Construction punching device and method for building water supply and drainage engineering

Abstract

The invention relates to the technical field of punching, in particular to a construction punching device and method for building water supply and drainage engineering. The method comprises the following steps: acquiring height data of different monitoring positions at each moment in the punching process of the punching device; determining the inclination degree of the hole in each direction at each moment according to the height data; according to the discrete condition and the inclination degree of the inclination degree of the hole in each direction at all moments, the inclination credibility degree of each direction at each moment is obtained; the similarity of the inclination characteristics of the punching device in every two directions is obtained by combining the change characteristics between the inclination degrees and the inclination credibility degrees of the holes in the different directions at all moments; according to the change similar characteristics between the inclination credibility degrees of every two directions at all moments, the punching abnormity possibility of every two directions is obtained; and the punching direction of the punching device is adjusted according to the similarity and the punching abnormity possibility. The punching accuracy of the punching device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling, and particularly to a construction drilling device and method for building water supply and drainage projects. Background Art

[0002] During the building construction process, various factors such as urban water use, water supply, and water treatment need to be considered. It is necessary to drill holes in the foundation to ensure the placement of water supply pipes or the installation of infiltration wells, or to open holes in walls, columns, slabs, etc. to achieve the installation of drainage pipes. Therefore, relevant drilling work is often required in the building water supply and drainage construction project, and relatively high drilling accuracy is required.

[0003] The invention patent with the publication number CN112727357B discloses a drilling device for building engineering, which can realize the drilling work. However, if only shallow holes are drilled, the requirement for accuracy is not high, and the abnormality of drilling is not obvious. But it ignores that as the drilling depth increases, the accuracy requirement for the device drilling also increases, resulting in insufficient accuracy when using this device for drilling. Because as the drilling depth increases, even a slight drilling deviation will affect the formation of the hole, leading to abnormal holes or the situation that the holes cannot be effectively used. Summary of the Invention

[0004] In order to solve the problem of drilling deviation of the existing drilling device when drilling deep holes, the purpose of the present invention is to provide a construction drilling device and method for building water supply and drainage projects. The specific technical solutions adopted are as follows: In the first aspect, the present invention provides a construction drilling method for building water supply and drainage projects, which includes the following steps: Obtain the height data of each monitoring position at each moment during the drilling process of the drilling device; Determine the feature vector of each moment according to the height data of the same moment at all monitoring positions; determine the inclination degree of the hole in each direction at each moment based on the components of the feature vector in each direction; obtain the inclination credibility of each direction at each moment according to the discrete situation and the inclination degree of the inclination of the hole in each direction at all moments; Combine the change characteristics between the inclination degrees and the inclination credibility of the hole in different directions at all moments to obtain the similarity of the inclination characteristics of the drilling device in each two directions; obtain the possibility of drilling abnormality in each two directions according to the change similarity characteristics between the inclination credibility of all moments in each two directions; Comprehensively consider the similarity and the possibility of drilling abnormality to adjust the drilling direction of the drilling device.

[0005] Preferably, determining the feature vector at each moment based on the height data of all monitoring positions at the same moment includes: Determine the fitting plane corresponding to the candidate moment according to the positions of all monitoring positions of the punching device at the candidate moment; Determine the unit normal vector of the fitting plane as the feature vector at the candidate moment; The candidate moment is any moment during the punching process of the punching device.

[0006] Preferably, determining the inclination degree of the hole in each direction at each moment based on the components of the feature vector in each direction includes: For any direction: Calculate the component of the feature vector at the candidate moment in the any direction, and determine the modulus of the difference between the component and the unit vector in the any direction as the inclination degree of the hole in the any direction at the candidate moment.

[0007] Preferably, obtaining the inclination credibility of each direction at each moment according to the discrete situation and the inclination degree of the hole in each direction at all moments includes: For any direction: Respectively calculate the standard deviation and the average value of the inclination degrees of the holes in the any direction at all moments; According to the inclination degree, the standard deviation, and the average value of the hole in the any direction at the candidate moment, obtain the inclination credibility of the any direction at the candidate moment, and the inclination degree, the standard deviation, and the average value are all negatively correlated with the inclination credibility.

