Earth-rock material blending process management and control method and system

Abstract

The invention discloses an earth-rock material allocation process management and control method and system, and the method can monitor and record the source and destination of earth-rock allocation and vehicle-mounted material category and volume recognition in an unattended state, achieves the fine management of the earth-rock allocation process, is high in universality and robustness, and saves a large amount of manpower and material resources.

Description

Technical Field

[0001] The present invention relates to a method and system for controlling the allocation process of earthwork and stone materials, belonging to the technical field of earthwork engineering. Background Art

[0002] The earthwork and stone allocation volume involved in the pumped-storage power station project reaches tens of millions of cubic meters. The main problems faced by the earthwork project are numerous material sources, variable transportation routes, long allocation cycles, high control difficulties, and high allocation costs. Currently, manual recording of earthwork and stone allocation is mainly relied on, resulting in many situations such as missed reports, wrong reports, and misappropriation of material sources. Moreover, there is no intuitive understanding of the earthwork and stone allocation process, and the current earthwork and stone volume is estimated largely based on personal experience, lacking refined control over the earthwork and stone allocation process. Therefore, a new technical solution is urgently needed to effectively solve the above problems. Summary of the Invention

[0003] The present invention aims to provide a method and system for controlling the allocation process of earthwork and stone materials. The method can monitor and record the source, destination, vehicle-mounted material category, and volume identification of earthwork and stone allocation in an unattended state, realizing refined management of the earthwork and stone allocation process.

[0004] To achieve the above object, the technical solution adopted by the present invention is: a method for controlling the allocation process of earthwork and stone materials, the method comprising:

[0005] Step 1, obtaining the vehicle trajectory of the dump truck and the unloading information of the dump truck in the material area; the material area includes a feeding area, a receiving area, and a transfer area. The feeding area is an engineering area that only transports earthwork and stone materials, the receiving area is an engineering area where earthwork and stone materials can enter and exit, and the transfer area is an engineering area that only transports earthwork and stone materials into it;

[0006] Step 2, obtaining the entry and exit times of the dump truck entering and exiting each material area according to the vehicle trajectory;

[0007] Step 3, traversing the material areas passed by the dump truck in the order of the entry and exit times; when the passed material area is the receiving area or the transfer area, determining whether there is unloading. If not, entering Step 3 and continuing to traverse the next material area; if so, the passed material area is the material end point of the current transportation trip, and entering Step 4;

[0008] Step 4, searching forward along the vehicle trajectory according to the material end point to find the material start point of the current transportation trip. The material start point is the feeding area or the transfer area that is the first material area passed by the vehicle trajectory and has the latest corresponding entry and exit time;

[0009] Step 5: According to the vehicle trajectory between the material starting point and the material ending point, search for the camera control areas passed by the vehicle trajectory, find out the capture records corresponding to the current transportation trip, and obtain the material type and material volume transported in the current transportation trip;

[0010] Step 6: Enter Step 3 and continue to traverse the next material area; until all the material areas passed by the dump truck are traversed, obtain the earthwork allocation process records of all transportation trips of the dump truck.

[0011] The earthwork material allocation process control method provided by the present invention realizes the refined management of the earthwork allocation process, has high universality, strong robustness, and saves a large amount of manpower and material resources.

[0012] According to the embodiments of the present invention, the present invention can be further optimized. The following are the technical solutions formed after optimization:

[0013] In one preferred embodiment, in Step 1, to obtain the vehicle trajectory of the dump truck and the unloading information of the dump truck in the material area, the specific steps include: the dump truck records the vehicle trajectory through a vehicle positioning device, and also uses the vehicle positioning device to identify whether the dump truck's hopper is lifted. If the hopper is lifted, the dump truck is unloading; if the hopper is not lifted, the dump truck is not unloading; the vehicle trajectory includes time and longitude and latitude coordinates. The present invention uses a vehicle positioning device for vehicle operation trajectory monitoring and unloading identification, effectively improving the operation efficiency and optimizing the scheduling.

