Method and system for tracing operation process of mechanized open caisson underwater excavation robot based on data driving

Abstract

The invention relates to a method and a system for tracing the operation process of a mechanized open caisson underwater excavation robot based on data driving. The method comprises the following steps: acquiring construction data of the operation process of the underwater excavation robot as historical data; analyzing the historical data and arranging the historical data according to the sequence of a time axis to obtain sorted data; obtaining an underwater excavation robot model, a cross beam model and a blade foot ring model, constructing a soil body model in real time according to the sorting data, and performing three-dimensional scene construction on the soil body model, the blade foot ring model, the cross beam model and the underwater excavation robot model which are constructed in real time, so as to obtain a playable three-dimensional animation; and the three-dimensional animation is played through a player, so that the operation process of the underwater excavation robot is traced. According to the method, the three-dimensional scene and the two-dimensional scene are established through digital twinning, so that constructors can visually and efficiently carry out rewinding.

Description

Technical Field

[0001] The present invention relates to the technical field of caisson construction, and in particular to a data-driven method and system for tracing the operation process of a mechanized caisson underwater excavation robot. Background Art

[0002] See also Figure 1 , shows the overall structure of the underwater excavation robot, which mainly includes a gripper 1, a base 2, a turntable 3, a rotary motor 4, a boom 5, a two-section boom 6, an articulated arm 7, a suction pump 8, a suction head 9 and various joint action cylinders, wherein the joint cylinders include a variable amplitude cylinder 10, a telescopic cylinder 11, a joint cylinder 12 and a swing cylinder 13. The underwater excavation robot also includes a bracket 14, a cabinet 15 and a counterweight 16.

[0003] The motion function of the underwater excavation robot is as follows: the turntable 3 can be driven by the rotary motor 4 to rotate relative to the base 2 to realize the circular motion of the suction head 9; the extension and retraction of the variable amplitude cylinder 10 can make the boom 5 rotate around the R1 point to realize the vertical motion of the suction head 9; the cylinder body and free end of the telescopic cylinder 11 are respectively connected to the boom 5 and the second-section arm 6, and its action can make the second-section arm 6 move relative to the boom 5, which mainly determines the maximum activity radius of the suction head 9; the bottom and free end of the joint cylinder 12 are respectively connected to the second-section arm 6 and the joint arm 7, which can realize the rotation of the joint arm 7 around the R2 point and the movement of the suction head 9 in the radial direction; the extension and retraction of the swing cylinder 13 can make the suction head 9 move in the tangential direction of the circle. It should be noted that before the actual construction process, the telescopic cylinder 11 is locked after the preset stroke according to the diameter of the caisson; the swing cylinder 13 is in a locked state when the robot excavates the soil in the four quadrant fan-shaped areas, and can only be extended and retracted when excavating the soil under the cross beam.

[0004] Due to the muddy working environment of underwater excavation robots, which makes it impossible to achieve visual inspection, construction workers often trace and analyze the operation process in the form of tables and charts during review, which is not intuitive enough and is prone to overlooking construction details. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a data-driven method and system for tracing the operation process of a mechanized caisson underwater excavation robot, so as to solve the problem that the existing underwater excavation robot's operating environment has turbid mud and cannot be visualized, and the construction personnel's review and tracing in the form of tables and charts is not intuitive enough and construction details are easily overlooked.

[0006] The technical solution to achieve the above purpose is:

[0007] The present invention provides a data-driven method for tracing the operation process of a mechanized caisson underwater excavation robot, comprising the following steps:

[0008] Acquire the construction data of the underwater excavation robot operation process as historical data;

[0009] Parsing the historical data and arranging them in the order of the time axis to obtain sorted data;

[0010] Acquire an underwater excavation robot model, a cross beam model, and a blade foot ring model, construct a soil model in real time according to the sorted data, and construct a three-dimensional scene for the real-time constructed soil model, blade foot ring model, cross beam model, and underwater excavation robot model, thereby obtaining a playable three-dimensional animation;

[0011] The three-dimensional animation is played through a player, thereby realizing the tracing of the operation process of the underwater excavation robot.

