Arch dam method and device

Abstract

The invention discloses an arch dam method and device, and the method comprises the steps: recognizing the surface parameters of a dam body according to a dam body model; according to the recognized surface parameters, an arch dam path track of the mechanical arm is obtained; and according to the obtained arch dam path track of the mechanical arm, the mechanical arm is controlled to engrave the dam body.

Description

Technical Field

[0001] This document relates to geotechnical engineering technology, especially an arch dam method and device. Background Art

[0002] In the traditional manual arch dam carving method, the operator uses cube blocks for masonry and constructs layer by layer from low to high according to the drawings provided by the design unit (including the horizontal section drawings of the arch dam). The masonry dam body is usually wider than the actual one, with a lot of redundancy. After the masonry is completed, according to the information in the horizontal section drawings, the plumb bob positioning method is used to manually carve the dam body to make it consistent with the actual body size. High arch dams are generally double-curved arch dams. Due to their double-curved characteristics, it is difficult to accurately position the lower contour of the upstream dam surface whether it is plumb bob positioning or laser positioning. In addition to the difficulty in accurate positioning, manual dam carving also has disadvantages such as long time consumption and large carving errors, which slow down the model test process and have an adverse impact on the test results. Summary of the Invention

[0003] The embodiments of this application provide an arch dam method and device, which can realize automatic mechanical dam carving.

[0004] The embodiments of this application provide an arch dam method, including: Identifying the surface parameters of the dam body according to the dam body model; Obtaining the arch dam path trajectory of the robotic arm according to the identified surface parameters of the dam body; Controlling the movement of the robotic arm to carve the dam body according to the obtained arch dam path trajectory of the robotic arm.

[0005] In an exemplary embodiment, obtaining the arch dam path trajectory of the robotic arm according to the identified surface parameters of the dam body includes: Determining the arch dam path trajectory of the robotic arm according to the identified surface parameters of the dam body and the preset arch dam path parameters; the arch dam path parameters include the interlayer height of the path and the cutter feed direction.

[0006] In an exemplary embodiment, controlling the robotic arm to carve the dam body according to the obtained arch dam path trajectory of the robotic arm includes: Identifying the coordinate points in the dam body model, and controlling the cutter head of the robotic arm to traverse the coordinate points in the dam body model according to the arch dam path trajectory in a predetermined order to carve the dam body.

[0007] In an exemplary embodiment, the arch dam method further includes: Controlling the cutter head of the robotic arm to start from a position with a predetermined offset from the dam body and complete the carving of the offset surface of this layer according to the arch dam path parameters; After the engraving of each offset surface is completed, it is gradually advanced forward by a predetermined distance to perform the engraving of the next offset surface until the offset is zero, at which point the engraving is completed.

[0008] In an exemplary embodiment, the offset amounts of the same offset surface path are the same.

[0009] In an exemplary embodiment, before the control robotic arm performs engraving, it includes: Obtaining the coordinate parameters of the dam body, comparing them with the coordinate parameters of the dam body model to calibrate and position the coordinates of the robotic arm; the coordinate parameters include the highest point of the crown beam, the left arch end point, and the right arch end point.

[0010] When the error between the coordinate parameters of the dam body and the coordinate parameters of the dam body model is within a predetermined range, it is determined that the coordinate calibration and positioning of the robotic arm is completed.

[0011] In an exemplary embodiment, after the calibration and positioning is completed, the method further includes: Determining whether the robotic arm can engrave the point farthest from the dam body; When the working range of the robotic arm is greater than the size of the dam body, it is determined that the robotic arm can engrave the farthest point of the dam body; When the working range of the robotic arm is less than or equal to the size of the dam body, it is determined that the robotic arm cannot engrave the farthest point of the dam body.

[0012] An embodiment of the present application provides an arch dam device, including: A frame; A robotic arm, installed on the frame and provided with a tool, configured to be able to move and engrave the dam body; A control system, electrically connected to the robotic arm, configured to control the movement of the robotic arm and execute the arch dam method according to any one of claims 1-7.

