Method, device, equipment and medium for measuring the volume of soil on the horizontal conveyor belt of a shield machine

Abstract

The present application relates to the technical field of shield tunnel construction. The present application discloses a method, device, equipment and medium for measuring the volume of slag on the horizontal conveyor belt of a shield machine, which can improve the accuracy of measuring the volume of slag. The method includes obtaining the first point cloud data of the horizontal conveyor belt in the shield machine when it is unloaded, preprocessing the first point cloud data, and obtaining the first curve and the first coordinate set at the horizontal roller; obtaining at least one set of second point cloud data of the horizontal conveyor belt when it is loaded with slag based on the scanning frequency; preprocessing the target second point cloud data to obtain the second coordinate set, the third coordinate set and the fourth coordinate set, and the target second point cloud data is any set of data of all the second point cloud data; fitting the first coordinate set, the third coordinate set and the fourth coordinate set into a second curve; selecting the optimal curve based on the preset rules; calculating the volume of slag based on the preset time, the scanning frequency, the optimal curve and the second coordinate set.

Description

Technical Field

[0001] The present application relates to the technical field of shield tunnel construction, and more specifically, to a method, device, equipment and medium for measuring the volume of slag on a horizontal conveyor belt of a shield machine. Background Art

[0002] The traditional method for measuring the volume of slag on the horizontal conveyor belt of a shield machine is usually to scan the horizontal conveyor belt of the shield machine at the site without any load through a 3D laser scanner to obtain the point cloud data of the conveyor belt in the empty state; during the over-discharge warning period, the slag on the horizontal conveyor belt of the shield machine at the site is scanned through a 3D laser scanner to obtain the point cloud data of the slag surface; according to the scanning frequency of the 3D laser scanner, the movement speed of the horizontal conveyor belt of the shield machine, the point cloud data of the conveyor belt and the point cloud data of the slag surface scanned each time during the over-discharge warning period, the actual volume of slag discharged by the shield machine during the over-discharge warning period is calculated. Although this method can calculate the volume of slag, it ignores the fact that when the slag falls on the horizontal conveyor belt of the shield machine, it will produce a large impact force on the horizontal conveyor belt, causing the horizontal conveyor belt to deform in the vertical direction. This deformation will affect the scanning results of the 3D laser scanner, thereby causing a certain error in the calculation of the slag volume. Summary of the invention

[0003] The purpose of the embodiment of the present application is to provide a method, device, equipment and medium for measuring the volume of slag on the horizontal conveyor belt of a shield machine, which can improve the accuracy of measuring the volume of slag. The embodiment of the present application is mainly achieved through the following technical solutions:

[0004] A first aspect of an embodiment of the present application provides a method for measuring the volume of slag on a horizontal conveyor belt of a shield machine, comprising:

[0005] Acquire first point cloud data, pre-process the first point cloud data, and obtain a first curve and a first coordinate set of a horizontal conveyor belt in a shield machine at a horizontal roller, wherein the first point cloud data is data of the horizontal conveyor belt when it is unloaded;

[0006] Acquire at least one set of second point cloud data based on the scanning frequency at each moment in the preset time, wherein each set of the second point cloud data is data of the horizontal conveyor belt when it is loaded with slag;

[0007] Preprocessing the target second point cloud data to obtain a second coordinate set and a third coordinate set and a fourth coordinate set on both sides of the horizontal conveyor belt, wherein the target second point cloud data is any one set of second point cloud data in the at least one set of second point cloud data;

[0008] Using the least square method to perform fitting processing on the first coordinate set, the third coordinate set, and the fourth coordinate set to obtain a second curve;

[0009] Selecting one of the first curve and the second curve as an optimal curve based on a preset rule;

[0010] The volume of the soil is calculated based on the preset time, the scanning frequency, the optimal curve and the second coordinate set.

[0011] According to one embodiment of the present application, the step of preprocessing the first point cloud data to obtain a first curve and a first coordinate set of a horizontal conveyor belt in a shield machine at a horizontal roller includes:

[0012] Using a first preset algorithm to perform conversion processing on a first target point to obtain a first coordinate corresponding to the first target point, wherein the first target point is any point in the first point cloud data;

[0013] All the first coordinates constitute a fifth coordinate set, and all coordinate points of the fifth coordinate set constitute a first curve;

[0014] The fifth coordinate set is screened using a second preset algorithm to obtain the first coordinate set.

[0015] According to an embodiment of the present application, a first preset algorithm is used to convert the first target point, and a calculation formula for obtaining a first coordinate corresponding to the first target point is:

[0016] ;

[0017] ;

[0018] in, is the value of the first coordinate on the abscissa axis, The distance between the three-dimensional laser scanner for collecting the first target point and the horizontal conveyor belt, is a scanning angle of the three-dimensional laser scanner scanning the first target point, is the value of the first coordinate on the vertical axis.

[0019] According to an embodiment of the present application, the step of using a second preset algorithm to filter the fifth coordinate set to obtain the first coordinate set includes:

[0020] Setting a first median point of a first set to be processed and the fifth coordinate set, wherein the first set to be processed is an empty set;

[0021] Splitting the fifth coordinate set into a first sub-coordinate set and a second sub-coordinate set based on the first median point;

[0022] Then loop through the following steps:

[0023] Obtaining a first slope and a second slope by calculation based on three adjacent elements at the end of the first sub-coordinate set;

[0024] When the first slope and the second slope meet a first preset condition, adding three adjacent elements at the end of the first sub-coordinate set to the first to-be-processed set, and removing three adjacent elements at the end of the first sub-coordinate set;

[0025] Calculating and obtaining a third slope and a fourth slope based on three adjacent initial elements in the second sub-coordinate set;

[0026] When the third slope and the fourth slope meet the third preset condition, three adjacent elements in the second sub-coordinate set are added to the first to-be-processed set, and three adjacent elements in the second sub-coordinate set are removed;

[0027] When the first slope and the second slope meet the second preset condition or when the third slope and the fourth slope meet the fourth preset condition, the loop is terminated and the first to-be-processed set is used as the first coordinate set.

