masonry structure to obtain the centroid offset parameter set of the stones to be laid; performing inter-layer attitude influence analysis based on the centroid offset parameter set and the existing masonry structure data to obtain the inter-layer attitude influence parameter set; performing cumulative analysis of the inter-layer attitude influence parameter set along the extension direction of the current masonry layer to obtain the cumulative change value of inter-layer attitude; performing inter-layer stability determination based on the cumulative change value of inter-layer attitude to obtain the inter-layer attitude stability determination result; if the inter-layer attitude stability determination result is that the inter-layer attitude is stable, then the initial placement position is taken as the final placement position; otherwise, the initial placement position is corrected based on the cumulative change value of inter-layer attitude to obtain the final placement position, and the final placement position information is sent to the auxiliary robot.

[0025] In this embodiment, as Figure 1 As shown, Figure 1 The overall flowchart of this invention is as follows: acquire the morphological data of the stones to be laid and the data of the existing masonry structure, analyze to obtain the initial placement position, perform position correspondence analysis based on the initial placement position and the current masonry structure to obtain the centroid offset parameter set, perform inter-layer attitude influence analysis to obtain the inter-layer attitude influence parameter set, perform cumulative analysis along the extension direction of the current masonry layer to obtain the inter-layer attitude cumulative change value, perform inter-layer stability determination based on the inter-layer attitude cumulative change value, if the inter-layer is stable, the initial placement position is taken as the final placement position, if the inter-layer attitude is unstable, the initial placement position is corrected to obtain the final placement position, and sent to the auxiliary robot end.

[0026] Stone morphology data refers to data describing the shape, size, contact surfaces, boundary contours, and spatial orientation of the stones to be laid. This data can be acquired using a 3D laser scanner and binocular vision camera built into the auxiliary robot. Specifically, the stone to be laid is placed within the scanning area, and point cloud data of the stone surface is acquired using a 3D scanning device. Then, through point cloud denoising, point cloud registration, and surface reconstruction, a 3D model of the stone is obtained. From this 3D model, the outer contour, positions of each contact surface, normal vectors of each contact surface, stone height, stone width, stone volume, and centroid position of the stone are extracted.

[0027] The data on the completed masonry structure refers to the location, posture, support area, and arrangement sequence data of the stones that have already been laid in the current masonry structure. This data can be obtained by collecting data from LiDAR, cameras, and tilt sensors installed on the auxiliary robot and combining it with data from the work already completed by the auxiliary robot. For example, in specific acquisition, the LiDAR collects the 3D point cloud of the current masonry structure, obtains the tilt angle and tilt direction of each laid stone through a visual posture estimation algorithm, and retrieves the construction coordinates of the laid stones stored in the auxiliary robot, thus forming the data on the completed masonry structure of the current masonry structure.

[0028] The initial placement position refers to the theoretical placement position determined based on the morphology data of the stones and the current masonry structure data before considering the cumulative effects of inter-layer attitude. This position is mainly used to determine the initial placement coordinates and attitude of the stones to be laid, and is the basis for subsequent centroid offset analysis, inter-layer attitude influence analysis, and placement position correction.

[0029] The centroid offset parameter set refers to the offset information of the projected position of the centroid of the stone block to be laid relative to the center position of the underlying local support area, given its initial placement. This parameter set includes at least the centroid offset direction and the centroid offset distance. The centroid offset direction indicates the orientation of the off-center loading trend, and the centroid offset distance indicates the degree of off-center loading. The centroid offset distance can be calculated using the Euclidean distance formula in existing technology, i.e., calculating the planar distance between the projected position of the centroid and the center position of the target local support area, for example:

[0030] ;

[0031] In the formula, Indicates the distance of centroid offset. The horizontal coordinates representing the projected position of the centroid. The vertical coordinates representing the projected position of the centroid. The horizontal coordinates representing the center of the target's local support area. This represents the longitudinal coordinate of the center position of the target local support area. The greater the coordinate difference between the projected position of the centroid and the center position of the target local support area, the greater the centroid offset distance, indicating a more obvious off-center load; the smaller the coordinate difference, the smaller the centroid offset distance, indicating that the support state is closer to the center.

[0032] The interlayer attitude influence parameter set refers to the data set on the attitude influence of the current stone block to be laid on the adjacent already laid stones due to the centroid offset, slope inclination and support coverage. This parameter set is used to determine whether the eccentric load of the current stone block to be laid will continue to affect the subsequent stones in the same masonry layer.

[0033] The cumulative change in interlayer attitude refers to the overall cumulative degree of displacement resulting from the continuous transmission of the interlayer attitude influence of multiple stones along the extension direction of the current masonry layer. This value is not the tilt amount of a single stone, but the result of the superposition of the displacement trends of multiple stones.

[0034] The inter-layer attitude stability assessment result refers to the judgment of whether the current masonry layer has a risk of further tilting based on the cumulative change value of the inter-layer attitude. It includes inter-layer attitude stability and inter-layer attitude instability. If the inter-layer attitude is determined to be stable, it means that the initial placement position can be directly used as the final placement position; if the inter-layer attitude is determined to be unstable, the initial placement position needs to be corrected.

[0035] This embodiment acquires the morphological data of the stones to be laid and the data of the existing masonry structure, thereby determining the initial placement position before the robot places the stones. It also performs a comprehensive analysis of the stone eccentricity and interlayer continuous offset by using the centroid offset parameter set, the interlayer attitude influence parameter set, and the interlayer attitude cumulative change value, thereby achieving dynamic correction of the final placement position. This reduces the risk of masonry tilting caused by irregular stones due to centroid offset and interlayer attitude accumulation, and improves the structural stability and robot construction reliability during the stone laying process in water conservancy projects.

[0036] Furthermore, the initial placement position of the stones to be laid is obtained. The specific method is as follows: retrieve the shape data of the stones to be laid and analyze the surface flatness of each contact surface. The surface flatness is used to characterize the flatness of each contact surface of the stones to be laid. Select the contact surface corresponding to the maximum surface flatness as the target contact surface. Using the plane where the target contact surface is located as the reference plane, project the stones to be laid vertically to obtain the projection width of the stones to be laid. Based on the data of the already laid structure, determine the local masonry reference position adjacent to the stones to be laid, and align the projection width with the local masonry reference position to obtain the theoretical position of the stones to be laid, which is used as the initial placement position of the stones to be laid.

[0037] In this embodiment, surface flatness is used to characterize the flatness of each contact surface of the paving stones. This parameter can be calculated by acquiring the morphological data of the paving stones (including the point cloud of the stone surface) using a 3D scanning device. Specifically, the method is as follows: acquire the point cloud of the paving stone surface using a 3D laser scanner built into the auxiliary robot; segment the point cloud into regions to obtain multiple candidate contact surfaces; perform plane fitting on each candidate contact surface; calculate the distance deviation from each sampling point on the candidate contact surface to the fitted plane; obtain the surface flatness based on the distance deviation. A larger surface flatness value indicates a flatter surface. The surface flatness calculation method is as follows:

[0038] ;

[0039] In the formula, Indicates surface smoothness. The first candidate contact surface The vertical distance from each sampling point to the fitting plane , This represents the total number of sampling points. This represents the preset distance reference value. The preset distance reference value can be from 5mm to 20mm, with 10mm being preferred. The smaller the vertical distance from the sampling point to the fitting plane, the greater the surface flatness.

[0040] The projection width refers to the projection dimension of the stone block to be laid in the horizontal direction of the current masonry layer after it is vertically projected onto the plane where the target contact surface is located as the reference plane. The specific method is as follows: establish a local coordinate system with the target contact surface as the reference plane, vertically project the three-dimensional point cloud of the stone block onto the reference plane, extract the maximum and minimum coordinates of the projected point cloud in the horizontal direction, and the difference between the two is the projection width.

[0041] The local masonry reference position refers to the local alignment reference position formed by the already laid stones adjacent to the stone to be laid in the current masonry structure. This position can be obtained through the vision measurement system on the auxiliary robot. The specific method is as follows: extract the boundary coordinates of the adjacent stones on both sides or the lower layer of the area to be laid from the data of the laid structure; extract the center line of the boundary coordinates of the adjacent stones; and take the intersection of the center line and the current construction direction as the local masonry reference position. If only the lower support area exists, the geometric center of the lower support area is taken as the local masonry reference position.