[0013] In an exemplary embodiment, the arch dam device further includes a fixing device connecting the robotic arm and the frame; The robotic arm is connected to the fixing device through a base, and the fixing device is connected to the frame through a bearing; The fixing device can rotate and extend relative to the frame, and can make the base of the robotic arm be at the center position of the dam surface of the dam body.

[0014] In an exemplary embodiment, the frame includes a main frame body spanning the two ends of the dam foundation, and a support frame body connected to the main frame body and supporting the robotic arm..

[0015] Compared with the prior art, the arch dam method and device of the embodiments of the present application get rid of the traditional method of manually carving the dam body, can combine the robotic arm automatic carving technology to complete the carving of the dam body, greatly shorten the time of the arch dam, improve the accuracy of the arch dam, and achieve intelligence and automation.

[0016] Other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained through the solutions described in the specification and the drawings. Description of the Drawings

[0017] The drawings are used to provide an understanding of the technical solutions of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solutions of the present application, and do not constitute a limitation to the technical solutions of the present application.

[0018] Figure 1 It is a side view of the arch dam device according to the embodiment of the present application; Figure 2 It is a top view of the arch dam device according to the embodiment of the present application; Figure 3 It is a schematic diagram of the robotic arm of the arch dam device according to the embodiment of the present application; Figure 4 It is a flowchart of the arch dam method according to the embodiment of the present application; Figure 5 It is a schematic diagram of the carving path planning of the dam surface of the dam body according to the embodiment of the present application; Figure 6 It is a schematic diagram of the cutter head of the robotic arm moving forward according to the embodiment of the present application; Figure 7 It is a flowchart of the actual application example of the arch dam method of the arch dam method according to the embodiment of the present application. Detailed Embodiments

[0019] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those of ordinary skill in the art that there can be more embodiments and implementation solutions within the scope covered by the embodiments described in the present application. Although many possible combinations of features are shown in the drawings and discussed in the detailed embodiments, many other combination ways of the disclosed features are also possible. Unless specifically restricted, any feature or element of any embodiment can be combined with any other feature or element in any other embodiment, or can replace any other feature or element in any other embodiment.

[0020] This application includes and contemplates combinations with features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented alone or in any suitable combination. Therefore, the embodiments are not subject to other limitations except those made in accordance with the appended claims and their equivalents. In addition, various modifications and changes can be made within the scope of the appended claims.

[0021] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not depend on the specific order of the steps described herein, the method or process should not be limited to the specific order of steps described. As will be understood by those of ordinary skill in the art, other step orders are possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation on the claims. In addition, the claims directed to the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can vary and still remain within the spirit and scope of the embodiments of this application.

[0022] As Figure 1 , Figure 2 shown, an arch dam device 100 provided by an embodiment of this application includes: a frame 1, a robotic arm 2 installed on the frame 1, and a control system 3 electrically connected to the robotic arm 2. The robotic arm 2 is provided with a cutter 20 and is arranged to be able to move to engrave the dam body 5. The control system 3 is arranged to control the movement of the robotic arm 2 to engrave the arch dam. The control system 3 of this embodiment adopts a computer control system.

[0023] The arch dam device 100 of the embodiment of this application can engrave the dam body 5 through the robotic arm 2, greatly shortening the time of the arch dam, improving the accuracy of the arch dam, and realizing intelligence and automation.

[0024] As Figure 1 , Figure 2 shown, the arch dam device 100 further includes a fixing device 6 connecting the robotic arm 2 and the frame 1. The robotic arm 2 is connected to the fixing device 6 through a base 7, and the fixing device 6 is connected to the frame 1 through a bearing (not shown). The fixing device 6 can rotate and extend relative to the frame 1, and can make the base 7 of the robotic arm 2 be at the center position of the dam surface of the dam body 5. The frame 1 includes a main frame body 101 spanning across the two ends of the dam foundation 4, and a support frame body 102 connected to the main frame body 101 and supporting the robotic arm 2.