[0028] According to one embodiment of the present application, the step of preprocessing the target second point cloud data to obtain the second coordinate set and the third coordinate set and the fourth coordinate set on both sides of the horizontal conveyor belt includes:

[0029] Using a third preset algorithm to transform the second target point to obtain a second coordinate corresponding to the second target point, wherein the second target point is any point in the second point cloud data;

[0030] All the second coordinates constitute the second coordinate set;

[0031] Setting a first preset threshold, a second preset threshold, and a second median point of the second coordinate set, wherein the first preset threshold and the second preset threshold are both initialized to 0;

[0032] Splitting the second coordinate set into a third sub-coordinate set and a fourth sub-coordinate set based on the second median point;

[0033] Then loop through the following steps:

[0034] When the first preset threshold is less than 4, the following steps are performed: a fifth slope and a sixth slope are calculated based on the last three adjacent elements in the third sub-coordinate set, and the last three adjacent elements are removed from the third sub-coordinate set; when the fifth slope and the sixth slope meet the fifth preset condition, the first preset threshold is incremented by one; when the first preset threshold is greater than 3, the third sub-coordinate set is used as the third coordinate set;

[0035] When the second preset threshold is less than 4, perform the following steps: calculate the seventh slope and the eighth slope based on the three starting adjacent elements in the fourth sub-coordinate set, and remove the three starting adjacent elements from the fourth sub-coordinate set; when the seventh slope and the eighth slope meet the sixth preset condition, perform a self-increment operation on the second preset threshold; when the second preset threshold is greater than 3, use the fourth sub-coordinate set as the fourth coordinate set.

[0036] According to an embodiment of the present application, the step of selecting one of the first curve and the second curve as the optimal curve based on a preset rule includes:

[0037] Calculating a first area enclosed by corresponding points of the first curve and the second curve;

[0038] Setting a third preset threshold;

[0039] When the first area is equal to the third preset threshold, taking the first curve as the optimal curve;

[0040] When the first area is not equal to the third preset threshold, the second curve is used as the optimal curve.

[0041] According to one embodiment of the present application, the step of calculating the volume of the muck based on the preset time, the scanning frequency, the optimal curve and the second coordinate set includes:

[0042] All coordinate points of the second coordinate set constitute a third curve;

[0043] Obtaining a second area corresponding to the target second point cloud data by calculation based on the optimal curve and the third curve;

[0044] The volume of the muck is calculated based on the preset time, the scanning frequency and all the second areas.

[0045] A second aspect of the embodiment of the present application provides a device for measuring the volume of slag on a horizontal conveyor belt of a shield machine, comprising:

[0046] A first point cloud data acquisition module is used to acquire first point cloud data, pre-process the first point cloud data, and obtain a first curve and a first coordinate set of a horizontal conveyor belt in a shield machine at a horizontal roller, wherein the first point cloud data is data of the horizontal conveyor belt when it is unloaded;

[0047] A second point cloud data acquisition module is used to acquire at least one set of second point cloud data based on the scanning frequency at each moment in a preset time, wherein each set of the second point cloud data is data of the horizontal conveyor belt when it is loaded with slag;

[0048] A preprocessing module, used for preprocessing the target second point cloud data to obtain a second coordinate set and a third coordinate set and a fourth coordinate set on both sides of the horizontal conveyor belt, wherein the target second point cloud data is any one set of second point cloud data in the at least one set of second point cloud data;

[0049] A fitting module, used for fitting the first coordinate set, the third coordinate set and the fourth coordinate set by using a least square method to obtain a second curve;

[0050] A selection module, configured to select one of the first curve and the second curve as an optimal curve based on a preset rule;

[0051] The muck volume calculation module is used to calculate the muck volume based on the preset time, the scanning frequency, the optimal curve and the second coordinate set.

[0052] The third aspect of an embodiment of the present application provides a terminal device, including: a processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory, and executing the steps of the method for measuring the volume of debris on the horizontal conveyor belt of a shield machine provided in the first aspect of the embodiment of the present application.

[0053] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which is used to store a computer program, and the computer program enables the computer to execute the steps of the method for measuring the volume of debris on the horizontal conveyor belt of a shield machine provided in the first aspect of the embodiments of the present application.

[0054] The beneficial effects of the embodiments of the present application include:

[0055] The embodiment of the present application utilizes a variety of point cloud data obtained in real time and fits the curve through the least squares method to avoid the volume measurement error caused by vertical deformation in the prior art. Specifically, the embodiment of the present application is to obtain the first point cloud data, pre-process the first point cloud data, obtain the first curve and the first coordinate set of the horizontal conveyor belt in the shield machine at the horizontal roller, wherein the first point cloud data is the data of the horizontal conveyor belt when it is unloaded; obtain at least one set of second point cloud data based on the scanning frequency at each moment in the preset time, wherein each set of the second point cloud data is the data of the horizontal conveyor belt when it is loaded with slag; pre-process the target second point cloud data to obtain the second coordinate set and the third coordinate set and the fourth coordinate set on both sides of the horizontal conveyor belt, wherein the target second point cloud data is any set of second point cloud data in the at least one set of second point cloud data; use the least squares method to fit the first coordinate set, the third coordinate set and the fourth coordinate set to obtain the second curve; select one of the first curve and the second curve as the optimal curve based on the preset rules; calculate the slag volume based on the preset time, the scanning frequency, the optimal curve and the second coordinate set. Therefore, the embodiment of the present application can improve the accuracy of measuring the slag volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0057] Figure 1 A flow chart of a method for measuring the volume of slag on a horizontal conveyor belt of a shield machine of the present application in some embodiments;