[0042] The specific method for aligning the projection width with the local masonry reference position is as follows: The geometric center of the projection area of ​​the stone to be laid is moved to the local masonry reference position, so that the lateral projection range of the stone to be laid is distributed left and right relative to the local masonry reference position. The aligned coordinates of the stone to be laid are the theoretical position and are used as the initial placement position.

[0043] Furthermore, the centroid offset parameter set of the paving stones to be laid is obtained. The specific method is as follows: the centroid position of the paving stones to be laid is analyzed to obtain the centroid projection position of the paving stones at the initial placement position; based on the position of the initial placement position in the current masonry structure, the lower local support area corresponding to the paving stones to be laid is determined as the target local support area; based on the center position of the target local support area and the horizontal position difference analysis between it and the centroid projection position, the centroid offset parameter set of the paving stones to be laid is obtained; the centroid offset parameter set of the paving stones to be laid includes the centroid offset direction and the centroid offset distance.

[0044] In this embodiment, centroid location analysis refers to calculating the position of the mass center of the stone block based on the three-dimensional model of the stone block to be laid, which is achieved through the existing three-dimensional model centroid calculation method. The specific method is as follows: a closed triangular mesh model is constructed based on the three-dimensional point cloud of the stone block; the closed triangular mesh model is divided into multiple volume elements; the center coordinates and volume of each volume element are calculated; the centroid position of the stone block is obtained based on the volume-weighted average result of each volume element. Since the density of the stone block material is approximately uniform, the geometric volume centroid can be directly used as the centroid position, as shown in the formula:

[0045] ;

[0046] ;

[0047] ;

[0048] In the formula, , , These represent the three-dimensional coordinates of the centroid of the stone block to be laid. Indicates the number of the volume unit. , Indicates the number of volume units. Indicates the first Volume of a volume unit , , They represent the first The three-dimensional coordinates of the center of mass of each volume element. Larger volume elements have a greater impact on the position of the center of mass, while smaller volume elements have a smaller impact.

[0049] The centroid projection position refers to the position obtained by projecting the three-dimensional centroid of the stone block to be laid from its initial placement position onto the plane of the target local support area along the vertical direction. This position can be obtained through coordinate projection. The specific method is as follows: transform the centroid position of the stone block to be laid to the current masonry structure coordinate system; project the centroid position along the direction of gravity onto the plane of the lower local support area; the projection point is the centroid projection position.

[0050] The target local support area can be determined by the bottom projection range of the stones to be laid based on the initial placement position; the point cloud area located below the bottom projection range and with similar height in the point cloud of the already laid structure can be selected; the boundary of the selected point cloud area can be fitted into a polygon area as the target local support area.

[0051] The centroid offset distance is calculated using the Euclidean distance formula, and the centroid offset direction can be calculated using the arctangent function. The specific calculation method is as follows:

[0052] ;

[0053] In the formula, Indicates the direction of the centroid offset. The horizontal coordinates representing the projected position of the centroid. The vertical coordinates representing the projected position of the centroid. The horizontal coordinates representing the center of the target's local support area. The longitudinal coordinate represents the center position of the target's local support area. The lateral and longitudinal differences between the projected position of the centroid and the center position of the target's local support area together determine the direction of the centroid offset.

[0054] By analyzing the centroid position of the masonry blocks, the true off-center loading trend of irregular blocks in their initial placement can be obtained. By determining the target local support area and analyzing the horizontal positional difference between its center position and the centroid projection position, the off-center loading problem caused by the geometric irregularity of the blocks can be transformed into two quantifiable parameters: the centroid offset direction and the centroid offset distance. This provides direct input for subsequent inter-layer attitude influence analysis, avoiding the risk of masonry work caused by ignoring the internal mass distribution or geometric eccentricity while relying solely on outer contour alignment.

[0055] Furthermore, the inter-layer attitude influence parameter set is obtained. Specifically, the following methods are used: Based on the centroid offset parameter set, a comparative analysis is performed with the target local support area to obtain the off-center loading direction and magnitude of the stone to be laid relative to the center position of the target local support area. The off-center loading magnitude characterizes the degree of centroid offset of the stone to be laid relative to the center position of the target local support area. Based on the off-center loading magnitude analysis, the off-center loading influence angle is obtained, which characterizes the degree of attitude offset influence of the stone to be laid on adjacent already laid stones due to centroid offset. The tilt angle and tilt orientation of adjacent already laid stones are obtained. Angle analysis is performed based on the angle between the off-center loading direction and the tilt orientation of adjacent already laid stones to obtain the off-center loading direction angle value. Preset threshold values ​​for same-direction and opposite-direction off-center loading angles are obtained and compared with the off-center loading direction angle value. If the off-center loading direction angle value is less than the same-direction off-center loading angle threshold, the tilt angles of adjacent already laid stones and the off-center loading influence angle are superimposed in the same direction to obtain the inter-layer tilt. For the angle, if the included angle of the eccentric load direction is greater than the threshold of the included angle of the reverse eccentric load, the inclination angle of the adjacent masonry blocks and the eccentric load influence angle are analyzed in reverse to obtain the inter-layer inclination angle; otherwise, the eccentric load influence angle is reduced based on the included angle of the eccentric load direction, and the inter-layer inclination angle is obtained based on the reduced eccentric load influence angle and the inclination angle of the adjacent masonry blocks. The masonry layer where the masonry block to be built is located is marked as the masonry layer to be built, and the slope amplification influence value is analyzed to obtain the slope amplification influence value, which is used to characterize the degree of amplification of the inter-layer inclination angle by the slope inclination condition. The bottom projection area of ​​the masonry block to be built in the initial placement position is obtained and the overlap ratio with the target local support area is analyzed to obtain the support coverage rate, which is used to characterize the degree to which the masonry block to be built is effectively supported by the lower support area. Based on the slope amplification influence value, the inter-layer inclination angle and the support coverage rate, the inter-layer offset transfer analysis is performed to obtain the inter-layer offset transfer rate. The inter-layer inclination angle, the slope amplification influence value, the support coverage rate and the inter-layer offset transfer rate are jointly marked as the inter-layer attitude influence parameter set.

[0056] In this embodiment, as Figure 2 As shown, Figure 2 The flowchart for generating the inter-layer attitude influence parameter set of the present invention is as follows: Based on the centroid offset parameter set and the target local support area, the off-center load direction and off-center load amplitude are obtained through comparative analysis. Based on the off-center load amplitude, the off-center load influence angle is obtained. The tilt angle and tilt orientation of adjacent masonry blocks are obtained. The off-center load direction angle value is obtained through angle analysis. Based on the off-center load direction angle value, the inter-layer tilt angle is obtained by performing same-direction superposition analysis, cancellation analysis or reduction processing respectively. Then, the inter-layer offset transmission analysis is performed by combining the slope magnification influence value and the support coverage rate to obtain the inter-layer offset transmission rate, and the parameters are jointly marked as the inter-layer attitude influence parameter set.

[0057] It should be noted that the off-center loading direction is the offset direction of the centroid projection position relative to the support center position of the masonry structure, and the threshold of the off-center loading angle in the same direction is less than the threshold of the off-center loading angle in the opposite direction.

[0058] The eccentric load influence angle characterizes the angle at which the masonry block to be laid affects the attitude displacement of adjacent already laid masonry blocks due to the centroid offset. It can be calculated based on the block height and the centroid offset distance, using the following method:

[0059] ;

[0060] In the formula, Indicates the angle affected by off-center loading. Indicates the distance of centroid offset. This indicates the height of the stones to be laid. The greater the centroid offset distance, the larger the angle of influence of the eccentric load; the greater the height of the stones to be laid, the smaller the angle of influence of the eccentric load for the same centroid offset distance.