[0025] Among them, the main function of the fixing device 6 is to fix the robotic arm 2 on the frame 1, so that the robotic arm 2 is in a reasonable position and remains stationary. On the one hand, the working range of the robotic arm 2 is limited, and the robotic arm 2 needs to be fixed at a reasonable position where it can work on the entire dam surface. On the other hand, during the operation of the robotic arm 2, there should be no overall movement, otherwise the model coordinates will be lost, resulting in errors and mistakes in carving the dam body 5. Therefore, the base 7 of the robotic arm 2 is fixed on the frame 1 through the fixing device 6, and the fixing device 6 has two degrees of freedom of rotation and telescoping, ensuring that the robotic arm 2 can be fixed at an ideal position and operate stably.

[0026] As Figure 3 shown, the robotic arm 2 has 8 degrees of freedom, a working radius of about 1.6 m, and can achieve a working accuracy of 0.15 mm, meeting the requirements of automatic dam carving. The base 7 and fixing screws are used to connect the robotic arm 2 and the fixing device 6. All 8 rotating shafts 91...98 of the robotic arm 2 can rotate 360°, providing a sufficient working range. The cutter head motor 21 provides rotational power for the cutter head 20, and the control box 22 of the cutter head motor 21 controls the switch and rotation speed of the cutter head 20.

[0027] As Figure 4 shown, the embodiment of the present application provides an arch dam method, including the following operations: S1. According to the dam body model, identify the surface parameters of the dam body; the dam body model can be a solid model including the entire dam body, or a dam body curved surface model including only the upstream surface or the downstream surface; generally, the surface of the dam body is a curved surface.

[0028] S2. According to the identified surface parameters of the dam body, obtain the arch dam path trajectory of the robotic arm 2; S3. According to the obtained arch dam path trajectory of the robotic arm 2, control the robotic arm 2 to carve the arch dam on the dam body 5.

[0029] Among them, the dam body model is a model established based on the obtained size parameters of the dam body. Generally, it is obtained by converting the cad format of the dam body model into the stl format and inputting it into the control system 3. It can also be a three-dimensional model of the dam body established according to the horizontal cutting diagrams connecting the dam body 5 at different elevations.

[0030] The control system 3 controls the movement trajectory of the robotic arm 2 to complete the specified actions of carving the dam body 5. For example, by inputting two coordinates in the control system 3, the cutter head 20 of the robotic arm 2 can move from the starting coordinate to the ending coordinate. In this embodiment, the control system 3 receives the three-dimensional model of the dam body in the form of an stl file, identifies the coordinate points in the three-dimensional model, and controls the cutter head of the robotic arm 3 to install in a predetermined order, such as from left to right and from top to bottom, to traverse the coordinate points in the model and complete the carving layer by layer.

[0031] Among them, the operation of "obtaining the arch dam path trajectory of the robotic arm 2 according to the recognized surface parameters" described in operation S3 includes the following operations: S31. Determine the arch dam path trajectory of the robotic arm 2 according to the recognized dam surface parameters and the preset arch dam path parameters; the arch dam path parameters include the path layer height and the tool feed direction. It can be understood that: the smaller the path layer height, the longer the total distance of the carving path, and the higher the carving fineness.

[0032] Such as Figure 5 shown, it is a schematic diagram of the carving path planning of the dam surface of the dam 5. Among them, the arrow indicates the advancing direction of the tool head; d represents the path layer height. There are a total of 18 path layers in the figure. The specific parameters can be adjusted in the program.

[0033] Among them, the tool feed direction and the path layer height d have default values in the system, and the user can modify them. The number of arch dam path layers and the length L of each layer of the path are automatically generated by the system according to the first two parameters and the surface characteristics, and are not displayed in the program interface. Only the specific path is displayed.