[0058] Figure 2 A flowchart of a method for measuring the volume of slag on a horizontal conveyor belt of a shield machine in some embodiments of the present application;

[0059] Figure 3 A reference diagram for the position settings of the 3D laser scanner and the horizontal conveyor belt in this application;

[0060] Figure 4 A reference diagram of the first coordinate set, the third coordinate set, and the fourth coordinate set on the coordinate axis in this application;

[0061] Figure 5 is a reference figure for the fitting curve in this application;

[0062] Figure 6 is a reference diagram for the actual curve and the fitted curve in this application;

[0063] Figure 7 This is a principle block diagram of a device for measuring the volume of slag on a horizontal conveyor belt of a shield machine of the present application in some embodiments;

[0064] Figure 8 This is a functional block diagram of the terminal device of the present application in some embodiments. DETAILED DESCRIPTION

[0065] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0066] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0067] The terms "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0068] The terms "comprises," "comprising," or any other variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0069] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0070] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0071] like Figure 1 and Figure 2 As shown, Figure 1 A flow chart of a method for measuring the volume of debris on a horizontal conveyor belt of a shield machine provided in the first aspect of an embodiment of the present application. Figure 2 A flowchart of a method for measuring the volume of slag on a horizontal conveyor belt of a shield machine provided in the first aspect of the embodiment of the present application. Figure 1 In the method for measuring the volume of slag on the horizontal conveyor belt of the shield machine, the method comprises:

[0072] S1. Obtain first point cloud data, pre-process the first point cloud data, and obtain a first curve and a first coordinate set of the horizontal conveyor belt in the shield machine at the horizontal roller, wherein the first point cloud data is the data of the horizontal conveyor belt when it is unloaded. Figure 2 Refer to the step "Obtaining the no-load data contour curve of the horizontal conveyor belt" in the previous section.

[0073] The first point cloud data is obtained by scanning the horizontal conveyor belt through the three-dimensional laser scanner in the shield machine when the shield machine is not excavating. The three-dimensional laser scanner is arranged above the center of the horizontal conveyor belt to ensure that the accuracy of the three-dimensional laser scanner will not be changed by the operation of the shield machine during the scanning process. Then the three-dimensional laser scanner and the industrial control computer are started, and it is ensured that the three-dimensional laser scanner is perpendicular to the transportation direction of the horizontal conveyor belt.

[0074] The height of the three-dimensional laser scanner from the horizontal conveyor belt needs to be set between 0.6m and 1m, wherein it is necessary to ensure that the laser emission point of the three-dimensional laser scanner is perpendicular to the horizontal conveyor belt, and ensure that the three-dimensional laser scanner always serves as the origin of the coordinate system. At the same time, the scanning angle of the three-dimensional laser scanner defaults to [-5°, 185°]. The angular resolution of the three-dimensional laser scanner can be set to 0.1667°, 0.25°, 0.3333°, 0.5°0.667° and 1°. In the embodiment of the present application, the optimal angular resolution is 0.3333°. The smaller the angular resolution, the more accurate the measurement result. Those skilled in the art adjust the scanning angle according to actual needs so that the scanning angle can achieve the purpose of covering the horizontal conveyor belt.

[0075] In addition, the rays emitted by the three-dimensional laser scanner can completely cover the surface of the horizontal conveyor belt.

[0076] The speed of the horizontal conveyor belt is 3 m / s.

[0077] The first coordinate set can be expressed as .

[0078] Furthermore, the step of preprocessing the first point cloud data to obtain a first curve and a first coordinate set of a horizontal conveyor belt in a shield machine at a horizontal roller includes:

[0079] S11. Use a first preset algorithm to transform a first target point to obtain a first coordinate corresponding to the first target point, wherein the first target point is any point in the first point cloud data.

[0080] Furthermore, the first preset algorithm is used to convert the first target point, and the calculation formula for obtaining the first coordinate corresponding to the first target point is:

[0081] ;

[0082] ;

[0083] in, is the value of the first coordinate on the abscissa axis, The distance between the three-dimensional laser scanner for collecting the first target point and the horizontal conveyor belt, is a scanning angle of the three-dimensional laser scanner scanning the first target point, is the value of the first coordinate on the vertical axis. It can be understood as Figure 3 In the L. Figure 3 In the diagram, the profile of the horizontal conveyor belt is referred to as the "belt profile". Figure 3 middle is the minimum scanning angle of the 3D laser scanner, is the maximum scanning angle of the three-dimensional laser scanner.

[0084] S12. All the first coordinates constitute a fifth coordinate set, and all coordinate points of the fifth coordinate set constitute a first curve.

[0085] The fifth coordinate set can be expressed as .

[0086] S13. Use a second preset algorithm to filter the fifth coordinate set to obtain the first coordinate set.

[0087] Furthermore, the step of S13 includes:

[0088] S131. Set a first median point of a first set to be processed and the fifth coordinate set, wherein the first set to be processed is an empty set.

[0089] The first median point is an element located in the middle of the fifth coordinate set.

[0090] S132: Split the fifth coordinate set into a first sub-coordinate set and a second sub-coordinate set based on the first median point.

[0091] S133, then execute the following steps S134, S135, S136, S137 and S138 in a loop.

[0092] S134. Obtain a first slope and a second slope by calculation based on the three adjacent elements at the end of the first sub-coordinate set.