[0012] The further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing method of the present invention is that when constructing the three-dimensional scene, it also includes:

[0013] Constructing a two-dimensional scene in a top-down view and a cross-sectional view according to the sorting data;

[0014] When playing a 3D animation, the corresponding 2D scene is played at the same time.

[0015] A further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing method of the present invention is that before building the soil model, it also includes: screening out data redundancy from the sorted data.

[0016] The further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing method of the present invention is that it also includes: dividing the sorted data for data redundancy screening into a plurality of data blocks;

[0017] Grouping the data blocks to obtain a plurality of index blocks;

[0018] When the playback progress of the player changes, the corresponding index block is obtained from the timeline mapping relationship, and the corresponding index block and the remaining data are read for rendering and playback.

[0019] The further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing method of the present invention is that when constructing the soil model in real time, a soil particle model, a fan-shaped soil model and an overall soil model are constructed;

[0020] The fan-shaped soil model is composed of a plurality of soil particles;

[0021] The overall soil model is composed of a plurality of fan-shaped soil models.

[0022] The present invention also provides a data-driven mechanized caisson underwater excavation robot operation process tracing system, comprising:

[0023] An acquisition unit, used for acquiring construction data of the underwater excavation robot during operation as historical data;

[0024] A parsing unit connected to the acquisition unit, used to parse the historical data and arrange them in the order of the time axis to obtain sorted data;

[0025] The digital twin unit connected to the analysis unit is used to obtain the underwater excavation robot model, the cross beam model and the blade foot ring model, construct a soil model in real time according to the sorting data, and perform a three-dimensional scene construction on the real-time constructed soil model, blade foot ring model, cross beam model and underwater excavation robot model, thereby obtaining a playable three-dimensional animation;

[0026] The player connected to the digital twin unit is used to play the three-dimensional animation, thereby realizing the tracing of the operation process of the underwater excavation robot.

[0027] A further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention is that the digital twin unit is also used to construct a two-dimensional scene in a top-down state and a cross-sectional state according to the sorting data;

[0028] When playing the three-dimensional animation, the player also plays the corresponding two-dimensional scene.

[0029] A further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention is that it also includes a data blocking unit connected to the parsing unit, and the data blocking unit is used to screen out data redundancy from the sorted data.

[0030] The further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention is that the data segmentation unit is also used to segment the sorted data for data redundancy screening to obtain a plurality of data blocks; group the data blocks to obtain a plurality of index blocks;

[0031] The player is connected to the data segmentation unit. When the playback progress changes, the player obtains the corresponding index block from the timeline mapping relationship, reads the corresponding index block and the remaining data, and renders and plays it through the digital twin unit.

[0032] A further improvement of the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention is that the digital twin unit constructs a soil particle model, a fan-shaped soil model and an overall soil model when constructing the soil model in real time;

[0033] The fan-shaped soil model is composed of a plurality of soil particles;

[0034] The overall soil model is composed of a plurality of fan-shaped soil models.

[0035] The beneficial effects of the data-driven mechanized caisson underwater excavation robot operation process tracing method and system of the present invention are:

[0036] The present invention establishes a three-dimensional scene through digital twins, realizes a one-to-one reproduction of the real scene, and plays the three-dimensional animation through a player, which is convenient for construction personnel to review intuitively and efficiently.

[0037] The present invention also establishes a two-dimensional scene through digital twins, realizes characterization of the excavation surface, and achieves more intuitive tracing of the operation process.

[0038] The present invention realizes rapid retrieval of three-dimensional scenes through data block operation, and can quickly perform rendering response when the progress bar is dragged. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the structure of an existing underwater excavation robot.

[0040] Figure 2 This is a system diagram of the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention.

[0041] Figure 3 This is a system diagram of another embodiment of the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention.

[0042] Figure 4 This is a schematic diagram of the digital twin scene in the data-driven mechanized caisson underwater excavation robot operation process tracing method and the system of the present invention.

