Surface soil stripping construction method

Abstract

The invention discloses a surface soil stripping construction method, which comprises the following steps: S1, collecting coordinate data of a to-be-stripped area, dividing the to-be-stripped area into a plurality of unit networks, measuring the surface soil thickness corresponding to each measuring point on the to-be-stripped area, and combining the surface soil thickness measurement data of each measuring point to obtain a surface soil thickness measurement result; calculating the average surface soil thickness hi of each unit network; s2, a positioning instrument and an angle sensor are arranged on the excavator, and the positioning instrument is used for obtaining geographic coordinates of the excavator in real time; the angle sensors are respectively used for measuring and calculating the rotating angles of the large arm, the small arm and the bucket; s3, calculating to obtain the coordinate of the tooth tip relative to the rotation center of the excavator; s4, determining the stripping degree of the surface soil at the current position, the stripping thickness and the stripping degree of the current construction position can be automatically calculated in combination with the surface soil thickness and the coordinate data, the surface soil stripping operation is assisted, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of topsoil stripping construction, and more specifically, to a topsoil stripping construction method. Background Art

[0002] my country has a large population and limited land, and arable land resources are extremely scarce. The topsoil is the upper layer of the soil profile, where crop roots are dense and well-structured. The cultivated topsoil is the essence of arable land and is rich in minerals, humus and other ingredients required for crop growth. Studies have shown that it generally takes 200 to 1,000 years to form a 2.5 cm thick topsoil, and topsoil is a valuable resource that is difficult to regenerate.

[0003] In recent years, with the development of my country's economy, large and medium-sized production and construction projects such as railways, highways, rail transit, water conservancy and hydropower, and industrial parks have increased. These projects are characterized by a large amount of earthwork excavation and filling and a large amount of abandoned earthwork. For the treatment of abandoned earthwork, in addition to comprehensive utilization, many people choose to set up abandoned slag sites for stacking. Among them, the construction red line range and abandoned slag sites involve the stripping of the natural topsoil layer of the original landform. After the stripped topsoil is uniformly stored, it will be used for the reclamation of high slopes and abandoned slag sites, greening and other soil and water conservation measures in the later stage to avoid the reduction of cultivated land and forest land due to construction.

[0004] In order to fully protect the topsoil resources, the topsoil stripping is carried out according to the principle of "stripping as much as possible". During construction, the design documents usually require the stripping thickness to be controlled at about 20 to 30 cm, but the thickness of the topsoil often varies greatly under different regional environments, different geological and topographic conditions.

[0005] Traditional profiling, drilling and drilling methods, although the measurement results are highly accurate, require destructive excavation or drilling of sample points, which is labor-intensive, costly, inefficient, poorly precise, and inaccurate in determining the thickness of the topsoil. When the stripping thickness of the topsoil is less than the thickness of the topsoil layer, it will lead to a waste of topsoil resources, and when the stripping thickness is greater than the thickness of the topsoil layer, it will lead to a waste of construction resources.

[0006] Therefore, in order to strengthen the protection and utilization of topsoil resources during the construction of production and construction projects, it is necessary to consider optimizing the construction measures and methods of topsoil stripping, to achieve precise stripping according to the actual thickness of the topsoil, to improve the degree of refinement of topsoil stripping, and to achieve full protection of topsoil resources and optimal organization of construction resources. Summary of the invention

[0007] In order to achieve these purposes and other advantages according to the present invention, a preferred embodiment of the present invention provides a topsoil stripping construction method, comprising the following steps:

[0008] S1. Collect the coordinate data of the area to be stripped, divide the area to be stripped into several unit networks, the length of each unit network is l0, the width is w0, the original coordinates of each point in the area to be stripped are (l, w, h), measure the topsoil thickness corresponding to each measuring point on the area to be stripped, and combine the topsoil thickness measurement data of each measuring point to calculate the average topsoil thickness h of each unit network by interpolation method. i ;

[0009] S2. Install a positioning instrument and an angle sensor on the excavator. The positioning instrument is used to obtain the geographic coordinates (x, y, z) of the excavator in real time. There are three angle sensors, which are respectively installed on the excavator's boom, arm and bucket rotation, and are used to measure the rotation angles of the boom, arm and bucket respectively.

