Automatic foundation pit pile shaping control system

Abstract

The present invention relates to an automated foundation pit pile shaping control system, the system comprising: a pile driving actuator, arranged in a construction site, for performing multiple pile driving and compacting actions on a target area in a pneumatic mode to form a foundation pit in the center of the target area; an electronic driving component, for issuing a pile driving termination instruction to the pile driving actuator when the on-site deformation value of the foundation pit edge obtained through intelligent analysis is less than or equal to a set deformation threshold. The automated foundation pit pile shaping control system of the present invention has reliable logic and stable operation. Since the on-site deformation value of the foundation pit edge can be intelligently identified based on various visual information of the foundation pit edge, the intelligent analysis of the on-site deformation state of the foundation pit edge is realized, and the electronic driving component is used to issue a pile driving termination instruction to the pile driving actuator when the received on-site deformation value of the foundation pit edge is less than or equal to the set deformation threshold, the automation level of the pile driving device is improved.

Description

Technical Field

[0001] The invention relates to the field of construction sites, and in particular to an automated foundation pit piling shaping control system. Background Art

[0002] The foundation pit is a pit dug at the design location of the foundation according to the base elevation and the plane size of the foundation. Before excavation, the excavation plan should be determined based on geological and hydrological data and the situation of nearby buildings on site, and waterproofing and drainage should be done. If the excavation is not deep, the slope can be used to stabilize the slope, and the slope size is determined according to relevant construction regulations. For deep excavations and nearby buildings, the foundation pit wall support method and shotcrete wall protection method can be used. Large foundation pits can even use underground continuous walls and column-type bored pile interlocking methods to prevent the outer soil layer from collapsing; if there is no impact on nearby buildings, the well point method can be used to lower the groundwater level and use slope open excavation; in cold areas, natural cold air freezing method can be used for excavation, etc.

[0003] However, during the piling process of the foundation pit, when it is identified that the on-site deformation value of the foundation pit edge is less than or equal to the set deformation threshold, a piling termination instruction can be issued to the piling execution device to stop the piling process; and when it is identified that the on-site deformation value of the foundation pit edge is greater than the set deformation threshold, a request to continue piling is issued to the piling execution device. However, the prior art lacks a corresponding targeted and high-precision identification mechanism. Summary of the invention

[0004] In order to solve the technical problems in the prior art, the present invention provides an automated foundation pit piling shaping control system, which can identify the occupied blocks of the foundation pit edge in the received continuously converted image based on the color imaging characteristics of the foundation pit edge, the color imaging characteristics of the foundation pit edge being the numerical intervals of each color component corresponding to the foundation pit edge, analyze the outer shape curves of the occupied blocks of the foundation pit edge in the continuously converted image, and analyze the outer shape curves of the standard geometric figures corresponding to the foundation pit edge, and also determine the parts that are consistent with the outer shape curves of the standard geometric figures corresponding to the foundation pit edge and the parts that are inconsistent with the outer shape curves of the standard geometric figures corresponding to the foundation pit edge for the outer shape curves of the occupied blocks of the foundation pit edge, and based on the consistency The on-site deformation value of the foundation pit edge is determined by the ratio of the curve length of the inconsistent part to the curve length of the inconsistent part. The larger the ratio is, the smaller the on-site deformation value of the determined foundation pit edge is, thereby realizing intelligent analysis of the on-site deformation state of the foundation pit edge, and adopting an electronic driving component to issue a piling termination instruction to the piling execution device when the received on-site deformation value of the foundation pit edge is less than or equal to the set deformation threshold, and also to issue a piling continuation request to the piling execution device when the received on-site deformation value of the foundation pit edge is greater than the set deformation threshold, thereby completing the foundation pit edge shaping processing based on the intelligent analysis result, thereby improving the automation level of the piling device.