[0008] Preferably, combining the variation characteristics between the inclination degrees and the inclination credibilities of the holes in different directions at all moments to obtain the similarity of the inclination characteristics of the punching device in every two directions includes: Arrange the inclination characteristics of the holes in each direction at all moments in chronological order to obtain the inclination characteristic sequence of the holes in each direction, where the inclination characteristic of the hole in each direction at each moment is composed of the inclination degree and the inclination credibility of the hole in each direction at the corresponding moment; For any two directions: Denote the inclination characteristic sequences of the any two directions as the first sequence and the second sequence respectively; Keep the first sequence fixed, translate the second sequence multiple times, and obtain the similarity factor of the inclination characteristics of the any two directions after each translation according to the matching situation of the corresponding positions between the sequences after each translation; Determine the maximum value of the similarity factors of the inclination characteristics of the any two directions after all translations as the similarity of the inclination characteristics of the punching device in the any two directions.

[0009] Preferably, obtaining the tilt feature similarity factor for any two directions each time of translation according to the matching situation of corresponding positions between sequences after each translation includes: After each translation, obtain the DTW distance between the elements at corresponding positions between the translated sequence and the first sequence, and calculate the average DTW distance between the elements at all corresponding positions as the average DTW distance corresponding to each translation; According to the overlapping time ratio between the two sequences after each translation and the corresponding average DTW distance, obtain the tilt feature similarity factor for any two directions each time of translation. The overlapping time ratio has a positive correlation with the tilt feature similarity factor, and the average DTW distance has a negative correlation with the tilt feature similarity factor.

[0010] Preferably, obtaining the punching abnormality possibility for any two directions according to the change similarity feature between the tilt credibility degrees at all moments of any two directions includes: Record the number of the direction corresponding to the maximum value of the tilt credibility degrees of all directions at each moment as the target number at each moment; The target numbers at all moments form a target label sequence; For any target number: Let the sequence number value of the first occurrence of the any target number in the target label sequence be 1, the sequence number value of the element adjacent to the first occurrence of the any target number and on its right in the target label sequence be 2, and so on; obtain the sequence number values of all occurrences of the any target number in the target label sequence to form a subsequence of the any target number; For any two directions: Obtain the punching abnormality possibility for the any two directions according to the subsequences of the target labels corresponding to the any two directions.

[0011] Preferably, obtaining the punching abnormality possibility for any two directions according to the subsequences of the target labels corresponding to the any two directions includes: Respectively obtain the number of intersections and the number of unions between the subsequences of the target labels corresponding to the any two directions; According to the element quantity difference between the subsequences of the target labels corresponding to the any two directions and the first ratio between the number of intersections and the number of unions, obtain the punching abnormality possibility for the any two directions; the element quantity difference has a positive correlation with the punching abnormality possibility, and the first ratio has a negative correlation with the punching abnormality possibility.

[0012] Preferably, comprehensively considering the similarity and the punching abnormality possibility to adjust the punching direction of the punching device includes: For any two directions, according to the punching anomaly possibility of the any two directions and the corresponding similarity, the punching accuracy of the any two directions is obtained, where the similarity has a positive correlation with the punching accuracy, and the punching anomaly possibility has a negative correlation with the punching accuracy; If the minimum value of the punching accuracies of all pairwise directions is less than a preset accuracy threshold, the punching direction of the punching device is adjusted.

[0013] In a second aspect, the present invention provides a punching device for construction water supply and drainage engineering, the device includes a laser positioning module, and the laser positioning module is used to emit laser and collect height data; the device is used to implement the above method.

[0014] The present invention has at least the following beneficial effects: The present invention first collects the height data of each moment at different monitoring positions during the punching process of the punching device, determines the feature vector of each moment according to the height data of the same moment at all monitoring positions, and evaluates the punching offset feature in each direction during the punching process through the feature vector. Then, according to the discrete situation and the degree of inclination of the holes in each direction at all moments, the inclination credibility of each moment in each direction is obtained. The vibration generated during the normal operation of the punching device will interfere with the judgment of the accuracy of the actual punching. It is reflected that the inclination of the punching reflected by the height data may be the inclination generated by the normal vibration, and if the hole is inclined due to insufficient punching accuracy of the punching device during the punching process, at this time, the inclination feature judged based on the collected data has obvious directivity, manifested as maintaining a relatively high inclination difference in a certain specific direction; Therefore, by combining the change characteristics between the inclination degree and the inclination credibility of the holes in different directions, the similarity of the inclination characteristics of the punching device in each two directions is evaluated, and according to the change similarity characteristics between the inclination credibilities in different directions, the punching anomaly possibility of each two directions is judged. Furthermore, by comprehensively considering the similarity of the inclination characteristics of the punching device in different directions and the punching anomaly possibility, the punching direction of the punching device is accurately adjusted, solving the problem of high precision requirements for the punching device when drilling deep holes, eliminating the significant interference effect brought by the vibration of the punching device during the punching process, and improving the punching precision and accuracy. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 This is a flowchart of a construction hole - punching method for building water supply and drainage projects provided by an embodiment of the present invention. Specific implementation manners

[0017] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following will combine the accompanying drawings and preferred embodiments to detail a construction hole - punching device and method for building water supply and drainage projects proposed according to the present invention as follows.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0019] The following will specifically describe the specific solutions of a construction hole - punching device and method for building water supply and drainage projects provided by the present invention with reference to the accompanying drawings.

