Real-time monitoring and alarming device for rock-fill concrete pouring track

Abstract

The invention discloses a rock-fill concrete pouring track real-time monitoring and alarm device. The rock-fill concrete pouring track real-time monitoring and alarm device comprises a monitoring unit, an analysis control unit and an alarm feedback unit, the monitoring unit comprises a GNSS main antenna, a GNSS auxiliary antenna, a vibration sensor and an angular velocity sensor. And the alarm feedback unit comprises a horn and an alarm lamp. Real-time monitoring of the rock-fill concrete pouring process is realized, it is ensured that the pouring path meets the construction requirements, the dam construction quality is improved, alarm feedback control of the rock-fill concrete pouring process is realized, and the alarm feedback unit is timely and quantitatively provided for on-site constructors.

Description

Technical Field

[0001] The invention relates to the technical field of real-time monitoring of rockfill concrete casting trajectory, and in particular to a real-time monitoring and alarm device for rockfill concrete casting trajectory. Background Art

[0002] Rockfill concrete dam construction technology has been widely used at home and abroad. Rockfill concrete breaks through the constraints of traditional continuous gradation compaction theory, and adopts the method of stacking large rockfill into warehouses and pouring self-compacting concrete to achieve concrete with 6-7 gradations or even larger aggregate particle size ranges.

[0003] At present, the concrete pouring process on site mainly relies on the operation and control of workers and the supervision of construction technicians or supervisors. The human subjective influence is relatively large, and the pouring process is difficult to strictly control. There is a lack of real-time monitoring and alarm feedback control methods for the pouring process. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide a real-time monitoring and alarm device for rockfill concrete pouring trajectory, so as to realize real-time monitoring of the rockfill concrete pouring process, ensure that the pouring path meets the construction requirements, improve the dam construction quality, realize alarm feedback control of the rockfill concrete pouring process, and provide timely and quantitative information to on-site construction personnel.

[0005] The present invention also provides a real-time monitoring and alarm device for rockfill concrete pouring trajectory, comprising: a monitoring unit, an analysis control unit, and an alarm feedback unit;

[0006] The monitoring unit includes: a GNSS main antenna and a secondary antenna, a vibration sensor, and an angular velocity sensor;

[0007] The alarm feedback unit includes: a horn and an alarm light.

[0008] According to the real-time monitoring and alarm device for rockfill concrete pouring trajectory provided by the present invention, the GNSS main antenna and the auxiliary antenna are arranged along the boom of the concrete placing machine and are set at the same height.

[0009] According to the real-time monitoring and alarm device for rockfill concrete pouring trajectory provided by the present invention, the angular velocity sensor is arranged on the outer wall of the cantilever tube of the concrete placing boom.

[0010] According to the real-time monitoring and alarm device for rockfill concrete pouring trajectory provided by the present invention, the vibration sensor is arranged on the outer wall of the horizontal pipe of the concrete placing boom.

[0011] According to a real-time monitoring and alarm device for rockfill concrete pouring trajectory provided by the present invention, the concrete pouring trajectory is set as S, and the method for obtaining the concrete pouring trajectory is as follows: the top of the support column of the placing boom is set as point A, and according to the top of the support column of the placing boom, that is, the three-dimensional work area coordinates of point A, the direction angle α of the boom of the placing boom, the direction angle β of the boom pipe, and the geometric parameters of the placing boom, including the horizontal pipe length L CD , hanging pipe length L EF 、Height of pillar top H AG , calculate the work area coordinates of the unloading point:

[0012]

[0013] According to a real-time monitoring and alarm device for rockfill concrete pouring trajectory provided by the present invention, the concrete pouring state is set to δ, and the current concrete pouring state δ is determined according to the acceleration data returned by the vibration sensor:

[0014]

[0015] After the warehouse is opened for pouring, if and only if δ=1, the current pouring trajectory is recorded in real time as S={P t0 ,P t1 ,…P ti}, where P ti =(ti,x Pti ,y Pti ,z Pti ), ti is the current time, (x Pti ,y Pti ,z Pti ) is the coordinate of the current unloading point.