[0014] In one preferred embodiment, in Step 2, according to the vehicle trajectory, to obtain the entry and exit times of the dump truck entering and leaving each material area; the specific steps include: according to the judgment algorithm of whether a point is inside a polygon, traverse the inclusion relationship between the point data of the vehicle trajectory and the polygons formed by each material area, and obtain the entry and exit times of the dump truck entering and leaving each material area. The present invention uses the judgment algorithm of whether a point is inside a polygon, which is easy to implement and effective, and is beneficial to improving the control efficiency of the method.

[0015] In one preferred embodiment, in Step 5, according to the vehicle trajectory between the material starting point and the material ending point, search for the camera control areas passed by the vehicle trajectory, find out the capture records corresponding to the current transportation trip, and obtain the material type and material volume transported in the current transportation trip; the specific steps include:

[0016] According to the judgment algorithm of whether a point is inside a polygon, judge the relationship between the point data of the vehicle trajectory and the camera control area, and find out the camera control areas passed by the vehicle trajectory;

[0017] According to the in-and-out time of the dump truck entering and leaving the material starting point and the material ending point, search for the capture records corresponding to the dump truck in the camera control area in the current transportation trip; the capture records are obtained by a binocular camera, and the binocular camera is installed in the camera control area; search for the capture record of the dump truck with the closest vehicle trajectory to the binocular camera, which is the correct capture record; according to the correct capture record, identify the material type transported by the dump truck through target detection, and identify the volume of the material transported by the dump truck through three-dimensional modeling.

[0018] The present invention uses a binocular camera combined with target detection and three-dimensional modeling for the identification of the material type and the volume of the material transported by a dump truck, with strong adaptability, high identification accuracy, real-time monitoring and tracking, and effectively improves the control efficiency.

[0019] In one preferred embodiment, in step 6, the earth-rock allocation process records of all transportation trips of the dump truck include: the dump truck, the in-and-out time of the loading and unloading area, the unloading information, the type of the material area, the name of the material area, the transportation volume, and the material type; the type of the material area is a feeding area, a transfer area, and a receiving area; the material type includes rock and soil.

[0020] Based on the same concept, the present invention also provides an earth-rock material allocation process control system, including the dump truck, the camera control area, the material area, the Internet of Things platform, and the server; the dump truck is used for the allocation of earth-rock materials between the material areas and uploads the vehicle trajectory to the Internet of Things platform; the Internet of Things platform is used to store the vehicle trajectory; the camera control area is set in the key roads or areas of earth-rock material allocation, used to capture the dump truck passing through the camera control area, generate capture records and upload them to the server; the server calls the vehicle trajectory through the Internet of Things platform and obtains the earth-rock material allocation process records according to the above method of the earth-rock material allocation process.

[0021] Compared with the prior art, the beneficial effects of the present invention are: the earth-rock material allocation process control method and system provided by the present invention can monitor and record the source, destination, vehicle-mounted material category and volume identification of earth-rock allocation in an unattended state, realize the refined management of the earth-rock allocation process, have high universality, strong robustness, and save a large amount of manpower and material resources. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the application of the earth-rock material allocation process control method of an embodiment of the present invention in a certain pumped storage power station;

[0023] Figure 2It is a flowchart of the control method for the earthwork and stone material allocation process in a certain pumped storage power station according to an embodiment of the present invention. Detailed implementation manners

[0024] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0025] Embodiment 1

[0026] Embodiment 1 of the present invention provides a control method for the earthwork and stone material allocation process. The method can automatically record the source, destination, and the type and volume of the materials carried by each vehicle during the earthwork and stone material allocation process, and realize the standardized management of the earthwork and stone material allocation process. The method specifically includes the following steps:

[0027] Installation of vehicle positioning devices. Install vehicle positioning devices on the dump trucks responsible for earthwork and stone material allocation at the construction site, and record in detail the entry and exit of the dump trucks. The vehicle positioning devices are used to record the vehicle movement trajectory data of the dump trucks, mainly including time and longitude and latitude coordinates. At the same time, the vehicle positioning devices also need to have the function of identifying whether the dump truck's hopper is lifted. For example, by recording the time when the dump truck's hopper is lifted for discharging, it is used to assist in identifying the end point of the materials.