[0034] Among them, the operation of "controlling the robotic arm 2 to carve the arch dam according to the obtained arch dam path trajectory of the robotic arm 2" described in operation S32 includes the following operations: S321. Control the tool head of the robotic arm 2 to start from a position with a predetermined offset from the dam 5, and complete the carving of the offset surface of this layer according to the path layer height and the path length of each layer; S322. After each offset surface is carved, gradually advance forward by a predetermined distance to perform the carving of the next offset surface until the offset is zero, then the carving is completed; when the offset is zero, it means that the carving tool reaches the actual dam surface, and after this surface is carved, the carving can be stopped; S323. When it is determined that the carved offset surface coincides with the surface of the dam model, the carving is completed.

[0035] Such as Figure 6 shown, it is a schematic diagram of the advancement of the tool head of the robotic arm 2. The arrow in the figure indicates the advancing direction of the tool head, a represents the advancing distance, and the specific value can be adjusted in the program. The tool head of the robotic arm 2 starts from a position at a certain distance (predetermined offset) from the dam 5. After each offset surface M1 is completed, it gradually advances forward by a certain distance to complete the second offset surface M2, and so on until the offset of the last offset surface Mn is 0. When all the offset surfaces M1...Mn coincide with the surface of the dam model, the carving is completed. Generally, the offset of the same offset surface path is the same.

[0036] Among them, the operations before operation S1 controls the robotic arm 2 to carve the arch dam include the following operations: S10. Obtain the coordinate parameters of the dam body 5, and compare them with the coordinate parameters of the dam body model to calibrate and position the coordinates of the robotic arm 2; wherein, the coordinate parameters include the highest point A of the crown beam, the left arch end point B, and the right arch end point C (see Figure 5 ).

[0037] S11. When the error between the coordinate parameters of the dam body 5 and the coordinate parameters of the dam body model is within a predetermined range, it is determined that the coordinate calibration and positioning of the robotic arm 2 is completed.

[0038] The coordinate calibration and positioning and debugging of the robotic arm 3 is to connect the robotic arm 2 to the computer control system 3, and calibrate the digital model coordinates and the actual coordinates of the model test dam body through the computer control system 3. By moving the tool head to the highest point A of the crown beam at the elevation of the upstream dam surface, the left arch end point B, and the right arch end point C in sequence, and inputting the coordinates of these three points in sequence. The computer control system 3 automatically compares, calibrates, and positions the coordinates of these three points with the digital model coordinates. If the error is within a reasonable range, the coordinate calibration and positioning is completed.

[0039] Wherein, after the calibration and positioning in operation S11, the method further includes the following operations: S12. Determine whether the robotic arm 2 can carve the point farthest from the dam body. S13. When the working range of the robotic arm 2 is greater than the size of the dam body, it is determined that the point farthest from the dam body can be carved. S14. When the working range of the robotic arm 2 is less than or equal to the size of the dam body, it is determined that the point farthest from the dam body cannot be carved.

[0040] When it is determined that the point farthest from the dam body cannot be carved, the rotation angle and telescopic position of the fixing device 6 need to be adjusted until it is determined that the working range of the robotic arm 2 is greater than the size of the dam body.

[0041] After the calibration and positioning is completed, the computer control system 3 automatically calculates whether the robotic arm 2 can carve the point farthest from the dam body. Generally, if the working range of the robotic arm 2 is greater than the size of the dam body, the farthest point can be carved. If not, the rotation angle and telescopic position of the fixing device 6 can be appropriately adjusted and this step can be repeated.

[0042] When the coordinate calibration and positioning are completed and it is confirmed that the entire dam body 5 is within the working range of the robotic arm 2, the upstream dam surface can be carved by operating the computer control system 2. After the carving of the upstream dam surface is completed, the fixing device 6 and the robotic arm 2 are transferred to the downstream of the dam body and the above steps are repeated to carve the downstream dam surface.