[0016] According to a real-time monitoring and alarm device for rockfill concrete pouring trajectory provided by the present invention, the geometric parameters of the concrete placing boom used include the horizontal pipe length, the hanging pipe length, and the top height of the pillar. The acquisition should take into account the error of manual measurement and should be determined in combination with the most optimized method. The method steps are as follows:

[0017] S1. Sampling steel tape measure or tape measure to measure the horizontal tube length L CD , hanging pipe length L EF 、Height of pillar top H AG The length of the horizontal tube, and the estimation of its upper and lower limits, for example, the horizontal tube length L CD Confirm that: Hanging tube length L EF Confirm that: Height of pillar top H AG Confirm that:

[0018] S2. Place a concrete placing machine in the construction warehouse and align its discharge port with N points (N≥20) at random. The coverage of these points should cover the entire warehouse surface as much as possible. Use a handheld RTK or total station to obtain the work area coordinates of the above points. At the same time, record the work area coordinates of the top of the placing machine support at the corresponding point The direction angle of the main arm of the placing machine (α i ), boom tube direction angle (β i ), that is, the information parameter D of the fabric placing machine at this time i =(A i ,α i ,β i ); Finally, the true value set of the discharge port coordinates is obtained and the corresponding fabric placing machine parameter set D = {D 1 ,D 2 ,…,D N};

[0019] S3. Construct the mathematical model for optimizing the geometric parameters of the fabric placing machine as follows:

[0020]

[0021] The optimization goal is to find the optimal L CD ,L EF ,H AG , so that the measured coordinates P * The deviation from the estimated coordinates is minimal.

[0022] S4. Based on the optimization algorithm, such as gradient descent method and genetic algorithm, the above optimization model is solved and optimized, and finally the optimal solution of the geometric parameters of the fabric crane is obtained as the input parameter of the formula.

[0023] According to a real-time monitoring and alarm device for rockfill concrete casting trajectory provided by the present invention, when the casting trajectory deviates from the preset casting path, the analysis control unit 2 sends an instruction to the alarm feedback unit 3, and the speaker and the alarm light remind the on-site operator that the current casting trajectory is abnormal, and the speaker cyclically broadcasts the position adjustment instruction until the casting trajectory is normal.

[0024] Compared with the existing technology, the real-time monitoring and alarm device for rockfill concrete pouring trajectory can realize real-time monitoring of the rockfill concrete pouring process, ensure that the pouring path meets the construction requirements, improve the dam construction quality, realize alarm feedback control of the rockfill concrete pouring process, and provide timely and quantitative information to on-site construction personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments;

[0026] Figure 1This is an overall diagram of the real-time monitoring and alarm device for pouring rockfill concrete according to the present invention;

[0027] Figure 2 It is a front view of the real-time monitoring and alarm device for pouring track of rockfill concrete of the present invention;

[0028] Figure 3 It is a top view of the real-time monitoring and alarm device for rockfill concrete pouring trajectory of the present invention. DETAILED DESCRIPTION

[0029] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0030] Reference Figure 1-3 The embodiment of the present invention provides a real-time monitoring and alarm device for rockfill concrete casting trajectory, which includes

[0031] The device comprises the following units (attached Figures 1-2 ):

[0032] Monitoring unit 1:

[0033] The monitoring unit 1 includes a GNSS main antenna 11 and a sub-antenna 12 , a vibration sensor 13 , and an angular velocity sensor (gyro sensor) 14 .

[0034] Analysis control unit 2:

[0035] The analysis and control unit 2 is mainly used to collect and obtain the sensor data sent back by the monitoring unit 1 in real time, analyze and record the concrete pouring trajectory S, upload the obtained data and analysis results to the cloud platform for archiving in real time, and provide real-time alarm feedback when the pouring trajectory deviates from the preset pouring path.

[0036] Alarm feedback unit 3:

[0037] The alarm feedback unit 3 is composed of a speaker and an alarm light, and is mainly used for real-time alarm feedback.