[0028] Installation of Material Metering Equipment. Install material metering equipment on the main roads for earthwork allocation and control. The material metering equipment mainly consists of a binocular camera and a vertical pole. The material metering equipment uses the binocular camera to shoot vertically downward to take pictures of passing vehicles, and cooperates with target detection such as AI image recognition algorithm [Reference: Redmon, J., Divvala, S., Girshick, R., & Farhadi, A. (2016). You Only Look Once: Unified, Real-Time Object Detection. *Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)*, 779 - 788.] to identify the types of vehicle-borne materials, and cooperates with the 3D modeling method [Reference: Liao, Y., Donne, S., & Geiger, A. (2018). Deep Marching Cubes: Learning Explicit Surface Representations. *Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)*, 2916 - 2925.] to identify the volume of materials carried by the vehicle.

[0029] Divide the material feeding area, transfer area, and receiving area. Divide the material feeding area, receiving area, and transfer area at the earthwork construction site. The feeding area is responsible for transporting materials out, the receiving area is responsible for receiving materials, and the transfer area is responsible for material transfer.

[0030] Furthermore, analyze the sources and destinations of material transportation. The specific acquisition process includes:

[0031] Traverse the vehicle trajectory data of the dump truck in chronological order, analyze the time points when the dump truck enters and exits each material area. According to the relationship between the vehicle trajectory points and the polygons formed by each material area, the entry and exit time points of each vehicle entering and exiting each material area can be judged. Identify the destination of the material based on the recorded time when the dump truck's hopper is lifted for unloading. The material will only be judged as the destination when it is unloaded in the transfer area or the receiving area. Split the vehicle trajectory data into the transportation records of N trips according to the destination of the material, where N is a positive integer. Then, among all the material areas passed by the vehicle trajectory for the first time, the feeding area or the transfer area with the latest passing time is determined as the starting point and judged as the source of the material. Thus, the source area and the destination area of the material transported by each trip are obtained. Specifically, if the vehicle unloads in the receiving area or the transfer area, then this material area is judged as the end point of the material transportation. In chronological order, search forward along the vehicle trajectory to find the feeding area or the transfer area with the latest passing time among all the material areas passed by the vehicle trajectory for the first time, which is the starting point of the material.

[0032] Furthermore, analyze the type and volume of the material transported by each trip. The specific acquisition process includes:

[0033] Install material metering equipment at key intersections for earthwork transportation. Use the photos taken from above by the binocular cameras in the metering equipment and apply AI image recognition to identify the type of the material, such as rock and soil. Then use 3D modeling technology to model the on-vehicle material and calculate to obtain the volume of the material. Since the license plate of the vehicle cannot be seen in the photos taken from above by the binocular cameras, the specific vehicle is associated by adopting the capture time. The specific steps include: when the starting point and the end point of the material transported by each trip are known, the camera control areas passed by the vehicle trajectory can be found according to the relationship between the trajectory points and the polygons of the camera control areas. According to the time period when the vehicle enters and exits the starting point and the end point of the material, search for the capture records corresponding to the trajectory of each trip. Then, according to the principle that the capture time of the camera and the corresponding vehicle trajectory should be the closest to the camera capture area, find the correct capture records corresponding to the trajectory of each trip.

[0034] In summary, traverse all the trajectory data of all vehicles to obtain the source, destination, category and volume of the on-vehicle material for each trip of earthwork allocation, as well as the driving trajectory of the vehicle between the starting points.

[0035] There are numerous vehicles at the construction site, and the vehicle trajectory generated by the vehicle positioning equipment at all times will be sent back to a dedicated Internet of Things platform for storing the trajectory data. When the server needs to obtain the deployment process record, the server calls the trajectory data on the Internet of Things platform for analysis, and the capture records are uploaded to the server by the on-site network. The server analyzes according to the image recognition and 3D modeling algorithms.

[0036] In Embodiment 1, the method is based on vehicle positioning equipment and material metering equipment to control the process of earth-rock material allocation, and can monitor and record the source, destination, vehicle-mounted material category and volume identification of earth-rock allocation in an unattended state, realizing the refined management of the earth-rock allocation process, with high universality and strong robustness, and can save a large amount of manpower and material resources.