[0043] Figure 5 It is a schematic diagram of a two-dimensional scene in a data-driven method for tracing the operation process of a mechanized caisson underwater excavation robot and a system of the present invention.

[0044] Figure 6 The present invention is a schematic diagram of data redundancy screening by a data block unit in a data-driven mechanized caisson underwater excavation robot operation process tracing system.

[0045] Figure 7The present invention is a data-driven mechanized caisson underwater excavation robot operation process tracing method and a flowchart of the player playing in the system.

[0046] Figure 8 The present invention is a schematic diagram of the corresponding relationship between index blocks and playback progress in the data-driven mechanized caisson underwater excavation robot operation process tracing method system. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] See also Figure 1 The present invention provides a data-driven method and system for tracing the operation process of a mechanized caisson underwater excavation robot, which is convenient for construction personnel to review intuitively and efficiently. The tracing method and system of the present invention include a three-dimensional scene and a two-dimensional scene generated by a digital twin, wherein the three-dimensional scene is a one-to-one reproduction of the real scene, and the two-dimensional scene is a characterization of the excavation surface, which can display the operation status of the underwater excavation robot at the corresponding moment according to the progress. The following is an explanation of the data-driven method and system for tracing the operation process of a mechanized caisson underwater excavation robot of the present invention in conjunction with the accompanying drawings.

[0049] See also Figure 2 , showing the system diagram of the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention. Figure 2 , the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention is explained.

[0050] like Figure 2 As shown, the data-driven mechanized caisson underwater excavation robot operation process tracing system of the present invention includes an acquisition unit 21, a parsing unit 22, a digital twin unit 23 and a player 24, the acquisition unit 21 is connected to the parsing unit 22, the parsing unit 22 is connected to the digital twin unit 23, and the digital twin unit 23 is connected to the player 24; the acquisition unit 21 is used to acquire the construction data of the underwater excavation robot operation process as historical data; the parsing unit 22 is used to parse the historical data and arrange them in the order of the time axis to obtain sorted data; the digital twin unit 23 is used to acquire the underwater excavation robot model, the cross beam model and the blade foot ring model, and construct a soil model in real time according to the sorted data, and construct a three-dimensional scene for the real-time constructed soil model, blade foot ring model, cross beam model and underwater excavation robot model, so as to obtain a playable three-dimensional animation; the player 24 is used to play the three-dimensional animation, thereby realizing the tracing of the underwater excavation robot operation process.

[0051] Furthermore, the digital twin unit 23 is used to realize the digital twin scene, display the three-dimensional operation scene of the mechanized underwater excavation robot, and combine Figure 5 As shown, when constructing a three-dimensional scene, the cross-beam model is assumed to be inside the mouth of the blade-foot ring model, the underwater excavation robot model is placed in the middle of the cross-beam model, and the soil model constructed in real time is placed inside the blade-foot ring model and below the cross-beam model. The movement and posture of the underwater excavation robot are realistically simulated according to the sorted data, and the soil model is also realistically modeled according to the sorted data, thus forming a three-dimensional animation simulating the operation process of the underwater excavation robot, which includes the state of the soil model in continuous time frames and the state of the underwater excavation robot.

[0052] Furthermore, the underwater excavation robot model, cross beam model and blade foot ring model obtained by the digital twin unit 23 can be constructed and created through Unity software, or the underwater excavation robot model, cross beam model and blade foot ring model can be created in advance through software, and the already created underwater excavation robot model, cross beam model and blade foot ring model can be loaded using the Unity engine. Then, the soil model is constructed in real time in the Unity software to form a three-dimensional animation.

[0053] Further, the digital twin unit 23 is also used to construct a two-dimensional scene in a top-down state and a cross-sectional state according to the sorting data;

[0054] When the player 24 plays the 3D animation, it also plays the corresponding 2D scene. Figure 4 shown.

