River channel excavation construction method

Abstract

The invention discloses a riverway excavation construction method which comprises the steps that S1, according to a designed riverway, a plurality of construction areas are divided, and at least one excavator is distributed to each construction area; s2, according to the positions of the multiple construction areas, an earthwork transfer route is determined; s3, obtaining construction images of the plurality of construction areas by using an unmanned aerial vehicle, and estimating earthwork output of each construction area according to the construction images; and S4, according to the earthwork output of each construction area and the loading capacity of the transfer vehicles, the number of the transfer vehicles and the loading positions of the transfer vehicles on the earthwork transfer route are determined. The number of transfer vehicles can be reduced, and the construction cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field related to river channel excavation, and more specifically, to a river channel excavation construction method. Background Art

[0002] During the excavation of the river channel, a large amount of earth will be generated. Currently, the earth is mainly loaded into transfer vehicles by excavators, and then transferred by transfer vehicles. The disadvantage of this method is that the number of transfer vehicles to be used cannot be accurately determined, resulting in too many transfer vehicles, which in turn causes congestion at the construction site, high construction costs, and high construction noise. Therefore, it is necessary to design a technical solution that can overcome the above-mentioned disadvantages. Summary of the invention

[0003] An object of the present invention is to provide a river channel excavation construction method, which can reduce the number of transfer vehicles and reduce construction costs.

[0004] In order to achieve these purposes and other advantages of the present invention, according to one aspect of the present invention, the present invention provides a river excavation construction method, including: S1: dividing a plurality of construction areas according to the designed river channel, and assigning at least one excavator to each of the construction areas; S2: determining an earthwork transfer route according to the locations of the plurality of construction areas; S3: acquiring construction images of the plurality of construction areas by using a drone, and estimating the amount of earthwork generated in each of the construction areas according to the construction images; S4: determining the number of transfer vehicles and the loading position on the earthwork transfer route according to the amount of earthwork generated in each of the construction areas and the loading capacity of the transfer vehicles.

[0005] Furthermore, the earthwork transfer route is adjacent to a plurality of the construction areas.

[0006] Furthermore, there are multiple construction images, which are obtained by shooting around the earth pile by the drone. The coordinates of each point of the earth pile are determined based on the multiple construction images, and a three-dimensional model of the earth pile is constructed based on the coordinates of each point. The amount of earth generated is determined based on the three-dimensional model.

[0007] Furthermore, the construction image includes a predetermined calibrated reference object, and the coordinates of each point of the earth pile are determined according to the three-dimensional coordinates of each point of the reference object and the pixel distance between the reference object and the earth pile in the construction image.

[0008] Furthermore, in S4, the objective function is to minimize the loading position of the transfer vehicle, and the earthwork generation, excavation model, earth pile position of each construction area and the position, loading speed, driving speed and loading capacity of the transfer vehicle are used as constraints to obtain the loading position of the transfer vehicle using an ant colony algorithm; the excavation model is constructed based on the current earthwork generation and excavator working time, and is used to determine the earthwork generation during the waiting period for the transfer vehicle.

[0009] Furthermore, the position of the earth pile is determined according to the pixel distance between the earth pile and the reference object in the construction image.

[0010] Furthermore, the transfer vehicle is provided with a positioning module for acquiring the position of the transfer vehicle.

[0011] Furthermore, the working time of the excavator is determined by acquiring images of the excavator at intervals using a drone.

[0012] The present invention has at least the following beneficial effects: The present invention divides a designed river channel into multiple construction areas, determines an earthwork transfer route according to the locations of the multiple construction areas, acquires construction images using drones, estimates earthwork generation according to the construction images, and determines the number and loading positions of transfer vehicles according to the earthwork generation of each construction area and the loading capacity of the transfer vehicles. The present invention can determine the earthwork generation through construction images, and then more accurately determine the number and loading positions of transfer vehicles according to the earthwork generation and the loading capacity of the transfer vehicles, thereby reducing blind use of transfer vehicles and reducing construction costs.

[0013] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A flowchart of an embodiment of the present application; Figure 2 This is a schematic diagram of the construction area distribution of an embodiment of the present application. DETAILED DESCRIPTION

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0016] It should be understood that the terms such as "having", "including" and "comprising" used in the embodiments of the present application do not exclude the existence or addition of one or more other elements or their combinations. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. When an element is referred to as "fixed on" or "set on" another element, it can be directly on the other element or there may be a centering element at the same time. When an element is referred to as "connecting" another element, it can be directly connected to another element or it can be indirectly connected to another element through a centering element. The description of "first", "second", etc. in the embodiments of the present application is only for descriptive purposes, and cannot be understood as indicating or implying its relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features.