[0020] An embodiment of a construction hole - punching device for building water supply and drainage projects: A construction hole - punching device provided in this embodiment is based on the existing hole - punching device and adds a laser positioning module. The laser positioning module obtains height information by emitting laser. The laser positioning module in this embodiment is arranged around the rotating shaft of the hole - punching device, and a total of 3 laser emission sensors are set. In specific applications, the implementer can set the number of laser emission sensors according to specific situations.

[0021] Start the device motor and simultaneously start the laser positioning module. The motor drives the push rod of the hole - punching device to move downward and simultaneously drives the rotating shaft to rotate, so that the hole - punching drill bit enters the object to be punched to obtain corresponding waste materials. Start the air pressure pump to make the waste materials enter the drill bit groove and then enter the waste storage box through the waste outlet to complete the construction hole - punching.

[0022] An embodiment of a construction hole - punching method for building water supply and drainage projects: The specific scenario targeted by this embodiment is: in building water supply and drainage projects, when using a hole - punching device for hole - punching treatment, during the hole - punching process, as the hole - punching depth increases, the depth of the hole - punching device also increases, resulting in a deviation in the hole - punching position when using this device, affecting subsequent use. This embodiment will adjust the hole - punching device in a timely manner according to the hole - punching position to prevent large deviations.

[0023] This embodiment proposes a construction hole - punching method for building water supply and drainage projects. As Figure 1 shown, a construction hole - punching method for building water supply and drainage projects in this embodiment includes the following steps: Step S1: Obtain the height data of each moment at different monitoring positions during the punching process of the punching device.

[0024] When the punching device is started, the laser positioning module is also started to collect the height data at different positions on the rotating shaft of the punching device. Therefore, at each moment, each laser emission sensor can collect a height data. In this embodiment, the collection frequency of the height data is once per second. In specific applications, the implementer can set the collection frequency of the temperature data according to the specific situation.

[0025] So far, this embodiment has collected the height data of each moment at different monitoring positions during the punching process of the punching device.

[0026] Step S2: Determine the feature vector of each moment according to the height data of the same moment at all monitoring positions; determine the inclination degree of the hole in each direction at each moment based on the components of the feature vector in each direction; obtain the inclination credibility of each direction at each moment according to the discrete situation and the inclination degree of the inclination of the hole in each direction at all moments.

[0027] If the punching device is inclined to a certain extent during the punching process, the monitored height data will also be inclined to a certain extent. Therefore, the detected height of the punching device should be kept consistent, so that the laser data at the same moment should be maintained on the same plane. It is necessary to obtain the performance of the fitting plane for the inclination of the punching device.

[0028] Specifically, in this embodiment, the ground is used as the XOY plane, and the collected height data is used as the data on the Z axis to construct a three-dimensional rectangular coordinate system. The position of the origin O of this three-dimensional rectangular coordinate system and the specific positions of the X axis, Y axis, and Z axis are set by the implementer according to the specific situation, and will not be elaborated here.

[0029] Next, take any moment during the punching process of the punching device as an example for illustration. For other moments during the punching process, the method provided in this embodiment can be used for processing.

[0030] Any moment during the punching process of the punching device is recorded as the candidate moment. In this embodiment, the positive direction of the X axis, the positive direction of the Y axis, and the positive direction of the Z axis are respectively used as a direction, that is, three directions are set in this embodiment.

[0031] According to the positions of all monitoring positions of the candidate moment punching device, determine the fitting plane corresponding to the candidate moment; in this embodiment, a total of 3 monitoring positions are set, and these 3 monitoring positions are not on the same straight line. Therefore, a plane can be determined based on these three positions, and this plane is the fitting plane. It should be noted that: if the number of monitoring positions is greater than 3 and these monitoring positions are not in the same plane, the least squares method can be used to fit these points onto the same plane, and this plane is the fitting plane. The least squares method is a prior art and will not be elaborated here.

[0032] The normal vector of this fitting plane represents the punching offset characteristics that occur during the punching process. If there is no punching offset, the heights corresponding to each laser emission sensor should remain the same, so the normal vector is in the vertical direction; if there is a large difference between the normal vector corresponding to the current moment in a certain direction component and the normal vector in the ideal state, it indicates that the hole has tilted to a certain extent during the punching process, and the greater this value, the higher the degree of tilt.