[0010] S3. Establish a reference coordinate system with the excavator's rotation center as the origin, with the X axis along the length direction of the excavator body, the Y axis along the width direction of the excavator body, and the Z axis along the opposite direction of gravity, and calculate the coordinates of the tooth tip relative to the excavator's rotation center;

[0011] S4. When the excavator is stripping the topsoil, compare the minimum value (z0+c) of the tooth tip in the Z-axis direction when moving min The coordinate value of the corresponding point in the current operation unit in the Z-axis direction (hh i -h0) can be used to know the degree of topsoil stripping at the current position, which includes incomplete topsoil stripping, completed topsoil stripping and excessive topsoil stripping.

[0012] According to a preferred embodiment of the present invention, the following steps are also included:

[0013] S5. When the topsoil stripping is not completed, the remaining topsoil thickness h in the current operation unit is calculated based on the coordinate data. y and the remaining topsoil volume V y , the calculation formula is as follows; according to the remaining topsoil thickness h in the current operation unit y and the remaining topsoil volume V y Reasonably allocate the number of dump trucks;

[0014] h y =(z0+c) min -(hh i -h0);

[0015] V y =l0×w0×h y .

[0016] According to a preferred embodiment of the present invention, in S1, the amount of topsoil stripping V in each unit grid is calculated. i The process is as follows:

[0017] Considering the thickness of the tooth bucket and the influence of the excavator disturbance, the redundancy coefficient h0 is set to ensure that the topsoil is completely stripped; the coordinates of each point in the area to be stripped after the topsoil is stripped are calculated (l, w, hh i -h0), as the construction control network model, the topsoil stripping amount V in each unit grid is calculated according to the coordinate changes before and after stripping i .

[0018] According to a preferred embodiment of the present invention, the process of determining the topsoil layer where the topsoil is located is as follows:

[0019] The first 10 cm below each measuring point is defined as the topsoil layer. The ground penetrating radar can emit high-frequency electromagnetic pulse waves underground. The reflection signal intensity of the first 10 cm is the topsoil signal intensity α. When the reflection signal intensity is 50%-100% of the topsoil signal intensity α, it is defined as the topsoil layer; when the reflection signal intensity decays to 30%-50% of the topsoil signal intensity α, it is defined as the subsoil layer; when the reflection signal intensity decays to 10%-30% of the topsoil signal intensity α, it is defined as the subsoil layer. When the signal intensity continues to decay to less than 10% of the topsoil signal intensity α, it is defined as the rock layer.

[0020] According to a preferred embodiment of the present invention, in S4, the degree of stripping of the topsoil is expressed as follows:

[0021] (z0+c) min >(hh i -h0), topsoil stripping is not completed;

[0022] (z0+c) min =(hh i -h0), complete the topsoil stripping;

[0023] (z0+c) min <(hh i -h0), excessive stripping of topsoil.

[0024] According to a preferred embodiment of the present invention, in S3, the actual installation height of the locator and the length from the center axis of the construction vehicle are converted into the origin coordinates (x0, y0, z0); the rotation center of the boom is O1, the rotation center of the arm is O2, and the rotation center of the bucket is O3; the arm length of the mechanical working arm is calculated as L1, the arm length is calculated as L2, and the bucket length is calculated as the straight-line distance from the bucket rotation center to the tooth tip is L3. In addition, the distance from the boom rotation center O1 to the excavator rotation center O is L 30 , the rotation angles of the boom, arm and bucket are θ1, θ2, θ3 respectively, and the rotation angle of the excavator is θ0;

[0025] According to θ0 and L 30 , we can find the coordinates of O1 relative to O;

[0026] Based on θ0, L1, and θ1, the coordinates of O2 relative to O1 can be obtained;

[0027] Based on θ0, L2, and θ2, the coordinates of O3 relative to O2 can be obtained;

[0028] According to θ0, L3, and θ3, the coordinates of the tooth tip relative to O3 can be obtained, and thus the coordinates of the tooth tip relative to the excavator's rotation center (x0+a, y0+b, z0+c) can be obtained, where:

[0029] a=L t cos(θ0)cos(θ1)+L2cos(θ0)cos(θ1+θ2)+L3cos(θ1)cos(θ1+θ2+θ3)+

[0030] L 30 cos(θ0);

[0031] b=L1sin(θ0)cos(θ1)+L2sin(θ0)cos(θ1+θ2)+L3sin(θ0)cos(θ1+θ2+θ3)+L 30 sin(θ0);

[0032] c=L1sin(θ1)-L2sin(θ1+θ2)-L3sin(θ1+θ2+θ3).