[0017] It should be noted that the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0018] like Figure 1 , 2 As shown, an embodiment of the present application provides a river channel excavation construction method, comprising: S1: Divide a plurality of construction areas 2 according to the designed river channel 1, and allocate at least one excavator to each of the construction areas 2; In this step, the designed river channel 1 is divided into multiple construction areas 2, such as Figure 1 A, B, C, D, E and F are excavated separately to increase the construction speed. The number, area and distribution of construction areas 2 are determined according to the shape of the designed river channel 1 and the surrounding terrain. The number of excavators is determined according to the size of the construction area 2 to keep the construction speed of each construction area 2 consistent. S2: determining an earthwork transfer route 3 according to the locations of the plurality of construction areas 2; Exemplarily, the earthwork transfer route 3 is adjacent to the plurality of construction areas 2, so that the transfer vehicle stops near each construction area 2 to load and transfer the earthwork; S3: using a drone to obtain a plurality of construction images of the construction areas 2, and estimating the amount of earthwork generated in each of the construction areas 2 according to the construction images; Exemplarily, the construction image includes at least a multi-angle image of an earth pile; For example, the construction image includes an excavator and an earth pile, and the volume ratio of the earth pile to the excavator is estimated based on the construction image, and the volume of the earth pile is estimated, and then the earth generation amount is obtained in combination with the detected density of the earth; Exemplarily, a drone is assigned to each construction area 2 to collect construction images and make a real-time estimate of the amount of earthwork generated; S4: determining the number of transfer vehicles and the loading positions on the earthwork transfer route 3 according to the amount of earthwork generated in each of the construction areas 2 and the loading capacity of the transfer vehicles; For example, a simplified implementation method is to determine the number of transfer vehicles by using the sum of the earthwork generation in each construction area 2 and the sum of the loading capacity of the transfer vehicles, and configure the transfer vehicles to load earthwork at one or more loading positions (corresponding to the positions of the earthwork piles) according to the earthwork generation in each construction area 2 and the loading capacity of each transfer vehicle; of course, the loading capacity of each transfer vehicle is provided with a certain amount of redundancy; It can be seen that this embodiment can determine the amount of earthwork generated through construction images, and then more accurately determine the number and loading positions of transfer vehicles based on the amount of earthwork generated and the loading capacity of the transfer vehicles, thereby reducing the blind use of transfer vehicles, reducing congestion of transfer vehicles, and reducing construction costs and construction energy consumption.

[0019] In another embodiment, the construction images are multiple, and are obtained by photographing the earth pile by the drone. The coordinates of each point of the earth pile are determined according to the multiple construction images. A three-dimensional model of the earth pile is constructed according to the coordinates of each point. The amount of earth generated is determined according to the three-dimensional model. Exemplarily, the construction images overlap, and the overlapping parts can be used to include the coordinates of each point on the earth pile into the same coordinate system, and a three-dimensional model of the earth pile can be constructed based on the coordinates of each point. The volume of the earth pile can then be calculated, and the amount of earth generated can be calculated in combination with the earth detection density.

[0020] In another embodiment, the construction image includes a predetermined calibrated reference object, and the coordinates of each point of the earth pile are determined according to the three-dimensional coordinates of each point of the reference object and the pixel distance between the reference object and the earth pile in the construction image; In order to improve the calculation accuracy of the earthwork generation, this embodiment sets multiple reference objects in the construction area 2, and the positions of the reference objects and the three-dimensional coordinates of each point are pre-calibrated. According to the relative pixel distance between the reference object and the earthwork pile in the construction image, the three-dimensional coordinates of each point of the earthwork pile are accurately determined; Exemplarily, the reference object is in the shape of a polygonal pyramid, and the drone acquires construction images from at least multiple faces of the polygonal pyramid. The coordinates of each point of the earth pile in each construction image are determined based on the coordinates of each point on the reference object, and the coordinates determined using each construction image are fused to ultimately determine the coordinates of each point of the earth pile.