[0033] Therefore, determine the unit normal vector of the fitting plane as the feature vector of the candidate moment.

[0034] For any direction: calculate the component of the feature vector of the candidate moment in this direction, and determine the modulus of the difference between this component and the unit vector in this direction as the degree of tilt of the hole in this direction at the candidate moment. By using this method, the degree of tilt of the hole in this direction at each moment during the punching process can be obtained. Calculate the standard deviation and average value of the degree of tilt of the hole in this direction at all moments respectively; based on the degree of tilt, the standard deviation, and the average value of the hole in this direction at the candidate moment, obtain the tilt credibility of this direction at the candidate moment, and the degree of tilt, the standard deviation, and the average value are all negatively correlated with the tilt credibility.

[0035] Among them, the negative correlation means that the dependent variable will decrease as the independent variable increases, and the dependent variable will increase as the independent variable decreases. It can be a subtraction relationship, a division relationship, etc., which is determined by the actual application.

[0036] In this embodiment, a specific calculation formula for the tilt credibility is given. The tilt credibility of the i-th direction at the candidate moment can be expressed as: Among them, represents the tilt credibility of the i-th direction at the candidate moment, represents the degree of tilt of the hole in the i-th direction at the candidate moment, represents the standard deviation of the degree of tilt of the hole in the i-th direction at all moments during the punching process of the punching device, represents the average of the inclination degrees of the holes in the i-th direction at all moments during the hole punching process of the hole punching device. represents a preset first adjustment parameter. represents a normalization function.

[0037] In this embodiment, introducing the preset first adjustment parameter into the calculation formula of the inclination credibility is to prevent the denominator from being 0. In this embodiment, the preset first adjustment parameter is 0.01. In specific applications, the implementer can set it according to specific situations.

[0038] The smaller the inclination degree of the hole in the i-th direction at the candidate moment, the smaller the possibility of inclination during hole punching at the candidate moment; the standard deviation of the inclination degrees of the holes in the i-th direction at all moments during the hole punching process of the hole punching device reflects the dispersion of the inclination degree. The larger the standard deviation of the inclination degrees of the holes in the i-th direction at all moments during the hole punching process of the hole punching device, the more likely it is that there are obvious fluctuations in the hole punching device during the hole punching process. The average of the inclination degrees of the holes in the i-th direction at all moments is used to reflect the overall inclination degree of the holes in the i-th direction during the hole punching process. Therefore, when the inclination degree of the hole in the i-th direction at the candidate moment is smaller, the standard deviation of the inclination degrees of the holes in the i-th direction at all moments during the hole punching process of the hole punching device is also smaller, and the average of the inclination degrees of the holes in the i-th direction at all moments is also smaller, it indicates that the credibility of the inclination data collected by the hole punching device at this moment is higher.

[0039] By using the above method, the inclination credibility of the hole punching device in each direction at each moment during the hole punching process can be obtained.

[0040] Step S3: Combine the variation characteristics between the inclination degrees and the inclination credibility of the holes in different directions at all moments to obtain the similarity of the inclination characteristics of the hole punching device in each two directions; according to the variation similarity characteristics between the inclination credibilities of all moments in each two directions, obtain the possibility of punching abnormality in each two directions.

[0041] During the working process of the hole punching device, in order to punch holes, the drill bit needs to rotate to enter and complete the hole punching. However, during this process, the device will generate obvious periodic vibrations. The periodic vibrations generated during the normal operation of the hole punching device will interfere with the accuracy of the laser data obtained by the above laser positioning module for real hole punching and the judgment of the accuracy of hole punching, which is reflected in that the inclination of the hole punching reflected by the laser data may be the inclination generated by normal vibrations.

[0042] If the holes are inclined due to insufficient punching accuracy or hole accuracy during the punching process of the punching device, the laser data inclination feature has obvious directivity at this time, which is manifested as the inclination of the laser data maintaining a high inclination difference in a specific direction at this time. Therefore, the change in the punching direction of the punching device is periodic, and the punching of the actual punching device has abnormal punching accuracy or accuracy, resulting in the consistency of the punching inclination direction.

[0043] Based on this, in this embodiment, first, for any moment, the binary group composed of the inclination degree and inclination credibility of the hole at this moment in each direction is used as the inclination feature of the hole at this moment in each direction; by using this method, the inclination feature of the hole at each moment in each direction can be obtained. Then, in chronological order, the inclination features of the hole at each moment in each direction are arranged, and the sequence obtained at this time is recorded as the inclination feature sequence of the hole in each direction. It should be noted that: there is an inclination feature sequence for the hole in each direction.