[0033] The present invention includes at least the following beneficial effects: The present invention can realize rapid, non-destructive and comprehensive detection of the thickness of the topsoil layer, and obtain the thickness of the topsoil layer at each measuring point. The present invention can combine the topsoil thickness and coordinate data to automatically calculate the stripping thickness and stripping degree of the current construction position, assist the topsoil stripping operation, and improve the operation efficiency. Through real-time calculation of the amount to be stripped, the precise deployment of dump vehicles can be achieved, and the construction organization can be optimized. Through the application of this method, the topsoil can be "stripped as much as possible" and excessive stripping can be avoided. The stripped topsoil is of high quality, which can effectively improve the operation accuracy and reduce the construction cost.

[0034] 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

[0035] Figure 1 It is a construction schematic diagram of the topsoil stripping construction method of the present invention. DETAILED DESCRIPTION

[0036] 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.

[0037] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0038] Those skilled in the art should understand that, in the disclosure of the present invention, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0039] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0040] like Figure 1 As shown, a preferred embodiment of the present invention provides a topsoil stripping construction method, comprising the following steps:

[0041] S1. Collect the coordinate data of the area to be stripped, divide the area to be stripped into several unit networks, the length of each unit network is l0, the width is w0, the original coordinates of each point in the area to be stripped are (l, w, h), measure the topsoil thickness of the measuring points on the area to be stripped, and combine the topsoil thickness measurement data of each measuring point to calculate the average topsoil thickness h of each unit network by interpolation method. i ;

[0042] S2. Install a positioning instrument and an angle sensor on the excavator 1. The positioning instrument is used to obtain the geographic coordinates (x, y, z) of the excavator in real time; three angle sensors are provided, which are respectively installed at the excavator's boom, arm and bucket rotation, and are used to measure the rotation angles of the excavator's boom, arm and bucket respectively;

[0043] S3. Establish a reference coordinate system with the excavator's rotation center as the origin, with the X axis along the length direction of the excavator body, the Y axis along the width direction of the excavator body, and the Z axis along the opposite direction of gravity, and calculate the coordinates of the tooth tip relative to the excavator's rotation center;

[0044] S4. When the excavator strips the topsoil, the position of the tooth tip directly reflects the stripping depth. Compare the minimum value (z0+c) of the tooth tip in the Z-axis direction when it moves. min The coordinate value of the corresponding point in the current operation unit in the Z-axis direction (hh i -h0) can be used to know the degree of topsoil stripping at the current position, which includes incomplete topsoil stripping, completed topsoil stripping and excessive topsoil stripping.

[0045] S5. When the topsoil stripping is not completed, the remaining topsoil thickness h in the current operation unit is calculated based on the coordinate data. y and the remaining topsoil volume V y , the calculation formula is as follows; according to the remaining topsoil thickness h in the current operation unit y and the remaining topsoil volume V y Reasonably allocate the number of dump trucks;

[0046] h y =(z0+c) min -(hh i -h0);

[0047] V y =l0×w0×h y .

[0048] The process of determining the topsoil layer where the topsoil is located is as follows:

[0049] The first 10 cm below each measuring point is defined as the topsoil layer. The ground penetrating radar can emit high-frequency electromagnetic pulse waves underground. The reflection signal intensity of the first 10 cm is the topsoil signal intensity α. When the reflection signal intensity is 50%-100% of the topsoil signal intensity α, it is defined as the topsoil layer; when the reflection signal intensity decays to 30%-50% of the topsoil signal intensity α, it is defined as the subsoil layer; when the reflection signal intensity decays to 10%-30% of the topsoil signal intensity α, it is defined as the subsoil layer. When the signal intensity continues to decay to less than 10% of the topsoil signal intensity α, it is defined as the rock layer.

[0050] The topsoil thickness of each measuring point is measured by using ground penetrating radar. Specifically, the processing result of the ground penetrating radar reflection signal is matched with the coordinate data of the corresponding measuring point to obtain the topsoil thickness data set of different measuring points. The topsoil thickness data set of different measuring points is automatically sent to the auxiliary operating system, and the topsoil thickness in each grid area is averaged.

[0051] Ground penetrating radar can emit high-frequency electromagnetic pulse waves underground. When the electromagnetic waves propagate downward, they will be reflected when encountering medium obstacles and be received by the receiving antenna. By analyzing the frequency, amplitude and other intensity characteristics of the reflected signal, the distribution of different geological strata can be determined.