[0038] The GNSS main antenna 11 and the auxiliary antenna 12 are mainly used for positioning and orientation, that is, to calculate the three-dimensional coordinates (x A ,y A ,z A ) and the direction angle of the boom of the concrete placing machine; the GNSS main antenna 11 and the auxiliary antenna 12 are arranged along the boom of the concrete placing machine and should be set at the same height as much as possible to ensure the calculation accuracy of the direction angle (α) of the boom of the concrete placing machine. It is preferred to arrange them at the top of the support of the concrete placing machine and the front end of the boom to avoid damage to the equipment during the lifting of the concrete placing machine.

[0039] The angular velocity sensor (gyro sensor) 14 is mainly used to obtain the direction angle (β) of the boom tube; the angular velocity sensor (gyro sensor) is arranged on the outer wall of the boom tube of the material placing machine, and its position should be as close as possible to the rotating bearing of the cantilever tube and the horizontal tube for wiring.

[0040] The vibration sensor 13 determines the pouring state δ, that is, whether concrete pouring is currently being carried out, by the difference in vibration signals; it should be arranged on the outer wall of the horizontal pipe of the concrete placing machine.

[0041] The method for obtaining the concrete pouring trajectory S is as follows (see Appendix Figure 2 ): According to the three-dimensional coordinates of the top of the concrete placing machine support (i.e. point A) (x A ,y A ,z A ), the direction angle of the boom of the concrete placing machine (α), the direction angle of the boom tube (β), and the geometric parameters of the concrete placing machine (including the horizontal tube length L CD , hanging pipe length L EF 、Height of pillar top H AG ), calculate the work area coordinates (x P ,y P ,z P ):

[0042]

[0043] The current concrete pouring status is determined based on the acceleration data sent back by the vibration sensor:

[0044]

[0045] After the warehouse is opened for pouring, if and only if δ=1, the current pouring trajectory is recorded in real time as S={P t0 ,P t1 ,…P ti}, where P ti =(ti,x Pti ,y Pti ,z Pti ), ti, is the current moment, (x Pti ,y Pti ,z Pti ) is the coordinate of the current unloading point P.

[0046] Geometric parameters of the concrete placing machine used (including horizontal pipe length L CD , hanging pipe length L EF 、Height of pillar top H AG ) should take into account the error of manual measurement and needs to be determined in combination with the most optimized method. The method and steps are as follows:

[0047] S1. Sampling steel tape measure or measuring tape to measure the horizontal tube length L CD , hanging pipe length L EF 、Height of pillar top H AG The length of the horizontal tube, and the estimation of its upper and lower limits, for example, the horizontal tube length L CD Confirm that: Hanging tube length L EF Confirm that: Height of pillar top H AG Confirm that:

[0048] S2. Place a concrete placing machine in the construction area and align its discharge port with N points (N≥20) at random. The coverage of these points should cover the entire area as much as possible. Use a handheld RTK or total station to obtain the work area coordinates of the above points. At the same time, record the work area coordinates of the top of the placing machine support at the corresponding point The direction angle of the main arm of the placing machine (α i ), boom tube direction angle (β i ), that is, the information parameter D of the fabric placing machine at this time i =(A i ,α i ,β i ); Finally, the true value set of the discharge port coordinates is obtained and the corresponding fabric placing machine parameter set D = {D 1 ,D 2 ,…,D N};

[0049] S3. Construct the mathematical model for optimizing the geometric parameters of the fabric placing machine as follows:

[0050]

[0051] The optimization goal is to find the optimal L CD ,L EF ,H AG , so that the measured coordinates P * The deviation from the estimated coordinates is minimal.

[0052] S4. Based on an optimization algorithm, such as a gradient descent method or a genetic algorithm, the above optimization model is solved and optimized, and finally the optimal solution of the geometric parameters of the fabric placing machine is obtained as the input parameter of formula (1).

[0053] When the pouring trajectory deviates from the preset pouring path, the analysis and control unit 2 sends instructions to the alarm feedback unit 3, and the speaker and alarm light prompt the on-site operator that the current pouring trajectory is abnormal, and the speaker cyclically broadcasts the position adjustment instructions until the pouring trajectory is normal.

[0054] Furthermore, a temperature sensor can be added to the outside of the cantilever pipe of the concrete placing boom to monitor the temperature of the concrete entering the warehouse in real time as an evaluation indicator of the pouring process.