[0044] For any two directions: the inclination feature sequences of these two directions are respectively recorded as the first sequence and the second sequence; the first sequence remains fixed, and the second sequence is translated multiple times. The number of translations is set as x, and the value of x is an integer in, that is, in this embodiment, the translation step size each time is 1, T represents the number of elements in the first sequence, denotes the ceiling symbol. When x is positive, it means translation to the right, and when x is negative, it means translation to the left. After each translation, the time overlap part between the two sequences can be obtained. Next, only the overlap part will be matched. Specifically, the DTW (Dynamic Time Warping) distance between the elements at the corresponding positions of the translated sequence and the first sequence is obtained by using the dynamic time warping algorithm, and the average DTW distance between the elements at all corresponding positions is calculated as the average DTW distance corresponding to each translation; it should be noted that: before each translation, there is an alignment relationship in time sequence between the first sequence and the second sequence. The dynamic time warping algorithm is an existing technology and will not be elaborated here too much.

[0045] According to the overlap time ratio between the two sequences and the corresponding average DTW distance after each translation, the inclination feature similarity factor of any two directions for each translation is obtained. The overlap time ratio is positively correlated with the inclination feature similarity factor, and the average DTW distance is negatively correlated with the inclination feature similarity factor.

[0046] Among them, the method for obtaining the overlapping time ratio between the two sequences after each translation is as follows: the ratio of the time interval between the first element and the last element at the corresponding positions of the two sequences after translation to the duration corresponding to any one of the sequences is used as the overlapping time ratio.

[0047] A positive correlation means that the dependent variable increases as the independent variable increases and decreases as the independent variable decreases. It can be an additive relationship, a multiplicative relationship, etc., which is determined by the actual application; a negative correlation means that the dependent variable decreases as the independent variable increases and increases as the independent variable decreases. It can be a subtractive relationship, a divisive relationship, etc., which is determined by the actual application.

[0048] In this embodiment, a specific calculation formula for the tilt feature similarity factor is given. The tilt feature similarity factor in the two directions after the r-th translation can be expressed as: Among them, represents the tilt feature similarity factor in the two directions after the r-th translation, represents the overlapping time ratio between the two sequences after the r-th translation, represents the average DTW distance corresponding to the r-th translation, represents a preset second adjustment parameter.

[0049] In this embodiment, a preset second adjustment parameter is introduced into the calculation formula of the tilt feature similarity factor to prevent the denominator from being zero. In this embodiment, the preset second adjustment parameter is 0.01. In specific applications, the implementer can set it according to the specific situation.

[0050] In the process of evaluating the tilt feature similarity only based on the matching situation between the time-overlapping parts of the two sequences, there will be a situation where the shorter the time, the fewer the number of participants in the matching, and the higher the matching similarity. Therefore, the overlapping time ratio of this overlapping part is used for restriction to determine the tilt feature similarity factor. The tilt feature similarity factor is used to characterize the similarity of the tilt features in these two directions during the previous drilling process, and this value reflects the periodicity of the laser data change caused by vibration.

[0051] By using the above method, the tilt feature similarity factor in these two directions for each translation can be calculated, and the maximum value of the tilt feature similarity factors in these two directions for all translations is determined as the similarity of the tilt features of the drilling devices in these two directions.

[0052] By using the above method, the similarity of the tilt features of the drilling devices in pairwise directions can be obtained.

[0053] If the punching accuracy or accuracy of the punching device is abnormal, the periodicity of the collected height data change will be destroyed, resulting in the punched holes having the characteristic of inclined direction offset within the same period. On the one hand, the above similarity compares the similarities of inclinations in different directions, but does not compare the change of the inclination characteristics in the same direction caused by the inclined direction offset; on the other hand, at a specific device inclination angle and the working power of a specific punching device, the interference of the vibration generated by the normal operation of the punching device to the laser data can be ignored. At this time, obvious inclination will occur in a certain direction, but since the inclination angle is basically constant, it will also have a high similarity when compared with other angles. Therefore, only comparing the similarities in the above different directions is inaccurate. In order to improve the accuracy of the evaluation result, it needs to be corrected.

[0054] Specifically, the number of the direction corresponding to the maximum value of the inclination credibility of all directions at each moment is recorded as the target number of each moment, and each target number represents a direction; the target numbers of all moments form a target label sequence.