[0061] The tilt angle and tilt orientation of adjacent masonry blocks can be obtained through point cloud plane fitting. Specifically, the method involves: performing plane fitting on the visible surface point cloud of adjacent masonry blocks to obtain the normal vector of the main supporting surface of the block; calculating the angle between this normal vector and the vertical direction to obtain the tilt angle of the adjacent masonry blocks; and using the projection direction of this normal vector onto the horizontal plane as the tilt orientation of the adjacent masonry blocks.

[0062] The eccentric loading direction angle refers to the angle between the eccentric loading direction and the tilting direction of the adjacent masonry blocks. The specific calculation method is as follows:

[0063] ;

[0064] In the formula, Indicates the angle between the eccentric load directions. This represents the lateral component of the off-center load direction vector. This represents the longitudinal component of the off-center load direction vector. This represents the lateral component of the direction vector of the inclination of adjacent masonry blocks. It represents the longitudinal component of the direction vector of the tilt of adjacent masonry blocks.

[0065] The threshold value for the eccentric loading angle in the same direction ranges from 0° to 30°, with 30° being preferred; the threshold value for the eccentric loading angle in the opposite direction ranges from 120° to 180°, with 150° being preferred. When the eccentric loading angle value is less than the threshold value for the eccentric loading angle in the same direction, it indicates that the eccentric loading direction is basically consistent with the existing tilt direction of the adjacent masonry blocks. In this case, the eccentric loading will exacerbate the original tilt, and a eccentric loading superposition analysis should be performed. When the eccentric loading angle value is greater than the threshold value for the eccentric loading angle in the opposite direction, it indicates that the eccentric loading direction is basically opposite to the existing tilt direction of the adjacent masonry blocks. In this case, the eccentric loading will offset part of the original tilt, and a reverse offset analysis should be performed. When the eccentric loading angle value is between the two, it indicates that the eccentric loading direction has an oblique relationship with the existing tilt direction, and a reduction treatment should be performed.

[0066] Among them, the same-direction superposition analysis is as follows:

[0067] ;

[0068] In the formula, Indicates the inter-story tilt angle. Indicates the inclination angle of adjacent already laid masonry blocks. This indicates the angle of influence of eccentric load. The larger the inclination angle of adjacent masonry blocks, the larger the inclination angle between floors; the larger the angle of influence of eccentric load, the larger the inclination angle between floors.

[0069] The reverse cancellation analysis is as follows:

[0070] ;

[0071] The reduction process is as follows:

[0072] ;

[0073] In the formula, This represents the angle of the eccentric load direction. The smaller the angle of the eccentric load direction, the larger the cosine value, and the greater the contribution of the eccentric load influence angle to the inter-story tilt angle; conversely, the larger the angle of the eccentric load direction, the smaller the cosine value, and the smaller the contribution of the eccentric load influence angle to the inter-story tilt angle.

[0074] The support coverage rate is obtained using the following method:

[0075] ;

[0076] In the formula, Indicates support coverage. This indicates the overlapping area between the bottom projection area of ​​the stone blocks to be laid and the target local support area. This represents the area of ​​the bottom projection region of the stones to be laid. The larger the overlap area, the higher the support coverage; the larger the bottom projection region, the lower the support coverage when the overlap area remains constant.

[0077] This scheme compares and analyzes the centroid offset parameter set with the target local support area to obtain the off-center load direction and magnitude, and converts the off-center load magnitude into the off-center load influence angle, thereby quantifying the attitude influence of the masonry block to be laid on adjacent masonry blocks. By introducing the off-center load direction angle value and performing superposition, cancellation, and reduction processing according to three cases: same direction, opposite direction, and oblique direction, it avoids simply treating all off-center load cases as the same, improving the accuracy of inter-layer tilt angle analysis. By combining the slope amplification influence value, support coverage rate, and inter-layer offset transfer rate, it can simultaneously consider slope conditions, support conditions, and continuous transfer conditions, thus providing a more complete data foundation for the subsequent calculation of inter-layer attitude cumulative change values.

[0078] Furthermore, the slope amplification influence value is obtained through the following methods: First, the plane containing the target local support area is obtained, resulting in a local support plane. Second, the angle between the local support plane and the horizontal plane is obtained, resulting in a local slope inclination angle, which characterizes the degree of inclination of the local support area where the masonry blocks are located. Third, the maximum downward direction of the local support plane on the horizontal plane is obtained, serving as the local slope downward inclination direction. Fourth, the inclination development direction corresponding to the inter-layer inclination angle is obtained, serving as the inter-layer inclination direction, which characterizes the development direction of the attitude displacement of the masonry blocks relative to adjacent masonry structures under the influence of centroid displacement. Fifth, the angle between the local slope downward inclination direction and the inter-layer inclination direction is obtained and recorded as the downward inclination direction angle. Sixth, a slope influence amplification factor is obtained based on the downward inclination direction angle matching. Finally, a slope influence value is obtained based on the local slope inclination angle matching. Finally, a coupled analysis is performed between the slope influence value and the slope influence amplification factor to obtain the slope amplification influence value. The slope amplification influence value characterizes the degree of amplification influence of the actual slope state of the current masonry layer on the inter-layer inclination angle.

[0079] In this embodiment, as Figure 3 As shown, Figure 3 This is a schematic diagram of the angle of the present invention.

[0080] It should be noted that the smaller the directional angle, the closer the interlayer tilt direction is to the local slope downslope direction, and the greater the slope aspect consistency.

[0081] The local slope angle refers to the angle between the local supporting plane and the horizontal plane. This parameter can be calculated from the angle between the normal vector of the local supporting plane and the normal vector of the horizontal plane, specifically:

[0082] ;

[0083] In the formula, Indicates the local slope angle. , , This represents the normal vector component of the local supporting plane. The closer the local supporting plane is to the horizontal plane, the smaller the local slope angle; the more inclined the local supporting plane is, the larger the local slope angle. For example, the normal vector of the local supporting plane is... The local slope angle is 30°. The specific calculation process is as follows:

[0084] ;

[0085] The downward slope direction of a local slope refers to the direction of maximum descent of the local supporting plane on the horizontal plane. This direction can be calculated based on the normal vector of the local supporting plane. Specifically, the method is as follows: determine the direction of height change of the plane based on its normal vector; project the direction of the fastest descent onto the horizontal plane to obtain the downward slope direction of the local slope. The specific calculation method is as follows:

[0086] ;

[0087] In the formula, Indicates the direction of downward slope in a local area. , This represents the component of the local support plane normal vector in the horizontal plane. This direction indicates the direction of the fastest descent in height along the local support plane.

[0088] The inter-story tilt direction refers to the tilt development direction corresponding to the inter-story tilt angle. This direction can be determined by combining the eccentric load direction and the tilt orientation of adjacent masonry blocks.

[0089] If the angle of the eccentric load direction is less than the threshold for the eccentric load angle in the same direction, a fusion analysis is performed based on the eccentric load direction and the tilt direction of the adjacent masonry blocks, and the fused direction is taken as the inter-story tilt direction. If the angle of the eccentric load direction is greater than the threshold for the opposite eccentric load angle, the eccentric load influence angle is compared with the tilt angle of the adjacent masonry blocks. When the eccentric load influence angle is greater than the tilt angle of the adjacent masonry blocks, the eccentric load direction is taken as the inter-story tilt direction. When the eccentric load influence angle is less than the tilt angle of the adjacent masonry blocks, the tilt direction of the adjacent masonry blocks is taken as the inter-story tilt direction. When the eccentric load influence angle is equal to the tilt angle of the adjacent masonry blocks, the inter-story tilt angle is marked as approaching zero, and the tilt of the adjacent masonry blocks is maintained. The orientation direction is used as the reference inter-story tilt direction; otherwise, the inter-story tilt direction is determined based on the vector synthesis result of the eccentric load direction and the tilt orientation direction of adjacent masonry blocks. Specifically, the eccentric load direction is converted into a first direction vector, and the eccentric load influence angle is used as the amplitude of the first direction vector; the tilt orientation direction of adjacent masonry blocks is converted into a second direction vector, and the tilt angle of adjacent masonry blocks is used as the amplitude of the second direction vector; the lateral and longitudinal components of the two direction vectors in the horizontal coordinate system are calculated respectively; the two lateral components are added to obtain the composite lateral component, and the two longitudinal components are added to obtain the composite longitudinal component; the composite orientation angle is calculated based on the composite lateral and longitudinal components, and this composite orientation angle is used as the inter-story tilt direction. By classifying and analyzing the eccentric load direction and the tilt orientation direction of adjacent masonry blocks based on the included angle value of the eccentric load direction, it is possible to distinguish three different inter-story attitude propagation states: unidirectional reinforcement, reverse cancellation, and oblique coupling. This allows for the reasonable determination of the inter-story tilt direction, avoiding distortion of the inter-story tilt trend judgment caused by simply using a single direction, and improving the consistency between the inter-story attitude influence analysis results and the actual masonry stress state.