[0005] According to the present invention, an automated foundation pit piling shaping control system is provided, the system comprising:

[0006] A piling actuator is provided in a construction site and is used to perform multiple piling and compacting actions on a target area in a pneumatic mode to form a foundation pit at the center of the target area;

[0007] An explosion-proof camera is arranged at the central position of the bottom of the piling execution device and is provided with an explosion-proof lens, and is used to perform a camera action of the environment below the piling execution device every time the piling execution device completes a piling compaction action, so as to obtain a piling environment picture corresponding to the current moment;

[0008] A continuous conversion mechanism, which is wirelessly connected to the explosion-proof camera and is disposed in a control box near the piling actuator, is used to continuously perform Gaussian high-pass filtering processing on the wirelessly received piling environment image, retain the boundary between two parts with obvious color or light-dark contrast in the image, and perform salt and pepper noise filtering processing, so as to obtain and output a corresponding continuous conversion image;

[0009] A first-layer grabbing component is arranged in a control box near the piling actuator and connected to the continuous conversion mechanism, and is used to identify the occupied blocks of the foundation pit edge in the received continuous conversion picture based on the color imaging feature of the foundation pit edge, and the color imaging feature of the foundation pit edge is the numerical interval of each color component corresponding to the foundation pit edge;

[0010] A secondary layer grabbing component is connected to the primary layer grabbing component and is used to analyze the outer shape curves of the occupied blocks of the foundation pit edge in the continuous conversion picture, and analyze the outer shape curves of the standard geometric figures corresponding to the foundation pit edge;

[0011] The tail-layer grabbing component is connected to the sub-layer grabbing component, and is used to determine the portion of the shape curve of the occupied block corresponding to the foundation pit edge that is consistent with the shape curve of the standard geometric figure corresponding to the foundation pit edge and the portion that is inconsistent with the shape curve of the standard geometric figure corresponding to the foundation pit edge, and determine the on-site deformation value of the foundation pit edge based on the ratio value of the curve length of the consistent portion to the curve length of the inconsistent portion, and the larger the ratio value is, the smaller the on-site deformation value of the determined foundation pit edge is;

[0012] An electronic driving component is connected to the piling execution device and the tail layer grabbing component respectively, and is used to send a piling termination instruction to the piling execution device when the received on-site deformation value of the foundation pit edge is less than or equal to a set deformation threshold;

[0013] The electronic driving component is further used to send a request to the piling execution device to continue piling when the received on-site deformation value of the foundation pit edge is greater than the set deformation threshold.

[0014] It can be seen that the present invention mainly has the following three significant technical effects:

[0015] Firstly, based on the color imaging feature of the foundation pit edge, the occupied blocks of the foundation pit edge in the received continuous conversion image are identified, the color imaging feature of the foundation pit edge is the numerical interval of each color component corresponding to the foundation pit edge, and the shape curve of the occupied blocks of the foundation pit edge in the continuous conversion image is analyzed, and the shape curve of the standard geometric figure corresponding to the foundation pit edge is analyzed;

[0016] Secondly: for the outer shape curve of the occupied block of the foundation pit edge, determine the part that is consistent with the outer shape curve of the standard geometric figure corresponding to the foundation pit edge and the part that is inconsistent with the outer shape curve of the standard geometric figure corresponding to the foundation pit edge, and determine the on-site deformation value of the foundation pit edge based on the ratio value of the curve length of the consistent part to the curve length of the inconsistent part. The larger the ratio value is, the smaller the on-site deformation value of the determined foundation pit edge is, thereby realizing intelligent analysis of the on-site deformation state of the foundation pit edge;

[0017] Again: an electronic drive component is used to issue a piling termination instruction to the piling execution device when the received on-site deformation value of the foundation pit edge is less than or equal to the set deformation threshold, and is also used to issue a piling continuation request to the piling execution device when the received on-site deformation value of the foundation pit edge is greater than the set deformation threshold, thereby completing the foundation pit edge shaping processing based on the intelligent analysis results, thereby improving the automation level of the piling device.

[0018] The automatic foundation pit piling shaping control system of the present invention has reliable logic and stable operation. Since it can intelligently identify the on-site deformation value of the foundation pit edge based on various visual information of the foundation pit edge, it can realize intelligent analysis of the on-site deformation state of the foundation pit edge, and adopts an electronic driving component to send a piling termination instruction to the piling execution device when the received on-site deformation value of the foundation pit edge is less than or equal to the set deformation threshold, thereby improving the automation level of the piling device. DETAILED DESCRIPTION

[0019] The following is a detailed description of an embodiment of the automated foundation pit piling shaping control system of the present invention.