[0043] Such as Figure 6As shown in the figure, the logic of this figure is as follows: A certain offset is preset. In the figure, this offset is a*n, where a refers to the advancing distance of the cutting tool after each carved surface is completed. Each time it advances, the offset decreases by a. When it advances n times, the offset is zero, and the cutting tool position is at the actual dam surface. After the carving of this carved surface is completed, the carving is finished.

[0044] As Figure 7 shown, it is an actual application example of the arch dam method of the embodiment of the present application. Before automatic dam carving, it is necessary to first carve the upstream dam surface of the dam body 5, then move the robotic arm 2 to the downstream and fix it to a reasonable position with the downstream rack 1, and then carve the downstream dam surface, including the following operations: 1) The computer control system 3 imports digital files. First, a digital three-dimensional model of the dam body is established. Generally, through the cad format of the three-dimensional model of the dam body 5, it is converted into the stl format for input into the computer control system 3. A three-dimensional model can also be established according to the horizontal cutting diagrams connecting different elevations of the dam body.

[0045] 2) Installation of the fixing device 6 and the robotic arm 2. Connect the fixing device 6 to the upstream rack 1 of the dam body and fix it. Estimate in advance and adjust the rotation angle and telescopic position of the fixing device 6 so that the base 7 of the robotic arm 2 is approximately at the center of the upstream dam surface. Then connect the robotic arm 2 to the fixing device 6.

[0046] 3) Coordinate calibration, positioning and debugging of the robotic arm 2. Connect the robotic arm 2 to the computer control system 3, and calibrate the coordinates of the digital model and the actual coordinates of the dam body 5 through the computer control system 3. The method is to move the tool head 20 to the highest point A of the crown beam at the elevation of the upstream dam surface, the left arch end point B, and the right arch end point C in sequence, and input the coordinates of these three points in sequence. The computer control system 3 automatically compares, calibrates and positions the coordinates of these three points with the digital model coordinates. If the error is within a reasonable range, the calibration and positioning of the coordinates are completed. After the calibration and positioning are completed, the computer control system 3 automatically calculates whether the robotic arm 2 can carve the point of the dam body 5 with the farthest distance. Generally, if the working range of the robotic arm 2 is larger than the size of the dam body 5, it can carve the farthest point. If not, the rotation angle and telescopic position of the fixing device 6 can be appropriately adjusted and this step can be repeated.

[0047] 4) Carve the upstream dam surface. After completing the coordinate calibration and positioning and confirming that the entire dam body is within the working range of the robotic arm 2, the upstream dam surface can be carved by operating the computer control system 3.

[0048] 5) Carve the downstream dam surface. After the carving of the upstream dam surface is completed, transfer the fixing device 6 and the robotic arm 2 to the downstream of the dam body and repeat the above steps to carve the downstream dam surface.

[0049] 6) Disassemble the arch dam device 100. After the automatic carving of the dam body is completed, remove the robotic arm 2 and the fixing device 6, and properly place them together with the computer control system 3. This does not affect the subsequent model tests.

[0050] The arch dam method and device of the embodiments of the present application get rid of the traditional method of manually carving the dam body in the geomechanical model test of the arch dam, and can combine the automatic carving technology of the robotic arm 2 to complete the carving of the dam body 5; avoid the errors of manual positioning and manual carving, improve the accuracy of the model test simulation, and replace manual dam carving; greatly shorten the time required for carving the dam body model, which is beneficial to accelerating the process of the model test; moreover, it realizes the intelligence and automation of dam carving, and can be extended to other geotechnical model tests that require carving, which is an effective idea for the intelligence of the model test.