[0055] For any target number: Let the sequence number value of the first occurrence of this target number in the target label sequence be 1, the sequence number value of the element adjacent to the first occurrence of this target number and on its right in the target label sequence be 2, and so on; obtain the sequence number values of all occurrences of this target number in the target label sequence to form a subsequence of this target number. After re-numbering the sequence number values according to the above method, the first element of the subsequence of each target number is 1. For example: The target label sequence is , and the sequence formed by the original sequence number values extracted for the target number 1 should be: , and the sequence formed by the original sequence number values extracted for the target number 2 should be , and the sequence formed by the original sequence number values extracted for the target number 3 should be . After re-numbering the sequence number values according to the above method, the subsequence of the target number 1 is , and the subsequence of the target number 2 is , and the subsequence of the target number 3 is .

[0056] Next, still taking any two directions as an example for illustration, the method provided in this embodiment can be used to process other directions.

[0057] For any two directions: respectively obtain the number of intersections and the number of unions between the subsequences of the target labels corresponding to these two directions; obtain the punching anomaly possibility of any two directions according to the difference in the number of elements between the subsequences of the target labels corresponding to these two directions and the first ratio between the number of intersections and the number of unions; the difference in the number of elements is positively correlated with the punching anomaly possibility, and the first ratio is negatively correlated with the punching anomaly possibility.

[0058] Among them, the positive correlation means that the dependent variable will increase as the independent variable increases, and the dependent variable will decrease as the independent variable decreases. It can be an additive relationship, a multiplicative relationship, etc., which is determined by the actual application; the negative correlation means that the dependent variable will decrease as the independent variable increases, and the dependent variable will increase as the independent variable decreases. It can be a subtractive relationship, a division relationship, etc., which is determined by the actual application.

[0059] In this embodiment, a specific calculation formula for the punching anomaly possibility is given. The punching anomaly possibility between the i-th direction and the j-th direction can be expressed as: Among them, represents the punching anomaly possibility between the i-th direction and the j-th direction, represents the number of elements between the subsequences of the target labels corresponding to the i-th direction, represents the number of elements between the subsequences of the target labels corresponding to the j-th direction, represents the number of intersections between the subsequences of the target labels corresponding to the i-th direction and the j-th direction, represents the number of unions between the subsequences of the target labels corresponding to the i-th direction and the j-th direction, represents the absolute value symbol.

[0060] represents the difference in the number of elements between the subsequences of the target labels corresponding to the i-th direction and the j-th direction. The smaller this value is, the more similar the quantities between the two are. represents the first ratio When the difference in the number of elements between the subsequences of the target labels corresponding to the i-th direction and the j-th direction is smaller and the first ratio is larger, it means that the possibility of abnormal punching accuracy of the punching device is smaller, and the punching anomaly possibility between the i-th direction and the j-th direction is smaller.

[0061] By using the above method, the punching anomaly possibility of every two directions can be obtained.

[0062] Step S4, comprehensively consider the similarity and the punching anomaly possibility, and adjust the punching direction of the punching device.

[0063] The more obvious the periodic change characteristics reflected by the vibration of the punching device are, and the weaker the inclination characteristics of the punching device are, the more it indicates that the current punching device is in normal punching, and the punching accuracy and accuracy are normal. In this embodiment, the similarity of the inclination characteristics of the punching device in every two directions and the punching abnormality possibility in every two directions are obtained in step S3. Next, it will be determined whether it is necessary to adjust the punching direction of the punching device in combination with the similarity of the inclination characteristics of the punching device and the punching abnormality possibility. If adjustment is required, the specific adjustment direction will be determined.

[0064] For any two directions, according to the punching abnormality possibility of the any two directions and the corresponding similarity, the punching accuracy of the any two directions is obtained. The similarity has a positive correlation with the punching accuracy, and the punching abnormality possibility has a negative correlation with the punching accuracy.

[0065] In this embodiment, a specific calculation formula for punching accuracy is given. The punching accuracy between the i-th direction and the j-th direction can be expressed as: where, represents the punching accuracy between the i-th direction and the j-th direction, represents the similarity of the inclination characteristics of the punching device between the i-th direction and the j-th direction, represents the punching abnormality possibility between the i-th direction and the j-th direction, represents a normalization function, represents a preset third adjustment parameter.

[0066] In this embodiment, a preset third adjustment parameter is introduced into the calculation formula of punching accuracy to prevent the denominator from being 0. In this embodiment, the preset third adjustment parameter is 0.01. In specific applications, the implementer can set it according to specific circumstances. When the similarity of the inclination characteristics of the punching device between the i-th direction and the j-th direction is greater and the punching abnormality possibility between the i-th direction and the j-th direction is smaller, it indicates that the accuracy of the punching position of the punching device in the historical punching process is higher, that is, the punching accuracy between the i-th direction and the j-th direction is greater.