[0093] Specifically, the three adjacent elements at the end of the first sub-coordinate set are respectively the first element at the end of the first sub-coordinate set, the second element at the end of the first sub-coordinate set, and the third element at the end of the first sub-coordinate set.

[0094] Furthermore, the calculation formula for calculating the first slope is:

[0095] ;

[0096] in, is the first slope, is the value of the last element in the first sub-coordinate set on the horizontal axis, is the value of the last element in the first sub-coordinate set on the vertical axis, is the value of the second element from the end of the first sub-coordinate set on the horizontal axis, It is the value of the second element from the end of the first sub-coordinate set on the vertical axis.

[0097] Furthermore, the calculation formula for calculating the second slope is:

[0098] ;

[0099] in, is the second slope, is the value of the second element from the end of the first sub-coordinate set on the horizontal axis, is the value of the second element from the end of the first sub-coordinate set on the vertical axis, is the value of the third element from the end of the first sub-coordinate set on the horizontal axis, It is the value of the third element from the end of the first sub-coordinate set on the vertical axis.

[0100] S135. When the first slope and the second slope meet a first preset condition, add three adjacent elements at the end of the first sub-coordinate set to the first to-be-processed set, and remove three adjacent elements at the end of the first sub-coordinate set.

[0101] Furthermore, the first preset condition is ≈ .

[0102] S136. Obtain a third slope and a fourth slope by calculation based on three initial adjacent elements in the second sub-coordinate set.

[0103] The three initial adjacent elements in the second sub-coordinate set are the first element in the second sub-coordinate set, the second element in the second sub-coordinate set, and the third element in the second sub-coordinate set.

[0104] Furthermore, the calculation formula of the third slope is:

[0105] ;

[0106] in, is the third slope, is the value of the second element in the second sub-coordinate set on the horizontal axis, is the value of the ordinate of the second element in the second sub-coordinate set, is the value of the first element in the second sub-coordinate set on the horizontal axis, is the value of the first element in the second sub-coordinate set on the vertical axis.

[0107] Furthermore, the calculation formula of the fourth slope is:

[0108] ;

[0109] in, is the fourth slope, is the value of the third element in the second sub-coordinate set on the horizontal axis, is the value of the third element in the second sub-coordinate set on the vertical axis, is the value of the second element in the second sub-coordinate set on the horizontal axis, is the value of the second element in the second sub-coordinate set on the vertical axis.

[0110] S137. When the third slope and the fourth slope meet a third preset condition, add three adjacent initial elements in the second sub-coordinate set to the first to-be-processed set, and remove three adjacent initial elements in the second sub-coordinate set.

[0111] Furthermore, the third preset condition is ≈ .

[0112] S138. When the first slope and the second slope meet the second preset condition or when the third slope and the fourth slope meet the fourth preset condition, end the loop and use the first to-be-processed set as the first coordinate set.

[0113] The slopes of all coordinate points in the first coordinate set are nearly zero.

[0114] Furthermore, the second preset condition is << or >> It should be understood that the “<<” described herein is a much less than symbol in mathematics, and the “>>” is a much greater than symbol in mathematics.

[0115] The fourth preset condition is << or >> .

[0116] The display of the first coordinate set on the coordinate axis can refer to Figure 4 and Figure 5 The square part in Figure 4 and Figure 5 The original data in 2).

[0117] S2. Acquire at least one set of second point cloud data based on the scanning frequency at each moment in the preset time, wherein each set of the second point cloud data is data of the horizontal conveyor belt when it is loaded with slag.

[0118] The second point cloud data is acquired when the shield machine is in the excavation process.

[0119] The scanning frequency can be a series of frequencies such as 25HZ, 35HZ, 50HZ, 75HZ, 100HZ, etc. The higher the scanning frequency, the more data is acquired in the same time period. In other embodiments, the scanning frequency can be set by those skilled in the art according to actual needs. In the embodiment of the present application, the optimal value of the scanning frequency is 50HZ.

[0120] S3, preprocessing the target second point cloud data to obtain a second coordinate set and a third coordinate set and a fourth coordinate set on both sides of the horizontal conveyor belt, wherein the target second point cloud data is any one of the at least one set of second point cloud data. Step S3 can be understood as Figure 2 The step "Setting thresholds to obtain data on both sides of the horizontal conveyor belt during excavation"

[0121] Furthermore, the step of preprocessing the target second point cloud data to obtain the second coordinate set and the third coordinate set and the fourth coordinate set on both sides of the horizontal conveyor belt includes:

[0122] S31. Use a third preset algorithm to transform the second target point to obtain a second coordinate corresponding to the second target point, wherein the second target point is any point in the second point cloud data.

[0123] Furthermore, the third preset algorithm is used to transform the second target point, and the calculation formula for obtaining the second coordinate corresponding to the second target point is:

[0124] ;

[0125] ;

[0126] in, is the value of the second coordinate on the horizontal axis, The distance between the three-dimensional laser scanner for collecting the second target point and the horizontal conveyor belt, is a scanning angle of the three-dimensional laser scanner scanning the second target point, is the value of the second coordinate on the vertical axis. It can be understood as Figure 3 The L in.

[0127] S32. All the second coordinates constitute the second coordinate set.

[0128] The second coordinate set can be expressed as .

[0129] S33. Set a first preset threshold, a second preset threshold, and a second median point of the second coordinate set, wherein the first preset threshold and the second preset threshold are both initialized to 0.

[0130] The second median point is an element located in the middle of the second coordinate set.

[0131] S34. Divide the second coordinate set into a third sub-coordinate set and a fourth sub-coordinate set based on the second median point.

[0132] S35, then loop through the following steps S36 and S37.