[0090] The downward slope angle refers to the angle between the downward slope direction of a local slope and the inter-layer slope direction. This angle can be calculated by the angle between two direction vectors, that is, by calculating the angle between the downward slope direction vector of the local slope and the inter-layer slope direction vector.

[0091] The slope influence amplification factor is obtained based on the matching of the downward tilt direction angle. The specific method is as follows: retrieve historical boulders construction data, which includes the historical local slope downward tilt direction, historical inter-layer tilt direction, historical downward tilt direction angle, historical inter-layer tilt angle, and historical actual tilt increment corresponding to each historical boulders to be laid. Among them, the historical local slope downward tilt direction is obtained through the maximum downward direction of the historical local support plane, the historical inter-layer tilt direction is obtained through the tilt development direction formed by the historical boulders under the action of centroid offset, the historical downward tilt direction angle is obtained by calculating the vector angle between the historical local slope downward tilt direction and the historical inter-layer tilt direction, and the historical actual tilt increment is obtained through the difference in tilt angle between adjacent laid boulders before and after the historical boulders to be laid. The historical downward tilt angle is divided into several angle intervals according to the angle range, preferably divided as follows: 0° to 30°, greater than 30° to 60°, greater than 60° to 90°, greater than 90° to 120°, greater than 120° to 150°, and greater than 150° to 180°.

[0092] For each directional angle interval, historical rubble masonry data within the directional angle interval are selected. The historical actual amplification ratio corresponding to each set of historical rubble masonry data within that directional angle interval is calculated; the historical actual amplification ratio is the ratio of the historical actual tilt increment to the historical inter-layer tilt angle. The average of multiple historical actual amplification ratios within the same directional angle interval is used as the slope influence amplification factor corresponding to that directional angle interval. The formula for calculating the historical actual amplification ratio is:

[0093] ;

[0094] In the formula, Indicates the first The historical masonry data corresponding to the actual historical masonry scale. This indicates the number of the historical masonry data group. , This represents the total number of historical masonry data sets. Indicates the first The historical actual tilt increments corresponding to the set of historical paved stone masonry data. Indicates the first The historical inter-layer tilt angles corresponding to the historical block masonry data. The larger the historical actual tilt increment, the larger the historical actual magnification ratio; the larger the historical inter-layer tilt angle, the smaller the historical actual magnification ratio when the historical actual tilt increment is the same.

[0095] The formula for calculating the slope influence amplification factor corresponding to the angle interval in the same direction is:

[0096] ;

[0097] In the formula, Indicates the amplification factor of slope effect. This indicates the number of the historical masonry data group. , This represents the total number of historical masonry data sets. Indicates the first The historical magnification ratio corresponding to the set of historical riprap masonry data. The larger the historical magnification ratio within the same angular interval, the larger the slope influence magnification factor.

[0098] The slope influence value is obtained based on local slope inclination angle matching. The specific method is as follows: historical boulders construction data is retrieved, including the historical local slope inclination angle, historical inter-layer inclination angle, and historical actual inclination increment for each historical boulders to be laid. Specifically, the historical local slope inclination angle is obtained by the angle between the historical local support plane and the horizontal plane; the historical inter-layer inclination angle is obtained by analyzing the inter-layer attitude influence before the historical boulders to be laid are placed; and the historical actual inclination increment is obtained by the change in the inclination angle of adjacent laid boulders after the historical boulders to be laid are placed. The historical local slope inclination angle is divided into several slope inclination angle intervals according to the angle range, preferably: 0° to 5°, greater than 5° to 10°, greater than 10° to 15°, greater than 15° to 20°, greater than 20° to 25°, greater than 25° to 30°, and greater than 30°. For each slope angle interval, historical rubble masonry data that fall within that slope angle interval are selected; the historical slope influence ratio corresponding to each set of historical rubble masonry data within that slope angle interval is calculated; and the average of multiple historical slope influence ratios within the same slope angle interval is taken as the slope influence value corresponding to that slope angle interval.

[0099] The slope amplification effect value is obtained by multiplying the slope effect value with the slope effect amplification factor.

[0100] By obtaining the plane of the target local support area and calculating the local slope inclination angle, the actual slope state of the local support area where the current boulders are to be laid can be identified. By obtaining the angle between the downward slope direction and the inter-layer inclination direction, it can be determined whether the inter-layer inclination trend develops along the downward slope direction. By coupling analysis of the slope influence value and the slope influence amplification factor, the slope amplification influence value is obtained, which can incorporate the slope inclination angle and slope direction relationship into the inter-layer attitude influence analysis. This avoids judging stability solely based on the eccentric load of the boulders themselves while ignoring the amplification effect of the slope construction environment, thereby improving the pertinence and reliability of position correction in the boulders masonry of slopes in water conservancy projects.

[0101] Furthermore, the inter-layer offset transfer rate is obtained by the following method: based on the inter-layer tilt angle analysis, the initial attitude offset intensity of the current stone to be laid on the adjacent already laid structure is obtained; based on the slope amplification influence value matching, the slope amplification correction coefficient is obtained; based on the support coverage matching, the support suppression correction coefficient is obtained; based on the slope amplification correction coefficient and the support suppression correction coefficient, the initial attitude offset intensity is corrected to obtain the inter-layer offset transfer rate; the inter-layer offset transfer rate is used to characterize the degree to which the attitude offset of the current stone to be laid continues to be transferred to the adjacent stones in the current masonry layer.

[0102] In this embodiment, the initial attitude offset intensity is used to characterize the degree of influence of the currently to-be-laid stone block on the foundation attitude offset of adjacent already-laid structures before considering slope amplification and support cover suppression. This parameter can be obtained by dimensionless processing based on the inter-layer tilt angle and a preset tilt angle reference value. The specific method is as follows: obtain the inter-layer tilt angle; retrieve the preset tilt angle reference value; calculate the ratio of the inter-layer tilt angle to the preset tilt angle reference value to obtain the initial attitude offset intensity. The preset tilt angle reference value can be determined based on historical construction data, preferably 5° to 15°, more preferably 10°. When the tilt angle of adjacent already-laid stones reaches 10° in historical construction, significant positional offset is likely to occur, so 10° is used as the preset tilt angle reference value.

[0103] Based on the matching of slope amplification influence values, the slope amplification correction coefficient is obtained. The specific method is as follows: retrieve historical boulders masonry data, which includes historical slope amplification influence values, historical initial attitude offset intensity, and historical inter-layer offset transfer rate; divide the historical slope amplification influence values ​​into several intervals according to their numerical range; filter historical boulders masonry data that fall into the same interval as the current slope amplification influence value; calculate the historical slope correction ratio corresponding to each group of historical boulders masonry data; and take the average value of the historical slope correction ratios within the same interval as the current slope amplification correction coefficient.

[0104] The support suppression correction coefficient is used to represent the suppressive effect of support coverage on the continued propagation of attitude offset. The higher the support coverage, the smaller the support suppression correction coefficient; the lower the support coverage, the larger the support suppression correction coefficient. The support suppression correction coefficient is obtained based on support coverage matching. Specifically, the following method is used: retrieve historical masonry data, including historical support coverage, historical initial attitude offset intensity, and historical inter-layer offset propagation rate; divide the historical support coverage into several intervals according to their numerical range; filter historical masonry data that fall within the same interval as the current support coverage; calculate the historical support correction ratio corresponding to each set of historical masonry data; and use the average of the historical support correction ratios within the same interval as the current support suppression correction coefficient.