[0037] Embodiment 2

[0038] Embodiment 2 is an application of a method for controlling the process of earth-rock material allocation provided in Embodiment 1 in a certain pumped-storage power station. Figure 2 is the flow chart of the method, Figure 1 is the schematic diagram of the application of the method in a certain pumped-storage power station. The method includes the following steps:

[0039] S1. As Figure 1 shown, install vehicle positioning equipment on the dump trucks responsible for earth-rock allocation, install material metering equipment on the main roads for earth-rock transportation, and divide the feeding areas (drainage material yard, lower reservoir inlet and outlet), receiving areas (lower reservoir dam), and transfer areas (drainage material transfer yard) according to the material areas of earth-rock allocation. There should be no overlap between these areas. In the project of a pumped-storage power station, the feeding area refers to the construction site where materials can only go out, the transfer area refers to the construction site where materials can both go out and come in, and the receiving area refers to the construction site where materials can only come in.

[0040] S2. Obtain the trajectory data of the vehicle positioning equipment, traverse the inclusion relationship between the trajectory point data and the polygons of each material area, and find out the entry and exit times of the vehicle entering and leaving each material area, as shown in Table 1.

[0041] Table 1 Statistics of dump truck entering and leaving the material area

[0042]

[0043] S3. Find the end point of the material. According to the function of identifying the lifting of the dump truck provided by the vehicle positioning equipment, when the dump truck is lifted in the transfer area or the receiving area, it is determined that this area is the end point of the material for one trip, that is, the unloading area. So in Embodiment 2, No. 2, No. 5, and No. 8 are all the end points of the material.

[0044] S4. Divide the trajectory into N trips of transportation. According to the previously determined end point of the material for each trip, divide the trajectory into N trips of vehicle transportation. So the trajectory in Embodiment 2 is divided into 3 trips of vehicle transportation.

[0045] S5. Find the starting point of the material. During the process of the material from the starting point to the ending point, it may pass through multiple material areas. According to the following principle: among all the material areas that the vehicle trajectory passes through for the first time, and the feeding area or transfer area with the latest passing time is the starting point, find the starting point of the material. Therefore, the starting points of the materials in this Embodiment 2 are Serial Numbers 1, 3, and 7.

[0046] S6. Find the camera control areas passed through during the process of finding the starting point of each vehicle. In this Embodiment 2, the areas passed through by the 3 vehicles are all the control areas of the material metering device A.

[0047] S7. Find the camera capture records corresponding to each vehicle. According to the capture records between the starting points of the search trajectories, calculate the distance between the vehicle trajectory point corresponding to the capture time point and this camera, and the one with the closest distance is the matching capture record. Taking the first vehicle in this Embodiment 2 as an example (i.e., Serial Number 1 - Serial Number 2, Drainage Material Yard - Lower Reservoir Dam), find the capture record of the material metering device A during the transportation time of this trip. Since there are many construction vehicles, it is necessary to find the capture record corresponding to this transportation trip according to the capture time point and the vehicle trajectory corresponding to this time point exactly in the capture area, and obtain the material type and volume transported by this transportation trip.

[0048] S8. Traverse all the trajectory data of all vehicles to obtain all the records of the earth-rock allocation process. The calculation results in this Embodiment are: (1) Vehicle Trip 1, Drainage Material Yard → Lower Reservoir Dam, Transportation Volume: 25m 3 , Material Type: Rock; (2) Vehicle Trip 2, Drainage Material Yard → Drainage Material Transfer Yard, Transportation Volume: 30m 3 , Material Type: Rock; (3) Vehicle Trip 3, Drainage Material Yard → Lower Reservoir Dam, Transportation Volume: 29m 3 , Material Type: Rock. Thus, the sources and destinations of all transported materials, as well as the material types and volumes, are obtained.

[0049] Through the actual application in a certain pumped-storage power station, this Embodiment 2 proves the feasibility of the method, which is of great significance for standardizing the control of the earth-rock allocation process and reducing the earth-rock transportation cost.

[0050] The content clarified in the above embodiments should be understood that these embodiments are only used to illustrate the present invention more clearly, rather than to limit the scope of the present invention. After reading the present invention, various equivalent forms of modification of this embodiment by those skilled in the art all fall within the scope defined by the appended claims of the present invention.