[0133] S36. When the first preset threshold is less than 4, perform the following steps: calculate the fifth slope and the sixth slope based on the last three adjacent elements in the third sub-coordinate set, and remove the last three adjacent elements from the third sub-coordinate set; when the fifth slope and the sixth slope meet the fifth preset condition, perform a self-increment operation on the first preset threshold; when the first preset threshold is greater than 3, use the third sub-coordinate set as the third coordinate set.

[0134] Specifically, the three adjacent elements at the end of the third sub-coordinate set are respectively the first element at the end of the third sub-coordinate set, the second element at the end of the third sub-coordinate set, and the third element at the end of the third sub-coordinate set.

[0135] The third coordinate set can be expressed as .

[0136] Furthermore, the calculation formula of the fifth slope is:

[0137] ;

[0138] in, is the fifth slope, is the value of the last element in the third sub-coordinate set on the horizontal axis, is the value of the last element in the third sub-coordinate set on the vertical axis, is the value of the second element from the end of the third sub-coordinate set on the horizontal axis, is the value of the second element from the end of the third sub-coordinate set on the vertical axis.

[0139] Furthermore, the calculation formula of the sixth slope is:

[0140] ;

[0141] in, is the sixth slope, is the value of the second element from the end of the third sub-coordinate set on the horizontal axis, is the value of the second element from the end of the third sub-coordinate set on the ordinate axis, is the value of the third element from the end of the third sub-coordinate set on the horizontal axis, is the value of the third element from the end of the third sub-coordinate set on the vertical axis.

[0142] Furthermore, the fifth preset condition is < , is the first preset slope. The first preset slope can be set by those skilled in the art according to actual needs. In the embodiment of the present application, the first preset slope is 0.004. In other embodiments, the value of the first preset slope can be set by those skilled in the art according to actual needs.

[0143] S37. When the second preset threshold is less than 4, perform the following steps: calculate the seventh slope and the eighth slope based on the three initial adjacent elements in the fourth sub-coordinate set, and remove the three initial adjacent elements from the fourth sub-coordinate set; when the seventh slope and the eighth slope meet the sixth preset condition, perform a self-increment operation on the second preset threshold; when the second preset threshold is greater than 3, use the fourth sub-coordinate set as the fourth coordinate set.

[0144] Specifically, the three starting adjacent elements in the fourth sub-coordinate set are respectively the first element in the fourth sub-coordinate set, the second element in the fourth sub-coordinate set, and the third element in the fourth sub-coordinate set.

[0145] The fourth coordinate set can be expressed as .

[0146] Furthermore, the calculation formula of the seventh slope is:

[0147] ;

[0148] in, is the seventh slope, is the value of the second element in the fourth sub-coordinate set on the horizontal axis, is the value of the second element in the fourth sub-coordinate set on the ordinate axis, is the value of the first element in the fourth sub-coordinate set on the horizontal axis, is the value of the first element in the fourth sub-coordinate set on the vertical axis.

[0149] Furthermore, the calculation formula of the eighth slope is:

[0150] ;

[0151] in, is the eighth slope, is the value of the third element in the fourth sub-coordinate set on the horizontal axis, is the value of the third element in the fourth sub-coordinate set on the ordinate axis, is the value of the second element in the fourth sub-coordinate set on the horizontal axis, is the value of the second element in the fourth sub-coordinate set on the vertical axis.

[0152] Furthermore, the sixth preset condition is < , is a second preset slope. The second preset slope can be set by those skilled in the art according to actual needs. The first preset slope and the second preset slope can be equal. In an embodiment of the present application, the second preset slope is 0.004. In other embodiments, the value of the second preset slope can be set by those skilled in the art according to actual needs.

[0153] Since the shape of the slag is irregular and the slope is sudden, the fifth preset condition and the sixth preset condition are set to intercept and obtain the third coordinate set and the fourth coordinate set. The third coordinate set and the fourth coordinate set are displayed on the coordinate axis as follows Figure 4 and Figure 5 The inverted triangle in Figure 4 and Figure 5 The original data in 1) is shown.

[0154] S4, using the least square method to fit the first coordinate set, the third coordinate set and the fourth coordinate set to obtain a second curve. Step S4 can be understood as Figure 2 The "Fitting the real-time profile curve of the conveyor belt by the data on both sides of the horizontal conveyor belt" step in

[0155] Specifically, step S4 includes:

[0156] S401: Integrate the first coordinate set, the third coordinate set, and the fourth coordinate set to obtain a total coordinate set.

[0157] S402, setting a curve equation, the curve equation is ,in, , , … These are all unknown coefficients that need to be determined.

[0158] S403, choose a smaller (Exemplary, It can be 1) and calculate the mean squared error.

[0159] Specifically, the calculation formula of the mean square error is:

[0160] ;

[0161] in, is the mean square error; is the length of the total coordinate set, that is, the total number of coordinate points in the total coordinate set; ; For the observation value (i.e., the The actual dependent variable value of the coordinate point; is the first data point (i.e. The predicted value obtained by fitting the model.

[0162] S404, gradually increasing The mean square error after each fitting is calculated.

[0163] During step S404, observe whether all mean square errors decrease significantly. If the mean square error decreases, it means that the model may be able to fit the data sufficiently, thereby determining The value of .

[0164] S405: Determine based on the mean square error The value of .

[0165] In the embodiments of the present application, The value of is 9.

[0166] S406: Perform partial derivative operation on each undetermined coefficient to obtain the first set of equations , in order to solve for the values ​​of all the unknown coefficients.

[0167] S407: Construct a Lagrangian function based on the fourth preset algorithm and constraint conditions.