[0055] The two-dimensional scene of the present invention includes a top view and a longitudinal section view. The graphics are rendered on the top view and the longitudinal section view using the canvas component of Unity. The effect is as follows: Figure 5 As shown, to reflect the position information of the suction head of the underwater excavation robot in the plane and elevation direction. In the plane view, the present invention uses color to characterize the depth of the suction head, such as number 0, dark gray, corresponding to a depth of 0 to 10 cm; number 1, light gray, corresponding to a depth of 10 to 20 cm; number 2, white, corresponding to a depth of 20 to 30 cm; number 3, green, corresponding to a depth of 30 to 40 cm; number 4, yellow, corresponding to a depth of 40 to 50 cm; number 5, orange, corresponding to a depth of 50 to 60 cm; number 6, purple, corresponding to a depth of 60 to 70 cm; number 7, red, corresponding to a depth of 70 to 80 cm.

[0056] In a specific embodiment of the present invention, the parsing unit 22 is responsible for transferring the historical data to a container with stronger read / write performance. The Unity software provides a ScriptableObject component, which is a lightweight data container that can reduce memory overhead and facilitate editing and management. The parsing unit 22 arranges the data in chronological order, numbers them starting from 0, and only extracts the data items required by the traceability system, such as the soil state and the state of the underwater excavation robot.

[0057] In a specific embodiment of the present invention, Figure 3 As shown, the traceability system of the present invention further includes a data block unit 25 connected to the parsing unit 22, and the data block unit 25 is used to screen out data redundancy from the sorted data.

[0058] The construction data of the underwater excavation robot's operation process obtained by the present invention, that is, the historical data, is redundant, the suction head trajectory in space is repeated, and the actual excavation depth only needs to display the set depth, which is the single operation depth of the underwater excavation robot, such as 80cm. Data exceeding the set depth range can be screened out.

[0059] Furthermore, if Figure 6 As shown in the figure, when the data block unit screens out data redundancy, it allocates 80*80*8 memory space for the mining path. Assuming that the mining depth depth is divided into 8 layers, each layer represents a height of 10cm, and each layer has a resolution of 80*80, that is, the mining area of ​​each layer is divided into 80*80 squares, and the total width of 80 squares corresponds to the image width W. The image accuracy of each square Res = W / 80. After filtering by the mining depth depth, the two-dimensional coordinates (S1, S3) can be expressed as: S1 = florr (S1 / Res), S 3 = floor (S3 / Res), depth = floor (S2 / 10), and there is a maximum limit on the amount of data D, that is, Dmax = 8*80*80 = 51200.

[0060] Furthermore, the data block division unit is further used to divide the sorted data for data redundancy screening into a plurality of data blocks; group the data blocks into a plurality of index blocks;

[0061] The player is connected to the data segmentation unit. When the playback progress changes, the player obtains the corresponding index block from the timeline mapping relationship, reads the corresponding index block and the remaining data, and renders and plays it through the digital twin unit.

[0062] Specifically, the data block unit first divides the data into the same number of data blocks. Assuming that there are N data in total, each data block is n, numbered in sequence, k represents the number of data blocks, and t represents the remaining data. After the data is divided:

[0063]

[0064] Group the segmented data blocks again and filter out the data:

[0065]

[0066] When the progress jumps, the index of the corresponding data can be obtained from the time axis mapping relationship. Assuming that the index value is x, i = x mod n number block group index, r = xi*n remaining data, at this time, just change G i Take it out from memory and render it together with the remaining data r.

[0067] In actual use, the amount of construction data obtained during the operation of the underwater excavation robot, that is, the amount of historical data, is huge, about one million levels. Therefore, when the progress is delayed significantly, the amount of data spanned will be hundreds of thousands, and the user will have a long time to wait for data loading and rendering. The present invention achieves the effect of accelerated retrieval by setting a data blocking unit.

[0068] In a specific embodiment of the present invention, when constructing the soil model in real time, the digital twin unit constructs a soil particle model, a sector-shaped soil model, and an overall soil model;

[0069] The fan-shaped soil model is composed of a number of soil particles;

[0070] The overall soil model is composed of multiple sector-shaped soil models.