Claims

1. A method for controlling the process of earthwork material allocation, characterized in that The method includes: Step 1: Obtain the vehicle trajectory of the dump truck and the unloading information of the dump truck in the material area; The material area includes a feeding area, a receiving area, and a transfer area. The feeding area is an engineering area that only transports earth-rock materials. The receiving area is an engineering area where earth-rock materials can enter and exit. The transfer area is an engineering area that only transports earth-rock materials into it; Step 2: According to the vehicle trajectory, obtain the entry and exit times of the dump truck entering and exiting each material area; Step 3: Traverse the material areas passed by the dump truck according to the order of the entry and exit times; When the passed material area is the receiving area or the transfer area, determine whether there is unloading. If not, enter Step 3 and continue to traverse the next material area; if so, the passed material area is the material end point of the current transportation trip, and enter Step 4; Step 4: According to the material end point, search forward along the vehicle trajectory for the material start point of the current transportation trip. The material start point is the feeding area or the transfer area that is the first area passed by the vehicle trajectory and has the latest corresponding entry and exit time; Step 5: According to the vehicle trajectory between the material start point and the material end point, search for the camera control areas passed by the vehicle trajectory, find out the capture records corresponding to the current transportation trip, and obtain the material type and material volume transported by the current transportation trip; Step 6: Enter Step 3 and continue to traverse the next material area; until all the material areas passed by the dump truck are traversed, obtain the earth-rock allocation process records of all transportation trips of the dump truck.

2. The method for controlling the allocation process of earthwork and stone materials according to claim 1, wherein In Step 1, to obtain the vehicle trajectory of the dump truck and the unloading information of the dump truck in the material area, the specific steps include: The dump truck records the vehicle trajectory through a vehicle positioning device, and also uses the vehicle positioning device to identify whether the dump truck's hopper is lifted. If the hopper is lifted, the dump truck has unloaded. If the hopper is not lifted, the dump truck has not unloaded; the vehicle trajectory includes time, longitude and latitude coordinates.

3. The method for controlling the earthwork and stone material allocation process according to claim 2, wherein In Step 2, according to the vehicle trajectory, obtain the entry and exit times of the dump truck entering and exiting each material area; The specific steps include: According to the judgment algorithm of whether a point is inside a polygon, traverse the inclusion relationship between the point data of the vehicle trajectory and the polygons formed by each material area to obtain the entry and exit times of the dump truck entering and exiting each material area.

4. The method for controlling the earthwork and stone material allocation process according to claim 2, wherein In Step 5, according to the vehicle trajectory between the material start point and the material end point, search for the camera control areas passed by the vehicle trajectory, find out the capture records corresponding to the current transportation trip, and obtain the material type and material volume transported by the current transportation trip; the specific steps include: According to the judgment algorithm of whether a point is inside a polygon, judge the relationship between the point data of the vehicle trajectory and the camera control area, and find out the camera control areas passed by the vehicle trajectory; According to the entry and exit times of the dump truck entering and exiting the material start point and the material end point, search for the capture records corresponding to the dump truck in the camera control area during the current transportation trip; the capture records are obtained through a binocular camera, and the binocular camera is installed in the camera control area; Find the capture record of the dump truck that is closest to the binocular camera in the vehicle trajectory, which is the correct capture record; according to the correct capture record, identify the type of material transported by the dump truck through target detection, and identify the volume of the material transported by the dump truck through 3D modeling.

5. The method for controlling the allocation process of earthwork and stone materials according to claim 1, wherein, In the step 6, the record of the earth-rock allocation process for all transportation trips of the dump truck includes: the dump truck, the entry and exit times of the loading and unloading areas, the unloading information, the type of the material area, the name of the material area, the transportation volume, and the type of material; the type of the material area is the feeding area, the transfer area, and the receiving area; the type of material includes rock and soil.

6. An earthwork and stone material allocation process control system, characterized in that, It includes the dump truck, the camera control area, the material area, the Internet of Things platform, and the server; the dump truck is used for the allocation of earth-rock materials between the material areas and uploads the vehicle trajectory to the Internet of Things platform; the Internet of Things platform is used to store the vehicle trajectory; the camera control area is set at the key roads or areas for the allocation of earth-rock materials and is used to capture the dump truck passing through the camera control area and generate a capture record and upload it to the server; the server calls the vehicle trajectory through the Internet of Things platform and obtains the record of the earth-rock material allocation process according to the method of the earth-rock material allocation process described in any one of claims 1 to 5.

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