[0168] Furthermore, the calculation formula of the fourth preset algorithm is:

[0169] ;

[0170] in, is the sum of squared errors; is the length of the total coordinate set, that is, the total number of coordinate points in the total coordinate set; ; For the observation value (i.e., the coordinate points), is the first data point (i.e. The predicted value obtained by fitting the model (coordinate points); For the observation value (i.e., the coordinate points), For the model parameter, that is, Undetermined coefficients.

[0171] Furthermore, the constraint condition is , is the length of the horizontal conveyor belt.

[0172] Furthermore, the calculation formula of the Lagrangian function is:

[0173] ;

[0174] in, is the Lagrangian function; For the model parameter, that is, Undetermined coefficients; is the Lagrange multiplier; is the sum of squared errors; is the constraint condition; is the length of the horizontal conveyor belt.

[0175] S408, finding partial derivatives of the Lagrangian function to obtain a second set of equations .

[0176] S409: Solving the optimal parameters based on the second set of equations and Lagrange multipliers , each data point Substitute into the model function , and get the corresponding fitting value , all the fitted values ​​form a set of fitting points .

[0177] S410: construct the second curve based on the fitting points.

[0178] The second curve can be expressed as The second curve is a fitted contour curve data set. The second curve (i.e. Figure 5 The fitting form of the fitting curve in can be referred to Figure 5 shown.

[0179] S5. Select one of the first curve and the second curve as the optimal curve based on a preset rule.

[0180] The optimal curve can be expressed as .

[0181] Furthermore, step S5 includes:

[0182] S51, calculating a first area enclosed by corresponding points of the first curve and the second curve. Figure 6 As shown. Figure 6 In the embodiment, the first curve is expressed as an "actual curve" and the second curve is expressed as a "fitting curve".

[0183] Step S51 can be implemented by code edited by python.

[0184] Furthermore, the calculation formula of S51 is:

[0185] ;

[0186] in, is the first area, and are the intersection points of the first curve and the second curve, is the first curve (that is, the fifth coordinate set corresponding to the first curve), is the second curve (that is, all coordinate points on the second curve).

[0187] S52: Set a third preset threshold.

[0188] In the embodiment of the present application, the third preset threshold is set to 0.0008m 2 .

[0189] In other embodiments, the third preset threshold belongs to [Q min , Q max ], the Q min and Q max The specific value of can be set by those skilled in the art according to actual needs.

[0190] S53: When the first area is equal to the third preset threshold, the first curve is used as the optimal curve. Step S53 can be understood as: Figure 2 The step "Judge whether the difference between the no-load curve and the fitting curve is within the set range, and if so, select the no-load profile as the optimal profile curve" in the step.

[0191] S54: When the first area is not equal to the third preset threshold, the second curve is used as the optimal curve. Step S54 can be understood as: Figure 2 The step of "determine whether the difference between the no-load curve and the fitting curve is within the set range, if not, select the fitting profile as the optimal profile curve" is performed.

[0192] S6. Calculate the volume of the muck based on the preset time, the scanning frequency, the optimal curve and the second coordinate set.

[0193] Furthermore, step S6 includes:

[0194] S61. All coordinate points of the second coordinate set form a third curve.

[0195] The third curve can be expressed together with the second coordinate set as .

[0196] S62: Calculate and obtain a second area corresponding to the target second point cloud data based on the optimal curve and the third curve. Step S62 can be understood as Figure 2 The step of "obtaining soil surface data during excavation process" is as follows.

[0197] The second area is the cross-sectional area of ​​the slag.

[0198] Furthermore, the calculation formula of step S62 is:

[0199] ;

[0200] in, is the second area corresponding to the second point cloud data of the target, for The maximum value on the X axis, for The minimum value on the X-axis, is the coordinate point corresponding to the third curve (that is, the second coordinate set), is the coordinate point corresponding to the optimal curve.

[0201] In other embodiments, the second area may be calculated by dividing the area enclosed by the optimal curve and the third curve into The width of each small interval is ,in, for The maximum value on the X axis, for The minimum value on the X-axis, is the coordinate point corresponding to the third curve (that is, the second coordinate set), is the coordinate point corresponding to the optimal curve; then, the area of ​​each of the small spaces is calculated.

[0202] The step of calculating the area of ​​each of the small spaces comprises: for each small space Each cell forms two triangles, one above and one below, with the vertices of the two triangles being ; The formula for calculating the area of ​​two triangles is:

[0203] .

[0204] The area of ​​the two triangles is also the area of ​​one of the small cells.

[0205] S63, calculating and obtaining the volume of the soil based on the preset time, the scanning frequency and all the second areas. Step S63 can be understood as: Figure 2 The "Real-time correction calculation of slag volume" step in

[0206] Furthermore, the calculation formula of step S63 is:

[0207] ;

[0208] ;

[0209] in, is the volume of the muck, The time during the excavation process The number of times the 3D laser scanner scans inside, is the preset time (i.e. the excavation process time), is the scanning frequency, , For the A second area (that is, the second area corresponding to the target second point cloud data).

[0210] Through the above implementation, the embodiment of the present application utilizes a variety of point cloud data obtained in real time and fits the curve through the least square method to avoid the volume measurement error caused by vertical deformation in the prior art. Therefore, the embodiment of the present application can improve the accuracy of measuring the volume of slag. The embodiment of the present application solves the influence of belt deformation caused by slag quality on volume measurement, thereby realizing real-time correction of the shield machine belt and refined volume management.