[0105] The initial attitude migration intensity is corrected based on the slope amplification correction factor and the support suppression correction factor to obtain the inter-layer migration transfer rate. The specific calculation method is as follows:

[0106] ;

[0107] In the formula, This represents the inter-layer offset transfer rate. Indicates the initial attitude offset intensity. This represents the slope magnification correction factor. This represents the support suppression correction coefficient. The greater the initial attitude offset intensity, the greater the inter-layer offset transfer rate; the greater the slope amplification correction coefficient, the greater the inter-layer offset transfer rate; the greater the support suppression correction coefficient, the weaker the support suppression effect, and the greater the inter-layer offset transfer rate.

[0108] The initial attitude offset intensity is obtained by the inter-layer tilt angle, which can convert the tilting effect between stones into comparable dimensionless data. By matching the slope amplification correction coefficient and the support inhibition correction coefficient with historical stone masonry data, the inter-layer offset transmission rate can reflect both the slope amplification effect and the support coverage inhibition effect. By jointly correcting the initial attitude offset intensity, the slope amplification correction coefficient and the support inhibition correction coefficient, it is possible to more accurately determine whether the attitude offset of the stone to be laid will continue to be transmitted to the adjacent stones in the current masonry layer.

[0109] Furthermore, the cumulative change value of inter-layer attitude is obtained. Specifically, the following method is used: The arrangement direction of the stones corresponding to the current masonry layer is obtained. The stone arrangement direction is the sequence of the stones already laid in the current masonry layer along the construction advancement direction. Based on the stone arrangement direction, the inter-layer attitude influence parameter set corresponding to the stone to be laid is sequentially associated with the historical inter-layer attitude influence parameter sets corresponding to adjacent stones in the same masonry layer to obtain the inter-layer attitude influence sequence. The inter-layer attitude influence sequence consists of multiple inter-layer attitude influence parameter sets arranged sequentially along the stone arrangement direction, with each set corresponding to a laid stone or a stone to be laid. Based on the inter-layer tilt angle and inter-layer offset transmission rate in the inter-layer attitude influence sequence, a recursive propagation analysis is performed along the stone arrangement direction to obtain the attitude offset influence value corresponding to each stone. Based on the attitude offset influence value corresponding to each stone, an cumulative analysis is performed to obtain the cumulative change value of inter-layer attitude. The cumulative change value of inter-layer attitude is used to characterize the overall offset accumulation degree formed by the continuous transmission of attitude offsets of multiple stones in the current masonry layer.

[0110] In this embodiment, based on the stone arrangement direction, the inter-layer attitude influence parameter set corresponding to the currently to-be-laid stone is sequentially associated with the historical inter-layer attitude influence parameter sets corresponding to adjacent already-laid stones in the same layer to obtain the inter-layer attitude influence sequence. Specifically, the method is as follows: retrieve the center coordinates of each already-laid stone in the same layer and the historical inter-layer attitude influence parameter set; project the center coordinates of each already-laid stone onto the stone arrangement direction; arrange the already-laid stones in ascending order of projected coordinates; similarly project the center coordinates of the currently to-be-laid stone onto the stone arrangement direction and insert them into the corresponding sequential position; arrange the sorted inter-layer attitude influence parameter sets corresponding to each stone in sequence to obtain the inter-layer attitude influence sequence. The projection distance of the stone center coordinates onto the stone arrangement direction can be calculated using the vector dot product formula.

[0111] ;

[0112] In the formula, Indicates the first The projection distance of the center coordinates of each stone block onto the direction in which the stones are arranged. Indicates the first The horizontal coordinate of the center of each stone block Indicates the first The vertical coordinate of the center of each stone block This represents the lateral component of the unit vector representing the direction of the stone arrangement. This represents the longitudinal component of the unit vector indicating the direction of the stone arrangement. The smaller the projection distance, the earlier the stone is in the arrangement; the larger the projection distance, the later the stone is in the arrangement.

[0113] Recursive propagation analysis refers to propagating the attitude offset influence of the previous stone block to the next stone block along the stone block arrangement direction according to its inter-layer offset transfer rate, and combining it with the inter-layer tilt angle of the next stone block to form the attitude offset influence value corresponding to that stone block. The i-th stone block represents the i-th stone block in the inter-layer attitude influence sequence, which includes the stone block to be laid and the stones already laid in the same laying layer.

[0114] The recursive formula for calculating the influence value of attitude deviation is:

[0115] ;

[0116] In the formula, Indicates the first The attitude offset influence value corresponding to each stone block Indicates the first The interlayer tilt angle corresponding to each stone block Indicates the first The attitude offset influence value corresponding to each stone block Indicates the first The inter-layer offset transfer rate corresponds to each block. The larger the inter-layer tilt angle of the current block, the greater the attitude offset influence value of the current block; the greater the attitude offset influence value of the previous block, and the greater the inter-layer offset transfer rate of the previous block, the greater the transfer influence on the current block.

[0117] For the first block involved in the recursion, the attitude offset influence value can be taken as its inter-layer tilt angle:

[0118] ;

[0119] Based on the cumulative analysis of the attitude displacement influence value corresponding to each stone block, the cumulative attitude change value between layers is obtained, and the specific formula is as follows:

[0120] ;

[0121] in This represents the cumulative change in attitude between layers. This indicates the number of stones involved in the analysis. , Indicates the first The attitude offset influence value corresponding to each block. The larger the attitude offset influence value corresponding to each block, the greater the cumulative change value of attitude between layers; the more blocks involved in the analysis, the greater the cumulative change value of attitude between layers when the offset direction is consistently consistent.

[0122] By obtaining the arrangement direction of the stones corresponding to the current masonry layer, the attitude influence of each stone can be organized according to the construction progress sequence. By sequentially associating the inter-layer attitude influence parameter set corresponding to the current stone to be laid with the historical inter-layer attitude influence parameter set, an inter-layer attitude influence sequence that reflects the continuous transmission relationship between layers can be formed. By calculating the attitude offset influence value corresponding to each stone through recursive propagation analysis, the continuous influence of the previous stone offset on the next stone can be reflected. By obtaining the cumulative change value of inter-layer attitude through cumulative analysis, it is possible to determine whether there is an overall tilting trend in the current masonry layer caused by the continuous offset of multiple stones, avoiding the cumulative instability risk of the entire masonry structure being ignored when only judging a single stone to be laid.

[0123] Furthermore, the inter-layer attitude stability determination result is obtained. The specific method is as follows: Based on the changes in the cumulative inter-layer attitude value in the direction of the stone block arrangement, the inter-layer offset change trend corresponding to the current masonry layer is analyzed. The inter-layer offset change trend includes the inter-layer offset increasing trend, the inter-layer offset decreasing trend, and the inter-layer offset stabilizing trend. The offset change parameters corresponding to the inter-layer offset change trend are extracted. The offset change parameters include the offset growth rate, the offset direction deflection rate, the offset cumulative amplitude, and the offset fluctuation degree value. Based on the offset change parameters, the structural tilt risk degree value is analyzed. The structural tilt risk degree value is compared with the preset structural tilt risk degree threshold. If the structural tilt risk degree value is less than the structural tilt risk degree threshold, the inter-layer attitude stability determination result is that the inter-layer attitude is stable; otherwise, the inter-layer attitude stability determination result is that the inter-layer attitude is unstable.

[0124] In this embodiment, the inter-layer offset trend corresponding to the current masonry layer is analyzed based on the changes in the cumulative inter-layer attitude values ​​along the stone block arrangement direction. Specifically, the method is as follows: Multiple positions are sequentially acquired along the stone block arrangement direction, representing the cumulative inter-layer attitude changes; the difference between the cumulative inter-layer attitude changes of adjacent positions is calculated; if two or more consecutive differences are greater than a preset difference threshold, it is determined to be an increasing trend in inter-layer offset; if two or more consecutive differences are less than a negative value of the preset difference threshold, it is determined to be a decreasing trend in inter-layer offset; if the absolute value of the difference is less than or equal to the preset difference threshold, it is determined to be a stable trend in inter-layer offset. Each position corresponds to one stone block. The difference in the cumulative inter-layer attitude changes is the difference in the cumulative inter-layer attitude changes of adjacent stones along the stone block arrangement direction.