[0055] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A real-time monitoring and alarm device for rockfill concrete pouring trajectory, characterized in that: include: Monitoring unit, analysis and control unit, alarm feedback unit; The monitoring unit includes: a GNSS main antenna and a secondary antenna, a vibration sensor, and an angular velocity sensor; The alarm feedback unit includes: a horn and an alarm light.

2. A real-time monitoring and alarm device for rockfill concrete pouring trajectory according to claim 1, characterized in that: The GNSS main antenna and the auxiliary antenna are arranged along the boom of the concrete placing machine and are arranged at the same height.

3. The real-time monitoring and alarm device for rockfill concrete pouring trajectory according to claim 1 is characterized in that: The angular velocity sensor is arranged on the outer wall of the cantilever tube of the material placing machine.

4. The real-time monitoring and alarm device for rockfill concrete pouring trajectory according to claim 1 is characterized in that: The vibration sensor is arranged on the outer wall of the horizontal pipe of the material placing machine.

5. The real-time monitoring and alarm device for rockfill concrete pouring trajectory according to claim 1 is characterized in that: The concrete pouring trajectory is set as S. The method for obtaining the concrete pouring trajectory is as follows: the top of the concrete placing boom support is set as point A. According to the top of the concrete placing boom support, i.e., the three-dimensional work area coordinates of point A, the direction angle α of the boom arm, the direction angle β of the boom tube, and the geometric parameters of the concrete placing boom, including the horizontal tube length L CD , hanging tube length L EF 、Height of pillar top H AG , calculate the work area coordinates of the unloading point:

6. The real-time monitoring and alarm device for rockfill concrete pouring trajectory according to claim 1, characterized in that: Set the concrete pouring state to δ, and determine the current concrete pouring state δ based on the acceleration data sent back by the vibration sensor: After the warehouse is opened for pouring, if and only if δ=1, the current pouring trajectory is recorded in real time as S={P t0 ,P t1 ,…P ti }, where P ti =(ti,x Pti ,y Pti ,z Pti ), ti is the current time, (x Pti ,y Pti ,z Pti ) is the coordinate of the current unloading point.

7. The real-time monitoring and alarm device for rockfill concrete pouring trajectory according to claim 5, characterized in that: The geometric parameters of the concrete placing machine used, including the horizontal pipe length, the hanging pipe length, and the top height of the support, should be determined by taking into account the error of manual measurement and combining the most optimized method. The method and steps are as follows: S1. Sampling steel tape measure or tape measure to measure the horizontal tube length L CD , hanging tube length L EF 、Height of pillar top H AG The length of the horizontal tube, and the estimation of its upper and lower limits, for example, the horizontal tube length L CD Confirm that: Hanging tube length L EF Confirm that: Height of pillar top H AG Confirm that: S2. Place a concrete placing machine in the construction warehouse and align its discharge port with N points (N≥20) at random. The coverage of these points should cover the entire warehouse surface as much as possible. Use a handheld RTK or total station to obtain the work area coordinates of the above points. At the same time, record the work area coordinates of the top of the placing machine support at the corresponding point The direction angle of the main arm of the placing machine (α i ), boom tube direction angle (β i ), that is, the information parameter D of the fabric placing machine at this time i =(A i ,α i ,β i ); Finally, the true value set of the discharge port coordinates is obtained and the corresponding fabric placing machine parameter set D = {D 1 ,D 2 ,…,D N }; S3. Construct the mathematical model for optimizing the geometric parameters of the fabric placing machine as follows: The optimization goal is to find the optimal L CD ,L EF ,H AG , so that the measured coordinates P * The deviation from the estimated coordinates is minimal. S4. Based on the optimization algorithm, such as gradient descent method and genetic algorithm, the above optimization model is solved and optimized, and finally the optimal solution of the geometric parameters of the fabric crane is obtained as the input parameters of the formula.

8. The real-time monitoring and alarm device for rockfill concrete pouring trajectory according to claim 1 is characterized in that: When the pouring trajectory deviates from the preset pouring path, the analysis and control unit 2 sends instructions to the alarm feedback unit 3, and the speaker and alarm light prompt the on-site operator that the current pouring trajectory is abnormal, and the speaker cyclically broadcasts the position adjustment instructions until the pouring trajectory is normal.

Images