[0211] refer to Figure 7 FIG. 1 is a block diagram of the principle of a device for measuring the volume of slag on a horizontal conveyor belt of a shield machine according to the second aspect of the embodiment of the present application. Figure 7In the present invention, the measuring device 100 for measuring the volume of slag on the horizontal conveyor belt of the shield machine comprises:

[0212] The first point cloud data acquisition module 101 is used to acquire the first point cloud data, preprocess the first point cloud data, and obtain the first curve and the first coordinate set of the horizontal conveyor belt in the shield machine at the horizontal support roller, wherein the first point cloud data is the data of the horizontal conveyor belt when it is unloaded.

[0213] The second point cloud data acquisition module 102 is used to acquire at least one set of second point cloud data based on the scanning frequency at each moment in the preset time, wherein each set of the second point cloud data is the data of the horizontal conveyor belt when it is loaded with slag.

[0214] The preprocessing module 103 is used to preprocess the target second point cloud data to obtain a second coordinate set and a third coordinate set and a fourth coordinate set on both sides of the horizontal conveyor belt, wherein the target second point cloud data is any one set of second point cloud data in the at least one set of second point cloud data.

[0215] The fitting module 104 is used to perform fitting processing on the first coordinate set, the third coordinate set and the fourth coordinate set by using the least square method to obtain a second curve.

[0216] The selection module 105 is used to select one of the first curve and the second curve as the optimal curve based on a preset rule.

[0217] The muck volume calculation module 106 is used to calculate the muck volume based on the preset time, the scanning frequency, the optimal curve and the second coordinate set.

[0218] A third aspect of the embodiments of the present application provides a terminal device. The principle block diagram of the terminal device can be as follows: Figure 8 As shown. The terminal device includes a processor, a memory, a network interface, a display screen and a temperature sensor connected via a system bus. Among them, the processor is used to provide computing and control capabilities. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the terminal device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for measuring the volume of slag on the horizontal conveyor belt of a shield machine is implemented. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the temperature sensor is pre-set inside the terminal device to detect the operating temperature of the internal device.

[0219] Those skilled in the art will understand that Figure 8 The principle block diagram shown in the figure is only a block diagram of a partial structure related to the scheme of the present invention, and does not constitute a limitation on the terminal device to which the scheme of the present invention is applied. The specific terminal device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0220] In some embodiments, the embodiments of the present application provide a terminal device, the terminal device includes a processor and a memory, the memory is used to store a computer program, the processor is used to call and run the computer program stored in the memory, and execute the steps of the method for measuring the volume of slag on the horizontal conveyor belt of a shield machine provided in the first aspect of the embodiments of the present application. In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, the computer-readable storage medium is used to store a computer program, and the computer program enables a computer to execute the steps of the method for measuring the volume of slag on the horizontal conveyor belt of a shield machine provided in the first aspect of the embodiments of the present application.

[0221] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0222] The technical features of the above embodiments can be combined without changing the basic principles of the present application. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0223] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A method for measuring the volume of slag on a horizontal conveyor belt of a shield machine, characterized in that: include: Acquire first point cloud data, pre-process the first point cloud data, and obtain a first curve and a first coordinate set of a horizontal conveyor belt in a shield machine at a horizontal roller, wherein the first point cloud data is data of the horizontal conveyor belt when it is unloaded; Acquire at least one set of second point cloud data based on the scanning frequency at each moment in the preset time, wherein each set of the second point cloud data is data of the horizontal conveyor belt when it is loaded with slag; Preprocessing the target second point cloud data to obtain a second coordinate set and a third coordinate set and a fourth coordinate set on both sides of the horizontal conveyor belt, wherein the target second point cloud data is any one set of second point cloud data in the at least one set of second point cloud data; Using the least square method to perform fitting processing on the first coordinate set, the third coordinate set, and the fourth coordinate set to obtain a second curve; Selecting one of the first curve and the second curve as an optimal curve based on a preset rule; Calculating the volume of the muck based on the preset time, the scanning frequency, the optimal curve and the second coordinate set; The steps of preprocessing the target second point cloud data to obtain the second coordinate set and the third coordinate set and the fourth coordinate set on both sides of the horizontal conveyor belt include: using a third preset algorithm to convert the second target point to obtain the second coordinate corresponding to the second target point, wherein the second target point is any point in the second point cloud data; all the second coordinates constitute the second coordinate set; setting a first preset threshold, a second preset threshold and a second median point of the second coordinate set, wherein the first preset threshold and the second preset threshold are both initialized to 0; based on the second median point, dividing the second coordinate set into a third sub-coordinate set and a fourth sub-coordinate set; and then looping through the following steps: when the first preset threshold is less than 4, performing the following steps: based on the last adjacent points in the third sub-coordinate set The fifth slope and the sixth slope are calculated based on the three elements of the fourth sub-coordinate set, and the three adjacent elements at the end are removed from the third sub-coordinate set; when the fifth slope and the sixth slope meet the fifth preset condition, the first preset threshold is incremented by one; when the first preset threshold is greater than 3, the third sub-coordinate set is used as the third coordinate set; when the second preset threshold is less than 4, the following steps are performed: the seventh slope and the eighth slope are calculated based on the three adjacent elements at the beginning of the fourth sub-coordinate set, and the three adjacent elements at the beginning are removed from the fourth sub-coordinate set; when the seventh slope and the eighth slope meet the sixth preset condition, the second preset threshold is incremented by one; when the second preset threshold is greater than 3, the fourth sub-coordinate set is used as the fourth coordinate set.

2. The method for measuring the volume of slag on the horizontal conveyor belt of a shield machine according to claim 1, characterized in that: The step of preprocessing the first point cloud data to obtain a first curve and a first coordinate set of a horizontal conveyor belt in a shield machine at a horizontal roller includes: Using a first preset algorithm to perform conversion processing on a first target point to obtain a first coordinate corresponding to the first target point, wherein the first target point is any point in the first point cloud data; All the first coordinates constitute a fifth coordinate set, and all coordinate points of the fifth coordinate set constitute a first curve; The fifth coordinate set is screened using a second preset algorithm to obtain the first coordinate set.