[0052] The locator is integrated with the ground penetrating radar, and the coordinate data of each measuring point can be measured synchronously. The measuring frequency is the same as the electromagnetic wave emission frequency of the ground penetrating radar.

[0053] The principle of detecting the thickness of the topsoil by ground penetrating radar: The geological structure is divided into soil layer, residual layer, medium weathering layer and bedrock from top to bottom, among which the soil layer is divided into topsoil layer, subsoil layer and subsoil layer. The topsoil layer is located on the surface, and is characterized by being loose and porous, with good permeability and a lot of available nutrients. As the depth increases, the soil porosity gradually decreases and the nutrient content gradually decreases. After a certain depth, the rock layer begins to appear, the porosity continues to decrease, and the density begins to increase. The intensity of the electromagnetic wave reflection signal is proportional to the porosity and inversely proportional to the medium density; the porosity and medium density are related to the distribution of the strata. Usually, the porosity is inversely proportional to the depth of the strata, and the medium density is proportional to the depth of the strata. Therefore, the thickness of the topsoil layer can be determined by detecting the intensity of the electromagnetic wave reflection signal.

[0054] In another technical solution, in S1, the amount of topsoil stripping V in each unit grid is calculated. i The process is as follows:

[0055] Considering the thickness of the tooth bucket and the influence of the excavator disturbance, the redundancy coefficient h0 (range 5 to 20 cm, determined in combination with the excavator model) is set to ensure that the topsoil is completely stripped; the coordinates of each point in the area to be stripped after the topsoil is stripped are calculated (l, w, hh i -h0), as the construction control network model, the topsoil stripping amount V in each unit grid is calculated according to the coordinate changes before and after stripping i ;

[0056] In another technical solution, in S4, the degree of stripping of the topsoil is expressed as follows:

[0057] (z0+c) min >(hh i -h0), topsoil stripping is not completed;

[0058] (z0+c) min =(hh i -h0), complete the topsoil stripping;

[0059] (z0+c) min <(hh i -h0), excessive stripping of topsoil.

[0060] In another technical solution, in S3, the actual installation height of the locator and the length from the center axis of the construction vehicle are converted into the origin coordinates (x0, y0, z0); the rotation center of the boom is O1, the rotation center of the arm is O2, and the rotation center of the bucket is O3; the arm length of the mechanical working arm is L1, the arm length is L2, and the bucket length is L3. The straight-line distance from the bucket rotation center to the tooth tip is L3. In addition, the distance from the boom rotation center O1 to the excavator rotation center O is L 30 , the rotation angles of the boom, arm and bucket are θ1, θ2, θ3 respectively, and the rotation angle of the excavator is θ0;

[0061] According to θ0 and L 30 , the coordinate of O1 relative to O can be obtained; according to θ0, L1, θ1, the coordinate of O2 relative to O1 can be obtained; according to θ0, L2, θ2, the coordinate of O3 relative to O2 can be obtained; according to θ0, L3, θ3, the coordinate of the tooth tip relative to O3 can be obtained, thus obtaining the coordinate of the tooth tip relative to the excavator's rotation center (x0+a, y0+b, z0+c), where a=L1cos(θ0)cos(θ1)+L2cos(θ0)cos(θ1+θ2)+L3cos(θ1)cos(θ1+θ2+θ3)+L 30 cos(θ0); b=L1sin(θ0)cos(θ1)+L2sin(θ0)cos(θ1+θ2)+L3sin(θ0)cos(θ1+θ2+θ3)+L 30 sin(θ0); c=L1sin(θ1)-L2sin(θ1+θ2)-L3sin(θ1+θ2+θ3).

[0062] 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 method for topsoil stripping, characterized in that: The following steps are involved: S1. Collect the coordinate data of the area to be stripped, divide the area to be stripped into several unit networks, the length of each unit network is l0, the width is w0, the original coordinates of each point in the area to be stripped are (l, w, h), measure the topsoil thickness corresponding to each measuring point on the area to be stripped, and combine the topsoil thickness measurement data of each measuring point to calculate the average topsoil thickness h of each unit network by interpolation method. i ; S2. Install a positioning instrument and an angle sensor on the excavator. The positioning instrument is used to obtain the geographic coordinates (x, y, z) of the excavator in real time. There are three angle sensors, which are respectively installed on the excavator's boom, arm and bucket rotation, and are used to measure the rotation angles of the boom, arm and bucket respectively. S3. Establish a reference coordinate system with the excavator's rotation center as the origin, with the X axis along the length direction of the excavator body, the Y axis along the width direction of the excavator body, and the Z axis along the opposite direction of gravity, and calculate the coordinates of the tooth tip relative to the excavator's rotation center; S4. When the excavator is stripping the topsoil, compare the minimum value (z0+c) of the tooth tip in the Z-axis direction when moving min The coordinate value of the corresponding point in the current operation unit in the Z-axis direction (hh i -h0) can be used to know the degree of topsoil stripping at the current position, which includes incomplete topsoil stripping, completed topsoil stripping and excessive topsoil stripping.