[0020] The automatic foundation pit piling shaping control system shown in the first embodiment of the present invention includes:

[0021] A piling actuator is provided in a construction site and is used to perform multiple piling and compacting actions on a target area in a pneumatic mode to form a foundation pit at the center of the target area;

[0022] An explosion-proof camera is arranged at the central position of the bottom of the piling execution device and is provided with an explosion-proof lens, and is used to perform a camera action of the environment below the piling execution device every time the piling execution device completes a piling compaction action, so as to obtain a piling environment picture corresponding to the current moment;

[0023] A continuous conversion mechanism, which is wirelessly connected to the explosion-proof camera and is disposed in a control box near the piling actuator, is used to continuously perform Gaussian high-pass filtering processing on the wirelessly received piling environment image, retain the boundary between two parts with obvious color or light-dark contrast in the image, and perform salt and pepper noise filtering processing, so as to obtain and output a corresponding continuous conversion image;

[0024] Specifically, the continuous conversion mechanism is wirelessly connected to the explosion-proof camera and is arranged in a control box near the piling execution device, and is used to continuously perform Gaussian high-pass filtering processing on the wirelessly received piling environment picture, retain the processing at the junction of two parts with obvious color or light and dark contrast in the image, and salt and pepper noise filtering processing, so as to obtain and output the corresponding continuously converted picture, including: an ASIC device can be selected to implement the continuous conversion mechanism, which is wirelessly connected to the explosion-proof camera and is arranged in a control box near the piling execution device, and is used to continuously perform Gaussian high-pass filtering processing on the wirelessly received piling environment picture, retain the processing at the junction of two parts with obvious color or light and dark contrast in the image, and salt and pepper noise filtering processing, so as to obtain and output the corresponding continuously converted picture;

[0025] A first-layer grabbing component is arranged in a control box near the piling actuator and connected to the continuous conversion mechanism, and is used to identify the occupied blocks of the foundation pit edge in the received continuous conversion picture based on the color imaging feature of the foundation pit edge, and the color imaging feature of the foundation pit edge is the numerical interval of each color component corresponding to the foundation pit edge;

[0026] A secondary layer grabbing component is connected to the primary layer grabbing component and is used to analyze the outer shape curves of the occupied blocks of the foundation pit edge in the continuous conversion picture, and analyze the outer shape curves of the standard geometric figures corresponding to the foundation pit edge;

[0027] The tail-layer grabbing component is connected to the sub-layer grabbing component, and is used to determine the portion of the shape curve of the occupied block corresponding to the foundation pit edge that is consistent with the shape curve of the standard geometric figure corresponding to the foundation pit edge and the portion that is inconsistent with the shape curve of the standard geometric figure corresponding to the foundation pit edge, and determine the on-site deformation value of the foundation pit edge based on the ratio value of the curve length of the consistent portion to the curve length of the inconsistent portion, and the larger the ratio value is, the smaller the on-site deformation value of the determined foundation pit edge is;

[0028] An electronic driving component is connected to the piling execution device and the tail layer grabbing component respectively, and is used to send a piling termination instruction to the piling execution device when the received on-site deformation value of the foundation pit edge is less than or equal to a set deformation threshold;

[0029] The electronic driving component is further used to send a request to the piling execution device to continue piling when the received on-site deformation value of the foundation pit edge is greater than the set deformation threshold;

[0030] Among them, for the outer shape curve of the occupied block of the foundation pit edge, the part consistent with the outer shape curve of the standard geometric figure corresponding to the foundation pit edge and the part inconsistent with the outer shape curve of the standard geometric figure corresponding to the foundation pit edge are determined, and the on-site deformation value of the foundation pit edge is determined based on the ratio of the curve length of the consistent part to the curve length of the inconsistent part. The larger the ratio, the smaller the determined on-site deformation value of the foundation pit edge is, including: using a numerical conversion formula to represent the numerical conversion process of determining the on-site deformation value of the foundation pit edge based on the ratio of the curve length of the consistent part to the curve length of the inconsistent part.