3. The method for measuring the volume of slag on the horizontal conveyor belt of a shield machine according to claim 2, characterized in that: The first preset algorithm is used to transform the first target point, and the calculation formula for obtaining the first coordinate corresponding to the first target point is: ； ； in, is the value of the first coordinate on the abscissa axis, The distance between the three-dimensional laser scanner for collecting the first target point and the horizontal conveyor belt, is a scanning angle of the three-dimensional laser scanner scanning the first target point, is the value of the first coordinate on the vertical axis.

4. The method for measuring the volume of slag on the horizontal conveyor belt of a shield machine according to claim 2, characterized in that: The step of using a second preset algorithm to filter the fifth coordinate set to obtain the first coordinate set includes: Setting a first median point of a first set to be processed and the fifth coordinate set, wherein the first set to be processed is an empty set; Splitting the fifth coordinate set into a first sub-coordinate set and a second sub-coordinate set based on the first median point; Then loop through the following steps: Obtaining a first slope and a second slope by calculation based on three adjacent elements at the end of the first sub-coordinate set; When the first slope and the second slope meet a first preset condition, adding three adjacent elements at the end of the first sub-coordinate set to the first to-be-processed set, and removing three adjacent elements at the end of the first sub-coordinate set; Calculating and obtaining a third slope and a fourth slope based on three adjacent initial elements in the second sub-coordinate set; When the third slope and the fourth slope meet the third preset condition, three adjacent elements in the second sub-coordinate set are added to the first to-be-processed set, and three adjacent elements in the second sub-coordinate set are removed; When the first slope and the second slope meet the second preset condition or when the third slope and the fourth slope meet the fourth preset condition, the loop is terminated and the first to-be-processed set is used as the first coordinate set.

5. The method for measuring the volume of slag on the horizontal conveyor belt of a shield machine according to claim 1, characterized in that: The step of selecting one of the first curve and the second curve as the optimal curve based on a preset rule includes: Calculating a first area enclosed by corresponding points of the first curve and the second curve; Setting a third preset threshold; When the first area is equal to the third preset threshold, taking the first curve as the optimal curve; When the first area is not equal to the third preset threshold, the second curve is used as the optimal curve.

6. The method for measuring the volume of slag on the horizontal conveyor belt of a shield machine according to claim 1, characterized in that: The step of calculating the volume of the muck based on the preset time, the scanning frequency, the optimal curve and the second coordinate set comprises: All coordinate points of the second coordinate set constitute a third curve; Obtaining a second area corresponding to the target second point cloud data by calculation based on the optimal curve and the third curve; The volume of the muck is calculated based on the preset time, the scanning frequency and all the second areas.

7. A device for measuring the volume of slag on a horizontal conveyor belt of a shield machine, characterized in that: include: A first point cloud data acquisition module is used to acquire first point cloud data, pre-process the first point cloud data, and obtain a first curve and a first coordinate set of a horizontal conveyor belt in a shield machine at a horizontal roller, wherein the first point cloud data is data of the horizontal conveyor belt when it is unloaded; A second point cloud data acquisition module is used to acquire at least one set of second point cloud data based on the scanning frequency at each moment in a preset time, wherein each set of the second point cloud data is data of the horizontal conveyor belt when it is loaded with slag; A preprocessing module, used for preprocessing the target second point cloud data to obtain a second coordinate set and a third coordinate set and a fourth coordinate set on both sides of the horizontal conveyor belt, wherein the target second point cloud data is any one set of second point cloud data in the at least one set of second point cloud data; A fitting module, used for fitting the first coordinate set, the third coordinate set and the fourth coordinate set by using a least square method to obtain a second curve; A selection module, configured to select one of the first curve and the second curve as an optimal curve based on a preset rule; A slag volume calculation module, used for calculating the slag volume based on the preset time, the scanning frequency, the optimal curve and the second coordinate set; The device for measuring the volume of slag on the horizontal conveyor belt of the shield machine is also used to use a third preset algorithm to convert the second target point to obtain a second coordinate corresponding to the second target point, wherein the second target point is any point in the second point cloud data; all the second coordinates constitute the second coordinate set; set a first preset threshold, a second preset threshold and a second median point of the second coordinate set, wherein the first preset threshold and the second preset threshold are both initialized to 0; divide the second coordinate set into a third sub-coordinate set and a fourth sub-coordinate set based on the second median point; then loop through the following steps: when the first preset threshold is less than 4, perform the following steps: calculate the fifth slope and the sixth slope based on the three adjacent elements at the end of the third sub-coordinate set slope, and remove the last three adjacent elements from the third sub-coordinate set; when the fifth slope and the sixth slope meet the fifth preset condition, perform a self-increment operation on the first preset threshold; when the first preset threshold is greater than 3, use the third sub-coordinate set as the third coordinate set; when the second preset threshold is less than 4, perform the following steps: calculate the seventh slope and the eighth slope based on the three starting adjacent elements in the fourth sub-coordinate set, and remove the starting three adjacent elements from the fourth sub-coordinate set; when the seventh slope and the eighth slope meet the sixth preset condition, perform a self-increment operation on the second preset threshold; when the second preset threshold is greater than 3, use the fourth sub-coordinate set as the fourth coordinate set.

8. A terminal device, characterized in that: include: A processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory to execute the steps of the method for measuring the volume of slag on the horizontal conveyor belt of a shield machine as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein the computer program enables a computer to execute the steps of the method for measuring the volume of debris on a horizontal conveyor belt of a shield machine as described in any one of claims 1 to 6.

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