[0071] Specifically, the soil model needs to be constructed in real time. This system divides the construction of soil into three levels: soil particle model, sector soil model and overall soil model. The soil particle model is the smallest management unit; the sector soil model is a sector collection of the soil particle model, which provides the possibility of partition rendering, that is, if only the soil particles in a certain sector need to be rendered, only the sector needs to be rendered separately. The overall soil module consists of multiple sectors and is the top-level module of soil particles. It supports the creation, reset, update, displacement and other operations of the entire soil.

[0072] In a specific embodiment of the present invention, the player includes functions such as play, pause, stop, accelerated playback, decelerated playback, and progress bar dragging. The player is also responsible for obtaining data at the corresponding moment and sending the data to the digital twin unit for rendering.

[0073] like Figure 7 and Figure 8As shown, the parsed data is sorted by timestamp, and the indexes of the first frame and the last frame correspond to the 0% position and 100% position of the progress bar respectively. Assuming that the data index in the memory is 0-100000, the 50% position of the progress bar corresponds to the data with index 50000.

[0074] When the progress bar changes, the adjacent index block will be obtained first. Assuming that the index block is grouped by 10,000 items, when the progress bar indicates that the index is 24,000, the G1 index block is obtained. At this time, the player will transfer the data to the digital twin unit twice, the first time to G1, and the second time to the remaining 4,000 data.

[0075] like Figure 3 As shown, the data parsing unit of the present invention is responsible for importing historical data and transferring it to a higher-performance data container after parsing it according to certain rules; the digital twin unit is responsible for presenting two-dimensional and three-dimensional scenes; the data blocking unit is used to block the data for fast retrieval; the player serves as a bridge between the data and the digital twin unit, and is responsible for delivering the data stream to the digital twin unit in real time and in a controllable manner.

[0076] The present invention also provides a data-driven method for tracing the operation process of a mechanized caisson underwater excavation robot, and the tracing method is described below.

[0077] The tracing method of the present invention comprises the following steps:

[0078] Acquire the construction data of the underwater excavation robot operation process as historical data;

[0079] Parse the historical data and arrange them in the order of the time axis to obtain sorted data;

[0080] Obtain an underwater excavation robot model, a cross beam model, and a blade foot ring model, construct a soil model in real time according to the sorted data, and construct a three-dimensional scene for the real-time constructed soil model, blade foot ring model, cross beam model, and underwater excavation robot model to obtain a playable three-dimensional animation;

[0081] By playing the 3D animation through a player, the operation process of the underwater excavation robot can be traced.

[0082] In a specific embodiment of the present invention, when constructing a three-dimensional scene, the method further includes:

[0083] Construct two-dimensional scenes in top-down and cross-sectional states based on the sorted data;

[0084] When playing a 3D animation, the corresponding 2D scene is played at the same time.

[0085] In a specific implementation of the present invention, before constructing the soil model, the step further includes: screening out data redundancy from the sorted data.

[0086] In a specific implementation of the present invention, it also includes: dividing the sorted data for data redundancy screening into a plurality of data blocks;

[0087] Group the data blocks to obtain several index blocks;

[0088] When the playback progress of the player changes, the corresponding index block is obtained from the timeline mapping relationship, and the corresponding index block and the remaining data are read for rendering and playback.

[0089] In a specific embodiment of the present invention, when constructing the soil model in real time, a soil particle model, a sector-shaped soil model and an overall soil model are constructed;

[0090] The fan-shaped soil model is composed of a number of soil particles;

[0091] The overall soil model is composed of multiple sector-shaped soil models.

[0092] The principles of the tracing method and system of the present invention are:

[0093] The Unity engine is used to load the underwater excavation robot model, blade foot ring model and cross beam model, and the soil particle model of the soil layer is constructed. The excavation plan and cross-section diagram are drawn through the canvas component.

[0094] The data parsing unit is used to parse the data file content and store it into a high-performance data container.

[0095] Use data chunking units to achieve fast retrieval.

[0096] The player is used to bind the progress bar and the data timeline, and interactive interfaces such as play, pause, and progress bar are provided.