[0031] Compared with the first embodiment of the present invention, the automatic foundation pit piling shaping control system shown in the second embodiment of the present invention may further include:

[0032] A positioning server component is connected to the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, and is used to provide the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component with their respective current instant positioning data;

[0033] Wherein, the positioning server is respectively connected with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and is used to provide the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component with their respective current instant positioning data, including: the positioning server includes a plurality of positioning service units, which are respectively connected with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, so as to complete the respective supply of the current instant positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component;

[0034] Wherein, the positioning server device includes a plurality of positioning service units, which are used to be connected with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, so as to complete the supply of the current instant positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, including: the plurality of positioning service units are a plurality of positioning sensors, which are used to be connected with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, so as to complete the supply of the current instant positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively;

[0035] Wherein, the plurality of positioning service units are a plurality of positioning sensors, which are used to be connected to the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, so as to complete the supply of the current instant positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, including: the structures of the plurality of positioning service units are the same;

[0036] And wherein, the multiple positioning service units are multiple positioning sensors, which are used to respectively connect with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component to complete the separate supply of current instant positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and also include: the multiple positioning sensors have the same positioning range.

[0037] Compared with the first embodiment of the present invention, the automatic foundation pit piling shaping control system shown in the third embodiment of the present invention may further include:

[0038] A user control interface is connected to the plurality of positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, respectively, and is used to synchronously control the current working mode of the respective positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component;

[0039] Wherein, the user control interface is respectively connected with a plurality of positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and is used to synchronously control the current working mode of the respective positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, including: the current working mode of the respective positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component is a sleep working mode or a running working mode;

[0040] And wherein, the user control interface is respectively connected to multiple positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and is used to synchronously control the current working modes of the respective positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, including: the multiple positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component are all based on the Beidou positioning mechanism.

[0041] In addition, in the automated foundation pit pile shaping control system, a continuous conversion mechanism is wirelessly connected to the explosion-proof camera and is arranged in a control box near the pile driving actuator, and is used to continuously perform Gaussian high-pass filtering, retaining processing at the junction of two parts with obvious color or light and dark contrast in the image, and salt and pepper noise filtering on the wirelessly received pile driving environment image, so as to obtain and output the corresponding continuously converted image, including: the continuous conversion mechanism includes multiple image processing components, which are used to respectively perform Gaussian high-pass filtering, retaining processing at the junction of two parts with obvious color or light and dark contrast in the image, and salt and pepper noise filtering.

[0042] Because certain changes can be made without departing from the scope of the present invention, all of the contents contained in the above description should be interpreted as illustrative and not just literal. It should be appreciated by those skilled in the art that the sequence steps or structures shown in the above description may be changed without departing from the scope of the present invention, and the descriptions contained herein are only individual examples of various possible descriptions of the present invention.