2. The method for stripping topsoil according to claim 1, characterized in that: The following steps are also included: S5. When the topsoil stripping is not completed, the remaining topsoil thickness h in the current operation unit is calculated based on the coordinate data. y and the remaining topsoil volume V y , the calculation formula is as follows; according to the remaining topsoil thickness h in the current operation unit y and the remaining topsoil volume V y Reasonably allocate the number of dump trucks; h y =(z0+c) min -(hh i -h0); In y =l0×w0×h y 。 3. The method for stripping topsoil according to claim 1, characterized in that: In S1, the topsoil stripping amount V in each unit grid is calculated. i The process is as follows: Considering the thickness of the tooth bucket and the influence of the excavator disturbance, the redundancy coefficient h0 is set to ensure that the topsoil is completely stripped; the coordinates of each point in the area to be stripped after the topsoil is stripped are calculated (l, w, hh i -h0), as the construction control network model, the topsoil stripping amount V in each unit grid is calculated according to the coordinate changes before and after stripping i .

4. The method for stripping topsoil according to claim 1, characterized in that: The process of determining the topsoil layer where the topsoil is located is as follows: The first 10 cm below each measuring point is defined as the topsoil layer. The ground penetrating radar can emit high-frequency electromagnetic pulse waves underground. The reflection signal intensity of the first 10 cm is the topsoil signal intensity α. When the reflection signal intensity is 50%-100% of the topsoil signal intensity α, it is defined as the topsoil layer; when the reflection signal intensity decays to 30%-50% of the topsoil signal intensity α, it is defined as the subsoil layer; when the reflection signal intensity decays to 10%-30% of the topsoil signal intensity α, it is defined as the subsoil layer. When the signal intensity continues to decay to less than 10% of the topsoil signal intensity α, it is defined as the rock layer.

5. The method for topsoil stripping according to claim 1, characterized in that: In S4, the degree of stripping of the topsoil is expressed as follows: (z0+c) min >(hh i -h0), topsoil stripping is not completed; (z0+c) min =(hh i -h0), complete the topsoil stripping; (z0+c) min <(hh i -h0), excessive stripping of topsoil.

6. The method for stripping topsoil according to claim 1, characterized in that: In S3, the actual installation height of the locator and the length from the center axis of the construction vehicle are converted into the origin coordinates (x0, y0, z0); the rotation center of the boom is O1, the rotation center of the arm is O2, and the rotation center of the bucket is O3; the arm length of the mechanical working arm is L1, the arm length is L2, and the bucket length is L3. The straight-line distance from the bucket rotation center to the tooth tip is L3. In addition, the distance from the boom rotation center O1 to the excavator rotation center O is L 30 , the rotation angles of the boom, arm and bucket are θ1, θ2, θ3 respectively, and the rotation angle of the excavator is θ0; According to θ0 and L 30 , we can find the coordinates of O1 relative to O; Based on θ0, L1, and θ1, the coordinates of O2 relative to O1 can be obtained; Based on θ0, L2, and θ2, the coordinates of O3 relative to O2 can be obtained; According to θ0, L3, θ3, the coordinates of the tooth tip relative to O3 can be obtained, and thus the coordinates of the tooth tip relative to the excavator's rotation center (x0+a, y0+b, z0+c) can be obtained, where: a=L1cos(θ0)cos(θ1)+L2cos(θ0)cos(θ1+θ2)+L3cos(θ1)cos(θ1+θ2+θ3)+L 30 cos(θ0); b=L1sin(θ0)cos(θ1)+L2sin(θ0)cos(θ1+θ2)+L3sin(θ0)cos(θ1+θ2+θ3)+L 30 sin(θ0); C=L1sin(θ1)-L2sin(θ1+θ2)-L3sin(θ1+θ2+θ3).

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