[0125] The formula for calculating the difference in cumulative attitude change between adjacent locations is:

[0126] ;

[0127] In the formula, Indicates the first The position and the first The difference in cumulative attitude change between different locations Indicates the first The cumulative change in inter-layer attitude corresponding to each location. Indicates the first The cumulative attitude change value between layers corresponds to each location. When the current value is greater than the previous value, the difference is positive, indicating an increase in cumulative offset; when the current value is less than the previous value, the difference is negative, indicating a decrease in cumulative offset.

[0128] The formula for calculating the offset growth rate is:

[0129] ;

[0130] In the formula, Indicates the rate of increase of the offset. This represents the cumulative change in inter-layer attitude corresponding to the last analysis location. This represents the cumulative change in inter-layer attitude corresponding to the first analysis location. This represents the projected distance of the last analyzed location in the direction of the stone arrangement. This represents the projected distance of the first analysis location along the direction of the rock arrangement. The greater the increase in the cumulative change value of the interlayer attitude, the greater the migration growth rate; the longer the analysis distance, the smaller the migration growth rate for the same increase.

[0131] The formula for calculating the deflection rate in the offset direction is:

[0132] ;

[0133] In the formula, Indicates the deflection rate in the offset direction. This indicates the number of stones involved in the analysis. Indicates the first The attitude offset direction angle corresponding to each stone block Indicates the first The attitude offset direction angle corresponding to each stone block This indicates the preset direction angle reference value.

[0134] The cumulative offset amplitude is used to characterize the total amplitude of the cumulative change in inter-layer attitude within the current masonry layer. This parameter can be calculated by the ratio of the maximum value of the cumulative change in inter-layer attitude to a preset cumulative change baseline value.

[0135] The formula for calculating the degree of offset fluctuation is:

[0136] ;

[0137] In the formula, This indicates the degree of offset fluctuation. Indicates the number of locations involved in the analysis. Indicates the first The cumulative change in inter-layer attitude corresponding to each location. This represents the average value of the cumulative inter-layer attitude change corresponding to multiple locations. This represents the preset cumulative change baseline value. The greater the deviation between the cumulative attitude change value at each location and the average value, the greater the degree of offset fluctuation.

[0138] The formula for calculating the structural tilt risk level is:

[0139] ;

[0140] In the formula, This indicates the degree of structural tilt risk. Indicates the rate of increase of the offset. Indicates the deflection rate in the offset direction. Indicates the cumulative offset magnitude. This indicates the degree of offset fluctuation. This represents the weighting coefficient for the offset growth rate. This represents the weighting coefficient for the deflection rate in the offset direction. This represents the cumulative offset magnitude weighting coefficient. This represents the weighting coefficient for the degree of deviation fluctuation.

[0141] The weighting coefficients for offset growth rate, offset direction deflection rate, cumulative offset amplitude, and offset fluctuation degree are obtained as follows: Historical boulders construction data is retrieved, including historical offset growth rate, historical offset direction deflection rate, historical cumulative offset amplitude, historical offset fluctuation degree, and historical stability results; these historical stability results include both stable and unstable results. Stable results are recorded as 0, and unstable results as 1. A logistic regression algorithm is used to fit the relationship between the above four parameters and the historical stability results to obtain the regression coefficients corresponding to the weighting coefficients. The absolute values ​​of the regression coefficients are then normalized to obtain the weighting coefficients.

[0142] ;

[0143] In the formula, Indicates the first Each weighting coefficient Indicates the first One regression coefficient, This represents the regression coefficient corresponding to the rate of increase in the offset. This represents the regression coefficient corresponding to the deflection rate in the offset direction. This represents the regression coefficient corresponding to the cumulative offset. This represents the regression coefficient corresponding to the degree of deviation and fluctuation. The larger the absolute value of the regression coefficient for a certain parameter, the greater the influence of that parameter on historical stable results, and the larger the corresponding weight coefficient.

[0144] By analyzing the cumulative changes in interlayer attitude along the direction of the stone block arrangement, it is possible to identify whether the interlayer offset is continuously increasing, gradually decreasing, or remaining stable. By extracting the offset growth rate, offset direction deflection rate, offset cumulative amplitude, and offset fluctuation degree, the tilt risk of the current masonry layer can be evaluated from four aspects: growth rate, direction change, cumulative scale, and fluctuation stability. By determining the weighting coefficient and structural tilt risk degree threshold using historical data, the threshold setting is avoided by relying solely on manual experience, thus improving the reproducibility and engineering adaptability of the interlayer attitude stability judgment results. By comparing the structural tilt risk degree value with the threshold, a clear basis for judgment is provided for whether the initial placement position needs to be corrected.

[0145] Furthermore, the final placement position is obtained by the following method: based on the analysis of the inter-layer offset change trend corresponding to the current masonry layer, the structural tilt direction is obtained, and the opposite direction of the structural tilt direction is taken as the position compensation direction of the block to be laid; based on the analysis of the cumulative change value of inter-layer attitude and the degree of structural tilt risk, the position compensation distance of the block to be laid is obtained; based on the position compensation direction and the position compensation distance, the initial placement position is offset and corrected to obtain the final placement position.

[0146] In this embodiment, as Figure 4 As shown, Figure 4 The flowchart for determining inter-layer attitude stability and correcting the final placement position of this invention is as follows: The cumulative change value of inter-layer attitude is obtained; the trend of inter-layer offset change is analyzed; the offset growth rate, offset direction deflection rate, offset cumulative amplitude, and offset fluctuation degree are extracted; the structural tilt risk degree is analyzed and compared with the structural tilt risk degree threshold; if the inter-layer attitude is stable, the initial placement position is taken as the final placement position; if the inter-layer attitude is unstable, the structural tilt direction is analyzed, the position compensation direction and position compensation distance are determined, and the initial placement position is offset-corrected to obtain the final placement position.

[0147] The structural tilt direction refers to the direction of tilt development exhibited after the cumulative overall offset of the current masonry layer. This direction can be determined comprehensively based on the inter-layer offset trend and the attitude offset direction of each individual stone block.

[0148] Based on the analysis of the inter-layer offset variation trend corresponding to the current masonry layer, the structural tilt direction is obtained. The specific method is as follows: when the inter-layer offset variation trend is an increasing trend, the posture offset direction corresponding to the stone with the largest cumulative change value of inter-layer posture is selected as the structural tilt direction; when the inter-layer offset variation trend is a decreasing trend, the posture offset direction corresponding to the stone before the current stone to be laid is selected as the structural tilt direction; when the inter-layer offset variation trend is a stable trend, the posture offset directions corresponding to multiple stones in the current masonry layer are vector averaged to obtain the structural tilt direction.

[0149] The direction of structural tilt can be obtained by performing vector averaging. The specific method is as follows:

[0150] ;

[0151] ;

[0152] ;

[0153] In the formula, This represents the lateral average component of the unit vector corresponding to multiple attitude offset directions. This represents the longitudinal average component of the unit vector corresponding to multiple attitude offset directions. Indicates the direction of the structure's tilt. This indicates the number of stones involved in the analysis. Indicates the first The orientation offset direction of each stone. The more consistent the orientation offset direction of each stone, the more stable the tilt direction of the structure; the greater the difference in the orientation offset direction of each stone, the more likely the tilt direction of the structure will become dispersed.

[0154] The position compensation direction refers to the orientation correction direction used to counteract the structural tilt direction. This direction is the opposite of the structural tilt direction, and the specific method is as follows:

[0155] ;

[0156] In the formula, Indicates the direction of position compensation. This indicates the direction of structural tilt. If the calculated result exceeds 360°, subtract 360° to obtain the standard orientation angle.