Claims

1. An automated foundation pit piling shaping control system, characterized in that: The system comprises: A piling actuator is provided in a construction site and is used to perform multiple piling and compacting actions on a target area in a pneumatic mode to form a foundation pit at the center of the target area; An explosion-proof camera is arranged at the central position of the bottom of the piling execution device and is provided with an explosion-proof lens, and is used to perform a camera action of the environment below the piling execution device every time the piling execution device completes a piling compaction action, so as to obtain a piling environment picture corresponding to the current moment; A continuous conversion mechanism, which is wirelessly connected to the explosion-proof camera and is disposed in a control box near the piling actuator, is used to continuously perform Gaussian high-pass filtering processing on the wirelessly received piling environment image, retain the boundary between two parts with obvious color or light-dark contrast in the image, and perform salt and pepper noise filtering processing, so as to obtain and output a corresponding continuous conversion image; A first-layer grabbing component is arranged in a control box near the piling actuator and connected to the continuous conversion mechanism, and is used to identify the occupied blocks of the foundation pit edge in the received continuous conversion picture based on the color imaging feature of the foundation pit edge, and the color imaging feature of the foundation pit edge is the numerical interval of each color component corresponding to the foundation pit edge; A secondary layer grabbing component is connected to the primary layer grabbing component and is used to analyze the outer shape curves of the occupied blocks of the foundation pit edge in the continuous conversion picture, and analyze the outer shape curves of the standard geometric figures corresponding to the foundation pit edge; The tail-layer grabbing component is connected to the sub-layer grabbing component, and is used to determine the portion of the shape curve of the occupied block corresponding to the foundation pit edge that is consistent with the shape curve of the standard geometric figure corresponding to the foundation pit edge and the portion that is inconsistent with the shape curve of the standard geometric figure corresponding to the foundation pit edge, and determine the on-site deformation value of the foundation pit edge based on the ratio value of the curve length of the consistent portion to the curve length of the inconsistent portion, and the larger the ratio value is, the smaller the on-site deformation value of the determined foundation pit edge is; An electronic driving component is connected to the piling execution device and the tail layer grabbing component respectively, and is used to send a piling termination instruction to the piling execution device when the received on-site deformation value of the foundation pit edge is less than or equal to a set deformation threshold; The electronic driving component is further used to send a request to the piling execution device to continue piling when the received on-site deformation value of the foundation pit edge is greater than the set deformation threshold.

2. The automatic foundation pit piling shaping control system according to claim 1, characterized in that: For the outer shape curve of the occupied block of the foundation pit edge, determine the part that is consistent with the outer shape curve of the standard geometric figure corresponding to the foundation pit edge and the part that is inconsistent with the outer shape curve of the standard geometric figure corresponding to the foundation pit edge, and determine the on-site deformation value of the foundation pit edge based on the ratio of the curve length of the consistent part to the curve length of the inconsistent part. The larger the ratio, the smaller the determined on-site deformation value of the foundation pit edge. The method includes: using a numerical conversion formula to represent the numerical conversion process of determining the on-site deformation value of the foundation pit edge based on the ratio of the curve length of the consistent part to the curve length of the inconsistent part.

3. The automatic foundation pit piling shaping control system according to claim 2, characterized in that: The system further comprises: A positioning server component is connected to the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, and is used to provide the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component with their respective current instant positioning data; Among them, the positioning server component is respectively connected with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and is used to provide the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component with their respective current real-time positioning data, including: the positioning server component includes multiple positioning service units, which are respectively connected with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component to complete the respective supply of current real-time positioning data to the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component.

4. The automatic foundation pit piling shaping control system according to claim 3, characterized in that: The positioning server device includes a plurality of positioning service units, which are used to respectively connect with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component to complete the respective supply of current real-time positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, including: the plurality of positioning service units are a plurality of positioning sensors, which are used to respectively connect with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component to complete the respective supply of current real-time positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component.

5. The automatic foundation pit piling shaping control system according to claim 4, characterized in that: The multiple positioning service units are multiple positioning sensors, which are used to connect with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, so as to complete the respective supply of current real-time positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, including: the structures of the multiple positioning service units are the same.

6. The automatic foundation pit piling shaping control system according to claim 5, characterized in that: The multiple positioning service units are multiple positioning sensors, which are used to connect with the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, so as to complete the separate supply of current instant positioning data of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component respectively, and also include: the multiple positioning sensors have the same positioning range.

7. The automated foundation pit piling shaping control system according to any one of claims 3 to 6, characterized in that: The system further comprises: The user control interface is respectively connected to multiple positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and is used to synchronously control the current working mode of the respective positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component.

8. The automatic foundation pit piling shaping control system according to claim 7, characterized in that: A user control interface is respectively connected to multiple positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and is used to synchronously control the current working modes of the positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, including: the current working modes of the positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component are sleep working modes or running working modes.

9. The automatic foundation pit piling shaping control system according to claim 7, characterized in that: A user control interface is respectively connected to multiple positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, and is used to synchronously control the current working modes of the respective positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component, including: the multiple positioning service units of the continuous conversion mechanism, the first-layer grabbing component, the second-layer grabbing component and the tail-layer grabbing component are all based on the Beidou positioning mechanism.