[0097] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A data-driven mechanized caisson underwater excavation robot operation process tracing method, characterized in that: The steps include: Acquire the construction data of the underwater excavation robot operation process as historical data; Parsing the historical data and arranging them in the order of the time axis to obtain sorted data; Acquire an underwater excavation robot model, a cross beam model, and a blade foot ring model, construct a soil model in real time according to the sorted data, and construct a three-dimensional scene for the real-time constructed soil model, blade foot ring model, cross beam model, and underwater excavation robot model, thereby obtaining a playable three-dimensional animation; The three-dimensional animation is played through a player, thereby realizing the tracing of the operation process of the underwater excavation robot.

2. The data-driven mechanized caisson underwater excavation robot operation process tracing method according to claim 1 is characterized in that: When building a 3D scene, it also includes: Constructing a two-dimensional scene in a top-down view and a cross-sectional view according to the sorting data; When playing a 3D animation, the corresponding 2D scene is played at the same time.

3. The data-driven mechanized caisson underwater excavation robot operation process tracing method according to claim 1 is characterized in that: Before building the soil model, the method further includes: screening out data redundancy from the sorted data.

4. The data-driven mechanized caisson underwater excavation robot operation process tracing method according to claim 3 is characterized in that: Also includes: Dividing the sorted data for data redundancy screening into blocks to obtain a plurality of data blocks; Grouping the data blocks to obtain a plurality of index blocks; When the playback progress of the player changes, the corresponding index block is obtained from the timeline mapping relationship, and the corresponding index block and the remaining data are read for rendering and playback.

5. The data-driven mechanized caisson underwater excavation robot operation process tracing method according to claim 1 is characterized in that: When constructing the soil model in real time, a soil particle model, a fan-shaped soil model and an overall soil model are constructed; The fan-shaped soil model is composed of a plurality of soil particles; The overall soil model is composed of a plurality of fan-shaped soil models.

6. A data-driven mechanized caisson underwater excavation robot operation process tracing system, characterized in that: include: An acquisition unit, used for acquiring construction data of the underwater excavation robot during operation as historical data; A parsing unit connected to the acquisition unit, used to parse the historical data and arrange them in the order of the time axis to obtain sorted data; The digital twin unit connected to the analysis unit is used to obtain the underwater excavation robot model, the cross beam model and the blade foot ring model, construct a soil model in real time according to the sorting data, and perform a three-dimensional scene construction on the real-time constructed soil model, blade foot ring model, cross beam model and underwater excavation robot model, thereby obtaining a playable three-dimensional animation; The player connected to the digital twin unit is used to play the three-dimensional animation, thereby realizing the tracing of the operation process of the underwater excavation robot.

7. The data-driven mechanized caisson underwater excavation robot operation process tracing system according to claim 6 is characterized in that: The digital twin unit is also used to construct a two-dimensional scene in a top-down state and a cross-sectional state according to the sorting data; When playing the three-dimensional animation, the player also plays the corresponding two-dimensional scene.

8. The data-driven mechanized caisson underwater excavation robot operation process tracing system according to claim 6 is characterized in that: It also includes a data blocking unit connected to the parsing unit, and the data blocking unit is used to screen out data redundancy from the sorted data.

9. The data-driven mechanized caisson underwater excavation robot operation process tracing system according to claim 8 is characterized in that: The data block division unit is also used to divide the sorted data for data redundancy screening into a plurality of data blocks; and group the data blocks into a plurality of index blocks; The player is connected to the data segmentation unit. When the playback progress changes, the player obtains the corresponding index block from the timeline mapping relationship, reads the corresponding index block and the remaining data, and renders and plays it through the digital twin unit.

10. The data-driven mechanized caisson underwater excavation robot operation process tracing system according to claim 6, characterized in that: When constructing the soil model in real time, the digital twin unit constructs a soil particle model, a fan-shaped soil model and an overall soil model; The fan-shaped soil model is composed of a plurality of soil particles; The overall soil model is composed of a plurality of fan-shaped soil models.

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