[0051] The arch dam device 100 of the embodiments of the present application can also be applied to the geomechanical model test. The geomechanical model test is a kind of scaled test based on the similarity theory, taking the engineering structure and its geological environment as the research object, and aiming to intuitively obtain its mechanical response under external loads. Conducting a three-dimensional arch dam geomechanical model test on a high arch dam can effectively evaluate its overall stability and the effect of reinforcement measures, while making up for the deficiencies of numerical simulation and comparing with the results of numerical simulation, so as to ensure the accuracy and authenticity of the evaluation results.

[0052] Those of ordinary skill in the art will understand that all or some of the steps in the methods disclosed above, and the functional modules / units in systems and devices, can be implemented as software, firmware, hardware, and appropriate combinations thereof. In the hardware implementation, the division of functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be executed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

Claims

1. An arch dam method, characterized in that: include: According to the dam model, identify the surface parameters of the dam body; According to the identified surface parameters of the dam body, the arch dam path trajectory of the robot arm is obtained; According to the obtained arch dam path trajectory of the robotic arm, the movement of the robotic arm is controlled to carve the dam body.

2. The arch dam method according to claim 1, characterized in that: According to the identified surface parameters of the dam body, the arch dam path trajectory of the robotic arm is obtained, including: The arch dam path trajectory of the robot arm is determined according to the identified surface parameters of the dam body and the preset arch dam path parameters; the arch dam path parameters include the path layer height and the tool feed direction.

3. The arch dam method according to claim 2, characterized in that: The step of controlling the robotic arm to carve the dam body according to the obtained arch dam path trajectory of the robotic arm comprises: The coordinate points in the dam body model are identified, and the tool head of the robot arm is controlled to traverse the coordinate points in the dam body model in a predetermined order according to the arch dam path trajectory to carve the dam body.

4. The arch dam method according to claim 2, characterized in that: Also includes: Control the cutter head of the robot arm to start from the position of the predetermined offset from the dam body and complete the carving of the offset surface according to the path parameters of the arch dam; After each offset surface is engraved, the engraving is gradually advanced according to a predetermined distance to engrave the next offset surface until the offset is zero, and the engraving is completed.

5. The arch dam method according to claim 4, characterized in that: The offset amounts of paths on the same offset surface are the same.

6. The arch dam method according to any one of claims 1 to 5, characterized in that: Before controlling the robotic arm to perform engraving, the process includes: Obtaining coordinate parameters of the dam body and comparing them with the coordinate parameters of the dam body model to calibrate and locate the coordinates of the robotic arm; the coordinate parameters include the highest point of the crown beam, the left arch endpoint, and the right arch endpoint; When the error between the coordinate parameters of the dam body and the coordinate parameters of the dam body model is within a predetermined range, it is determined that the coordinate calibration and positioning of the robot arm is completed.

7. The arch dam method according to claim 6, characterized in that: After the calibration positioning is completed, the method further includes: Determine whether the robot arm can carve the point farthest from the dam body; When the working range of the robot arm is larger than the size of the dam body, it is determined that the robot arm can carve the farthest point of the dam body; When the working range of the robot arm is less than or equal to the size of the dam body, it is determined that the robot arm cannot carve the farthest point of the dam body.

8. An arch dam device, characterized in that: include: frame; A mechanical arm, mounted on the frame and provided with a tool, configured to be able to move and carve the dam body; A control system is electrically connected to the robotic arm and is configured to control the movement of the robotic arm and execute the arch dam method as described in any one of claims 1-7.

9. The arch dam device according to claim 8, characterized in that: Also included is a fixing device connecting the mechanical arm and the frame; The mechanical arm is connected to the fixing device via a base, and the fixing device is connected to the frame via a bearing; The fixing device can rotate and extend relative to the frame, and can make the base of the mechanical arm be located at the center of the dam surface of the dam body.

10. The arch dam device according to claim 9, characterized in that: The frame includes a main frame body spanning across the dam foundations at both ends, and a supporting frame body connected to the main frame body and supporting the mechanical arm.

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