[0067] By adopting the above method, the punching accuracy in every two directions can be obtained. The higher the punching accuracy is, the less likely the punching position in the corresponding direction is to deviate during the punching process of the punching device. Therefore, the minimum value of the punching accuracies in all pairwise directions is obtained. If the minimum value of the punching accuracies in all pairwise directions is greater than or equal to the preset accuracy threshold, the punching direction of the punching device is not adjusted; if the minimum value of the punching accuracies in all pairwise directions is less than the preset accuracy threshold, it indicates that there is an obvious punching direction deviation problem in the historical punching process of the punching device. At this time, the punching direction of the punching device needs to be adjusted. In this embodiment, the preset accuracy threshold is 0.78. In specific applications, the implementer can set it according to specific situations.

[0068] When the punching direction of the punching device needs to be adjusted, the two directions corresponding to the minimum value of the punching accuracies in all pairwise directions are recorded as the directions to be adjusted. The average value of the inclination degrees of the holes at all times in each direction to be adjusted during the punching process of the punching device is calculated and recorded as the comprehensive inclination degree of each direction to be adjusted. The other direction except the two directions to be adjusted is used as the weakly influencing direction. In the subsequent adjustment process, the directions to be adjusted are adjusted first, and the personnel are reminded to perform corresponding adjustment operations according to the comprehensive inclination degree of the directions to be adjusted, so as to prevent a large deviation in the punching position and affect the subsequent normal use.

[0069] In this embodiment, the height data of each moment at different monitoring positions during the punching process of the punching device is first collected. The eigenvector of each moment is determined according to the height data of the same moment at all monitoring positions, and the punching offset characteristics in each direction during the punching process are evaluated through the eigenvector. Then, according to the discrete situation and inclination degree of the inclination of the holes in each direction at all times, the inclination credibility of each direction at each moment is obtained. The vibration generated during the normal operation of the punching device will interfere with the judgment of the accuracy of the actual punching, which is reflected in that the inclination of the punching reflected by the height data may be the inclination generated by the normal vibration. If the holes are inclined due to insufficient punching accuracy of the punching device during the punching process, at this time, the inclination characteristics judged based on the collected data have obvious directivity, manifested as maintaining a relatively high inclination difference in a specific direction all the time. Therefore, by combining the change characteristics between the inclination degrees and inclination credibilities of the holes in different directions, the similarity of the inclination characteristics of the punching device in every two directions is evaluated. According to the change similarity characteristics between the inclination credibilities of different directions, the punching abnormality possibility of pairwise directions is judged. Furthermore, by comprehensively considering the similarity of the inclination characteristics of the punching device in different directions and the punching abnormality possibility, the punching direction of the punching device is accurately adjusted, solving the problem of high precision requirements for the punching device when drilling deep holes, eliminating the significant interference influence brought by the vibration of the punching device during the punching process, and improving the punching precision and accuracy.

[0070] It should be noted that the above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A construction drilling method for building water supply and drainage engineering, characterized in that: The method includes the following steps: Obtain the height data of each monitoring position at each moment during the punching process of the punching device; Determine the feature vector of each moment according to the height data of all monitoring positions at the same moment; determine the inclination degree of the hole in each direction at each moment based on the components of the feature vector in each direction; obtain the inclination credibility of each direction at each moment according to the discrete situation and the inclination degree of the hole in each direction at all moments; Combine the change characteristics between the inclination degrees and the inclination credibility of the holes in different directions at all moments to obtain the similarity of the inclination characteristics of the punching device in each two directions; obtain the punching abnormality possibility in each two directions according to the change similarity characteristics between the inclination credibility of all moments in each two directions; Comprehensively consider the similarity and the punching abnormality possibility to adjust the punching direction of the punching device.

2. The construction hole punching method for building water supply and drainage engineering according to claim 1, characterized in that, The determining the feature vector of each moment according to the height data of all monitoring positions at the same moment includes: Determine the fitting plane corresponding to the candidate moment according to the positions of all monitoring positions of the punching device at the candidate moment; Determine the unit normal vector of the fitting plane as the feature vector of the candidate moment; The candidate moment is any moment during the punching process of the punching device.

3. The construction hole punching method for building water supply and drainage engineering according to claim 2, wherein The determining the inclination degree of the hole in each direction at each moment based on the components of the feature vector in each direction includes: For any direction: Calculate the component of the feature vector of the candidate moment in the any direction, and determine the modulus of the difference between the component and the unit vector in the any direction as the inclination degree of the hole in the any direction at the candidate moment.