[0157] The location compensation distance of the masonry blocks to be laid is obtained based on the analysis of the cumulative change value of inter-story posture and the degree of structural tilt risk. The specific method is as follows: retrieve the projected width of the masonry blocks to be laid; retrieve the cumulative change value of inter-story posture; retrieve the preset cumulative change benchmark value; retrieve the structural tilt risk level value; retrieve the structural tilt risk level threshold; calculate the ratio of the cumulative change value of inter-story posture to the preset cumulative change benchmark value; calculate the ratio of the structural tilt risk level value to the structural tilt risk level threshold; multiply the projected width of the masonry blocks to be laid, the ratio of the cumulative change value of inter-story posture, the ratio of the structural tilt risk level, and the compensation ratio coefficient to obtain the location compensation distance.

[0158] ;

[0159] In the formula, Indicates the location compensation distance. This represents the compensation ratio coefficient. This indicates the projected width of the stone block to be laid. This represents the cumulative change in attitude between layers. This indicates the preset cumulative change benchmark value. This indicates the degree of structural tilt risk. This indicates the threshold for the degree of structural tilt risk.

[0160] The larger the projected width of the stone block to be laid, the greater the position compensation distance; the greater the cumulative change value of the inter-layer attitude, the greater the position compensation distance; the greater the structural tilt risk value, the greater the position compensation distance; the preset cumulative change benchmark value and structural tilt risk threshold are used to eliminate dimensions and constrain the compensation range.

[0161] The compensation ratio coefficient is obtained as follows: historical boulders construction data is retrieved, including historical projected width, historical cumulative change value of inter-story attitude, historical structural tilt risk level, historical structural tilt risk level threshold, historical actual compensation distance, and historical post-compensation stability results; historical boulders construction data with stable post-compensation stability results are selected; the historical actual compensation distance is divided by the product of the historical projected width, the historical inter-story attitude cumulative change value ratio, and the historical structural tilt risk level ratio to obtain the historical compensation ratio corresponding to each set of historical data; the average value of multiple historical compensation ratios is calculated to obtain the compensation ratio coefficient.

[0162] The formula for calculating the historical compensation ratio is:

[0163] ;

[0164] In the formula, Indicates the first The historical compensation ratio corresponding to the set of historical data. Indicates the first The historical actual compensation distance corresponding to the set of historical data. Indicates the first The historical projection width corresponding to the set of historical data. Indicates the first The cumulative change in attitude between historical layers corresponding to the set of historical data. This indicates the preset cumulative change benchmark value. Indicates the first The historical structural tilt risk level value corresponding to a set of historical data. This indicates the threshold for the degree of structural tilt risk.

[0165] The formula for calculating the compensation ratio coefficient is:

[0166] ;

[0167] In the formula, This represents the compensation ratio coefficient. This represents the number of historical rubble masonry data points that have stabilized after compensation. Indicates the first The historical compensation ratio corresponding to a set of historical data. The larger the historical compensation ratio, the larger the compensation ratio coefficient.

[0168] The initial placement position is offset and corrected based on the position compensation direction and distance to obtain the final placement position. Specifically, the initial placement position coordinates are shifted along the position compensation direction by the position compensation distance to obtain the final placement position coordinates. The formula for calculating the final placement position coordinates is the existing coordinate offset formula:

[0169] ;

[0170] ;

[0171] In the formula, The horizontal coordinates representing the final placement position. The vertical coordinate representing the final placement position. The horizontal coordinates representing the initial placement position. The vertical coordinate representing the initial placement position. Indicates the location compensation distance. This indicates the direction of position compensation. The greater the position compensation distance, the greater the offset of the final placement position relative to the initial placement position; the position compensation direction determines the direction of offset correction.

[0172] By determining the structural tilt direction through the inter-layer offset trend corresponding to the current masonry layer, the main development direction of the overall offset of the current masonry layer can be clarified. By using the opposite direction of the structural tilt as the position compensation direction, the placement correction of the blocks to be laid can counteract the tilt trend. The position compensation distance is determined by the cumulative change value of inter-layer posture, the structural tilt risk level value, and the projected width of the blocks to be laid. This ensures that the compensation distance is simultaneously constrained by the overall offset cumulative level, the structural tilt risk level, and the size of the blocks themselves, avoiding insufficient compensation that cannot suppress the tilt or excessive compensation that causes new off-center loads. By calculating the final placement position coordinates and sending them to the auxiliary robot, the inter-layer stability judgment result can be directly converted into a construction position that the robot can execute, improving the automation control accuracy and structural stability of the auxiliary robot in the masonry of hydraulic engineering blocks.

[0173] like Figure 5 As shown, Figure 5The system structure diagram of the present invention is shown below. The auxiliary robot construction system for boulders masonry in water conservancy projects provided in this application includes the following modules: an initial placement position analysis module, used to acquire the boulders shape data and the already constructed structure data of the current masonry structure, and analyze to obtain the initial placement position of the boulders to be laid; a centroid offset analysis module, used to perform position correspondence analysis based on the initial placement position and the current masonry structure to obtain the centroid offset parameter set of the boulders to be laid; an inter-layer attitude accumulation analysis module, used to perform inter-layer attitude influence analysis based on the centroid offset parameter set and the already constructed structure data to obtain the inter-layer attitude influence parameter set, and accumulate the inter-layer attitude influence parameter set along the extension direction of the current masonry layer to obtain the inter-layer attitude accumulation change value; and a final placement position determination module, used to perform inter-layer stability determination based on the inter-layer attitude accumulation change value to obtain the inter-layer attitude stability determination result. If the inter-layer attitude stability determination result is inter-layer stable, the initial placement position is taken as the final placement position; otherwise, the initial placement position is corrected based on the inter-layer attitude accumulation change value to obtain the final placement position, and the final placement position information is sent to the auxiliary robot end.

[0174] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A construction method using an auxiliary robot for masonry work in water conservancy projects, characterized in that: Includes the following steps: Obtain the morphological data of the stones to be laid and the data of the existing masonry structure, and analyze to obtain the initial placement position of the stones to be laid. Based on the initial placement position, position correspondence analysis is performed to obtain the set of centroid offset parameters of the stones to be laid. Based on the centroid offset parameter set and the data of the masonry structure, the inter-layer attitude influence analysis is carried out to obtain the inter-layer attitude influence parameter set. The inter-layer attitude influence parameter set is then cumulatively analyzed along the extension direction of the current masonry layer to obtain the cumulative change value of the inter-layer attitude. Inter-layer stability is determined based on the cumulative change value of inter-layer attitude. If the inter-layer attitude stability determination result is that the inter-layer attitude is stable, the initial placement position is taken as the final placement position. Otherwise, the initial placement position is corrected based on the cumulative change value of inter-layer attitude to obtain the final placement position, and the final placement position information is sent to the auxiliary robot.

2. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 1, characterized in that: The method for obtaining the initial placement position of the stones to be laid is as follows: Retrieve the morphological data of the stones to be laid and analyze the surface flatness of each contact surface. The surface flatness is used to characterize the flatness of each contact surface of the stones to be laid. Select the contact surface corresponding to the maximum surface flatness as the target contact surface; Using the plane where the target contact surface is located as the reference plane, the stone to be laid is vertically projected to obtain the projected width of the stone to be laid. Based on the data of the existing masonry structure, determine the local masonry reference position adjacent to the stone to be masonry, and align the projected width with the local masonry reference position to obtain the theoretical position of the stone to be masonry, which is then used as the initial placement position of the stone to be masonry.

3. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 1, characterized in that: The specific method for obtaining the centroid offset parameter set of the stones to be laid is as follows: By performing centroid position analysis on the stones to be laid, the centroid projection position of the stones in their initial placement position is obtained. Based on the initial placement position in the current masonry structure, determine the lower local support area corresponding to the stone block to be laid, and use it as the target local support area; Based on the center position of the target local support area and the horizontal position difference analysis between the center position and the centroid projection position, the centroid offset parameter set of the stone blocks to be laid is obtained; The set of centroid offset parameters for the stones to be laid includes the centroid offset direction and the centroid offset distance.

4. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 3, characterized in that: The specific method for obtaining the inter-layer attitude influence parameter set is as follows: Based on the comparison and analysis of the centroid offset parameter set and the target local support area, the off-center load direction and off-center load amplitude of the stone block to be laid relative to the center position of the target local support area are obtained respectively. The off-center load amplitude is used to characterize the degree of offset of the centroid of the stone block to be laid relative to the center position of the target local support area. The off-center load influence angle is obtained based on the off-center load amplitude analysis. The off-center load influence angle is used to characterize the degree of influence of the center of mass shift of the stone to be laid on the attitude shift of the adjacent laid stone. Obtain the inclination angle and inclination direction of the adjacent already laid blocks to be laid; Angle analysis is performed based on the angle between the eccentric loading direction and the tilting direction of the adjacent masonry blocks to obtain the eccentric loading direction angle value. The preset threshold values ​​for the eccentric load angle in the same direction and the eccentric load angle in the opposite direction are obtained and compared with the eccentric load direction angle value respectively. If the eccentric load direction angle value is less than the threshold value for the eccentric load angle in the same direction, the inclination angle of adjacent masonry blocks and the eccentric load influence angle are analyzed in the same direction to obtain the inter-story inclination angle. If the eccentric load direction angle value is greater than the threshold value for the eccentric load angle in the opposite direction, the inclination angle of adjacent masonry blocks and the eccentric load influence angle are analyzed in the opposite direction to obtain the inter-story inclination angle. Otherwise, the eccentric load influence angle is reduced based on the eccentric load direction angle value, and the inter-story inclination angle is obtained based on the reduced eccentric load influence angle and the inclination angle of adjacent masonry blocks. The masonry layer containing the stones to be laid is marked as the masonry layer to be laid, and the slope amplification influence value is analyzed and obtained. The slope amplification influence value is used to characterize the degree of amplification of the inter-layer inclination angle by the slope inclination condition. The bottom projection area of ​​the stone block to be laid in the initial placement position is obtained and the overlap ratio with the target local support area is analyzed to obtain the support coverage rate. The support coverage rate is used to characterize the degree to which the stone block to be laid is effectively supported by the lower support area. Inter-layer migration transfer analysis was conducted based on the slope amplification influence value, inter-layer tilt angle, and support coverage to obtain the inter-layer migration transfer rate. The inter-layer tilt angle, slope amplification influence value, support coverage rate, and inter-layer offset transfer rate are jointly labeled as the inter-layer attitude influence parameter set.

5. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 4, characterized in that: The method for obtaining the amplified influence value of the slope is as follows: Obtain the plane containing the target local support area to obtain the local support plane; Obtain the angle between the local support plane and the horizontal plane to obtain the local slope inclination angle, which is used to characterize the degree of inclination of the local support area where the masonry blocks are located; Obtain the maximum downward direction of the local support plane on the horizontal plane, and use it as the downward slope direction of the local slope; The tilt development direction corresponding to the inter-layer tilt angle is obtained as the inter-layer tilt direction. The inter-layer tilt direction is used to characterize the development direction of the attitude displacement of the stone block to be built relative to the adjacent built structure under the action of centroid offset. Obtain the angle between the local slope's downslope direction and the interlayer slope direction, and record it as the downslope angle. The slope influence amplification factor is obtained based on the matching of the downward tilt direction angle; The slope influence value is obtained based on local slope inclination angle matching. The slope influence value and the slope influence amplification factor are coupled and analyzed to obtain the slope amplification influence value. The slope amplification influence value is used to characterize the degree of amplification influence of the actual slope state of the current masonry layer on the interlayer tilt angle.

6. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 4, characterized in that: The method for obtaining the inter-layer offset transfer rate is as follows: The initial attitude offset intensity of the current stone block to be laid to the adjacent already laid structure is obtained based on the inter-layer tilt angle analysis. Based on the matching of slope amplification influence values, the slope amplification correction coefficient is obtained; Based on the support coverage matching, the support suppression correction coefficient is obtained; The initial attitude offset intensity is corrected based on the slope amplification correction factor and the support inhibition correction factor to obtain the inter-layer offset transfer rate; The interlayer offset transfer rate is used to characterize the extent to which the attitude offset of the currently laid stone block continues to be transferred to the adjacent stones in the current laying layer.

7. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 6, characterized in that: The specific method for obtaining the inter-layer attitude cumulative change value is as follows: Obtain the stone arrangement direction corresponding to the current masonry layer, wherein the stone arrangement direction is the arrangement order formed by each masonry stone in the current masonry layer along the construction advancement direction; Based on the arrangement direction of the blocks, the inter-layer attitude influence parameter set corresponding to the current block to be laid is sequentially associated with the historical inter-layer attitude influence parameter set corresponding to the adjacent blocks already laid in the same layer, to obtain the inter-layer attitude influence sequence. The interlayer attitude influence sequence consists of multiple interlayer attitude influence parameter sets arranged sequentially along the direction of the stone arrangement. Each interlayer attitude influence parameter set corresponds to a stone that has been laid or a stone to be laid. Based on the inter-layer tilt angle and inter-layer offset transfer rate in the inter-layer attitude influence sequence, a recursive propagation analysis is performed along the block arrangement direction to obtain the attitude offset influence value corresponding to each block. Based on the attitude offset influence value corresponding to each block, an cumulative analysis is performed to obtain the cumulative change value of inter-layer attitude. The interlayer attitude cumulative change value is used to characterize the overall degree of offset accumulation formed by the continuous transmission of attitude offsets of multiple stones in the current masonry layer.

8. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 7, characterized in that: The specific method for obtaining the inter-layer attitude stability determination result is as follows: Based on the changes in the cumulative interlayer attitude values ​​in the direction of the stone block arrangement, the interlayer offset trend corresponding to the current masonry layer is analyzed. The inter-layer offset variation trend includes an increasing trend of inter-layer offset, a decreasing trend of inter-layer offset, and a stable trend of inter-layer offset. Extract the offset change parameters corresponding to the interlayer offset change trend. The offset change parameters include the offset growth rate, offset direction deflection rate, offset cumulative amplitude, and offset fluctuation degree. The structural tilt risk level is obtained based on the analysis of offset variation parameters; The structural tilt risk level value is compared with the preset structural tilt risk level threshold. If the structural tilt risk level value is less than the structural tilt risk level threshold, the inter-story attitude stability determination result is that the inter-story attitude is stable; otherwise, the inter-story attitude stability determination result is that the inter-story attitude is unstable.

9. The auxiliary robot construction method for masonry construction in water conservancy projects according to claim 8, characterized in that: The specific method for obtaining the final placement position is as follows: Based on the analysis of the inter-layer offset variation trend corresponding to the current masonry layer, the structural tilt direction is obtained, and the opposite direction of the structural tilt direction is used as the position compensation direction of the masonry blocks to be laid. The location compensation distance of the masonry blocks to be constructed is obtained based on the analysis of the cumulative change value of inter-layer attitude and the degree of structural tilt risk. The initial placement position is offset and corrected based on the position compensation direction and position compensation distance to obtain the final placement position.

10. A system employing the auxiliary robot construction method for masonry construction in hydraulic engineering as described in any one of claims 1-9, characterized in that: Includes the following modules: The initial placement analysis module is used to obtain the shape data of the stones to be laid and the data of the existing masonry structure, and to analyze and obtain the initial placement position of the stones to be laid. The centroid offset analysis module is used to perform positional correspondence analysis based on the initial placement position and the current masonry structure to obtain the centroid offset parameter set of the stones to be laid. The inter-layer attitude cumulative analysis module is used to perform inter-layer attitude influence analysis based on the centroid offset parameter set and the data of the masonry structure, to obtain the inter-layer attitude influence parameter set, and to perform cumulative analysis along the extension direction of the current masonry layer to obtain the cumulative change value of inter-layer attitude. The final placement position determination module is used to determine the inter-layer stability based on the cumulative change value of inter-layer attitude, and obtain the inter-layer attitude stability determination result. If the inter-layer attitude stability determination result is that the inter-layer is stable, the initial placement position is used as the final placement position; otherwise, the initial placement position is corrected based on the cumulative change value of inter-layer attitude to obtain the final placement position, and the final placement position information is sent to the auxiliary robot.

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