[0021] In another embodiment, in S4, the objective function is to minimize the loading position of the transfer vehicle, and the earthwork generation, excavation model, earthwork pile position of each construction area 2 and the position, loading speed, driving speed and loading capacity of the transfer vehicle are used as constraints to obtain the number and loading position of the transfer vehicles using an ant colony algorithm; the excavation model is constructed based on the current earthwork generation and excavator working time, and is used to determine the earthwork generation during the waiting period for the transfer vehicle; This embodiment further uses the ant colony algorithm to accurately determine the loading position of the transfer vehicle, and based on the excavation progress and the movement of the excavator, takes into account the change in the position of the earth pile, as well as the position, loading speed, and driving speed of the transfer vehicle, and the increase in the earth pile when the transfer vehicle arrives (the excavation model is used to determine the increase in the earth pile), to ensure that all earth is transferred as much as possible and reduce earth residue; Specifically, the location of the earth pile is determined according to the pixel distance on the construction image. The location of the transfer vehicle is concentrated or scattered in the nearby parking lot. The location can be determined by the positioning module. The loading speed and driving speed are determined based on a large amount of historical data. When the amount of earth generated reaches a predetermined value (which can be determined according to actual needs), the number of transfer vehicles is determined according to the amount of earth generated, and then the ant colony algorithm is used to calculate and determine the loading position of the transfer vehicle, and then issue instructions to the transfer vehicles in the parking lot. The details of the ant colony algorithm are as follows: Set the relevant parameters of the ant colony algorithm, including the number of ants m and the maximum number of iterations n. m is equal to the number of transfer vehicles. The number of transfer vehicles is determined by the sum of the earthwork generated in each construction area 2 and the sum of the loading capacity of the transfer vehicles. Each ant selects a transfer vehicle and places it at least in one loading position. According to the transfer probability P uv Select the next loading location, set the pheromone update rule, calculate the objective function value, and terminate the loop until the number of iterations reaches the maximum number of iterations. Finally, the loading location of the optimal transport vehicle is obtained; pheromone update rule: Transition probability formula: ; Among them, τ uv (t) represents the pheromone concentration △τ of the path from u to v at time t uv (t) represents the pheromone increment left by the ant on the path from u to v, P uv represents the probability from u to v, η uv is the heuristic function, ρ is the information volatility coefficient, and α and β are the heuristic factors.

[0022] In another embodiment, the position of the earth pile is determined based on the pixel distance between the earth pile and the reference object in the construction image; that is, the position of the earth pile is estimated based on the pixel distance between the earth pile and the reference object in the construction image, combined with the ratio of the pixel size of the reference object to the actual size.

[0023] In another embodiment, the transfer vehicle is provided with a positioning module for acquiring the position of the transfer vehicle; the positioning module may be a GPS module or a Beidou module.

[0024] In another embodiment, the working time of the excavator is determined by using a drone to obtain images of the excavator at intervals; that is, the drone is used to perform image or video monitoring of the excavator to determine the actual excavation time of the excavator.

[0025] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A river channel excavation construction method, characterized in that: include: S1: Divide a plurality of construction areas according to the designed river channel, and assign at least one excavator to each of the construction areas; S2: Determine an earthwork transfer route according to the locations of the plurality of construction areas; S3: using a drone to obtain construction images of a plurality of the construction areas, and estimating the amount of earthwork generated in each of the construction areas according to the construction images; S4: Determine the number of the transfer vehicles and the loading positions on the earthwork transfer route according to the amount of earthwork generated in each of the construction areas and the loading capacity of the transfer vehicles.

2. The river channel excavation construction method according to claim 1, characterized in that: The earthwork transfer route is adjacent to a plurality of the construction areas.

3. The river channel excavation construction method according to claim 1, characterized in that: There are multiple construction images, which are obtained by shooting around the earth pile by the drone. The coordinates of each point of the earth pile are determined based on the multiple construction images, and a three-dimensional model of the earth pile is constructed based on the coordinates of each point. The amount of earth generated is determined based on the three-dimensional model.

4. The river channel excavation construction method according to claim 3, characterized in that: The construction image includes a predetermined calibrated reference object, and the coordinates of each point of the earth pile are determined according to the three-dimensional coordinates of each point of the reference object and the pixel distance between the reference object and the earth pile in the construction image.

5. The river channel excavation construction method according to claim 4, characterized in that: In S4, the loading position of the transfer vehicle is obtained by using an ant colony algorithm with the minimum loading position of the transfer vehicle as the objective function and the earthwork generation amount, excavation model, earthwork pile position of each construction area and the position, loading speed, driving speed and loading capacity of the transfer vehicle as constraints; The excavation model is constructed based on the current earthwork generation volume and the excavator working time, and is used to determine the earthwork volume generated during the waiting period for the transfer vehicle.

6. The river channel excavation construction method according to claim 5, characterized in that: The position of the earth pile is determined according to the pixel distance between the earth pile and the reference object in the construction image.

7. The river channel excavation construction method according to claim 5, characterized in that: The transfer vehicle is provided with a positioning module for obtaining the position of the transfer vehicle.

8. The river channel excavation construction method according to claim 5, characterized in that: The excavator working time is determined by using drones to obtain excavator images at intervals.

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