4. The construction drilling method for building water supply and drainage engineering according to claim 2, characterized in that: The obtaining the inclination credibility of each direction at each moment according to the discrete situation and the inclination degree of the hole in each direction at all moments includes: For any direction: Calculate the standard deviation and the average value of the inclination degrees of the holes in the any direction at all moments respectively; Obtain the inclination credibility of the any direction at the candidate moment according to the inclination degree of the hole in the any direction at the candidate moment, the standard deviation and the average value, and the inclination degree, the standard deviation and the average value are all negatively correlated with the inclination credibility.

5. The construction hole punching method for building water supply and drainage engineering according to claim 1, characterized in that, The combining the change characteristics between the inclination degrees and the inclination credibility of the holes in different directions at all moments to obtain the similarity of the inclination characteristics of the punching device in each two directions includes: Arrange the inclination characteristics of the holes in each direction at all moments in chronological order to obtain the inclination characteristic sequence of the holes in each direction, where the inclination characteristic of the hole in each direction at each moment is composed of the inclination degree and the inclination credibility of the hole in each direction at the corresponding moment; For any two directions: Denote the inclination characteristic sequences of the any two directions as the first sequence and the second sequence respectively; keep the first sequence fixed, translate the second sequence multiple times, and obtain the similarity factor of the inclination characteristics of the any two directions after each translation according to the matching situation of the corresponding positions between the sequences after each translation; The maximum value of the tilt feature similarity factors in any two directions after all translations is determined as the similarity of the tilt features of the punching device in any two directions.

6. The construction punching method for building water supply and drainage engineering according to claim 5, characterized in that, Obtaining the tilt feature similarity factors in any two directions for each translation according to the matching conditions of corresponding positions between sequences after each translation includes: After each translation, obtain the DTW distance between the elements at corresponding positions in the translated sequence and the first sequence, and calculate the average DTW distance between the elements at all corresponding positions as the average DTW distance corresponding to each translation; According to the overlapping time ratio between the two sequences after each translation and the corresponding average DTW distance, obtain the tilt feature similarity factors in any two directions for each translation. The overlapping time ratio is positively correlated with the tilt feature similarity factor, and the average DTW distance is negatively correlated with the tilt feature similarity factor.

7. The construction hole punching method for building water supply and drainage engineering according to claim 5, characterized in that, Obtaining the punching abnormality possibility for every two directions according to the change similarity features between the tilt credibility degrees at all moments for every two directions includes: Record the number of the direction corresponding to the maximum value of the tilt credibility degrees in all directions at each moment as the target number at each moment; The target numbers at all moments form a target label sequence; For any target number: Let the sequence number value of the first occurrence of the any target number in the target label sequence be 1, the sequence number value of the element adjacent to the first occurrence of the any target number and on its right in the target label sequence be 2, and so on; Obtain the sequence number values of all occurrences of the any target number in the target label sequence to form a subsequence of the any target number; For any two directions: Obtain the punching abnormality possibility for the any two directions according to the subsequences of the target labels corresponding to the any two directions.

8. The construction hole punching method for building water supply and drainage engineering according to claim 7, characterized in that, Obtaining the punching abnormality possibility for the any two directions according to the subsequences of the target labels corresponding to the any two directions includes: Respectively obtain the number of intersections and the number of unions between the subsequences of the target labels corresponding to the any two directions; According to the difference in the number of elements between the subsequences of the target labels corresponding to the any two directions and the first ratio between the number of intersections and the number of unions, obtain the punching abnormality possibility for the any two directions; The difference in the number of elements is positively correlated with the punching abnormality possibility, and the first ratio is negatively correlated with the punching abnormality possibility.

9. The construction hole punching method for building water supply and drainage engineering according to claim 1, characterized in that, Adjusting the punching direction of the punching device by comprehensively considering the similarity and the punching abnormality possibility includes: For any two directions, obtain the punching accuracy for the any two directions according to the punching abnormality possibility and the corresponding similarity for the any two directions. The similarity is positively correlated with the punching accuracy, and the punching abnormality possibility is negatively correlated with the punching accuracy; If the minimum value of the punching accuracies for all pairs of directions is less than a preset accuracy threshold, then adjust the punching direction of the punching device.

10. A construction hole punching device for building water supply and drainage engineering, characterized in that, The device includes a laser positioning module, which is used to emit laser and collect altitude data; the device is used to implement the method described in any one of claims 1-9.

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