A method and system for automatically detecting the tamping amount of a fully automatic heavy tamping machine

Abstract

The present invention relates to the technical field of foundation engineering filling, and specifically to a method and system for automatically detecting the tamping amount of a fully automatic tamping machine. The method comprises: determining the historical change relationship and the current change relationship between the soil settlement data and the hammering pressure data detected by the tamping machine each time; using the historical change relationship to determine the historical change relationship curves corresponding to different soil positions after multiple hammerings by the tamping machine, matching and clustering the various historical change relationship curves to obtain multiple groups of historical cluster data; using the multiple groups of historical cluster data and the current change relationship to perform similarity calculations to obtain target hammering pressure data, and using the target hammering pressure data to regulate the tamping machine. Through the fully automatic tamping amount automatic detection method of the present invention, the operation progress can be judged and automatically adjusted, reducing manual intervention, and ensuring that the construction progress can be carried out efficiently and with high quality.

Description

Technical Field

[0001] The present invention relates to the technical field of foundation engineering filling, and in particular to a method and system for automatically detecting the tamping amount of a full-automatic heavy tamping machine. Background Art

[0002] A fully automatic tamping machine is a heavy-duty construction machine used for foundation reinforcement. Its basic structure and operating principle are as follows: A tamping hammer is hydraulically or mechanically raised to a certain height, then drops freely due to gravity, generating tremendous impact energy. This energy is transmitted to the ground through the tamping hammer, causing soil particles to slide and rearrange, thereby increasing soil density.

[0003] The amount of tamping is an important data in the working process of the heavy tamping machine, that is, the amount of soil settlement of the foundation after strong tamping. By recording the displacement of each tamping hammer, the amount of settlement each time can be determined. By analyzing the cumulative settlement and the settlement each time, the effect of the current land tamping hammer can be quantified.

[0004] During the foundation tamping process, it is necessary to analyze the tamping effect and make corresponding tamping adjustments to the land (foundation) based on the obtained tamping effect. During the operation analysis, due to the response characteristics of the soil or foundation (such as soil density, humidity, etc.), these factors will affect the tamping amount. The tamping machine uses a tamping hammer of the same height at different positions, and the changes in the deposition amount are different. Generally, it is necessary to adjust the tamping frequency and tamping height (force) according to the changes in the foundation settlement after tamping. However, this adjustment work is mainly carried out through human intervention, and the relevant working parameters of the heavy tamping machine are often repeatedly adjusted based on construction operation experience, which reduces the degree of automation of the heavy tamping machine and the operation efficiency of the heavy tamping machine. Summary of the Invention

[0005] In order to solve the technical problem of low automation level and low operating efficiency of the heavy rammer caused by manual intervention in adjusting the working parameters of the heavy rammer during construction, the purpose of the present invention is to provide a method and system for automatically detecting the tamping amount of the heavy rammer. The technical solution adopted is as follows:

[0006] The present invention provides a method for automatically detecting the tamping amount of a fully automatic tamping machine, the method comprising:

[0007] Determine the historical change relationship and current change relationship between the soil settlement data and the hammering pressure data detected by the heavy rammer each time;

[0008] The historical change relationship is used to determine the historical change relationship curves corresponding to different soil positions after multiple hammering by the heavy tamping machine, and the historical change relationship curves are matched and clustered to obtain multiple groups of historical cluster data;

[0009] The target hammering pressure data is obtained by calculating the similarity between multiple groups of historical cluster data and the current change relationship, and the heavy tamping machine is controlled by using the target hammering pressure data.

[0010] The change relationship is used to reflect each correlation change between soil settlement data and hammer pressure data, including historical change relationship and current change relationship.

[0011] Furthermore, the determining of the historical change relationship and the current change relationship between the soil settlement data and the hammering pressure data detected by the heavy rammer each time of hammering includes:

[0012] Determine the historical ratio and the current ratio between the soil settlement data and the hammering pressure data detected by the heavy rammer at each hammering;

[0013] The historical ratio is used as the historical change relationship, and the current ratio is used as the current change relationship.

[0014] Furthermore, the method of using the historical change relationship to determine the historical change relationship curves corresponding to different soil positions being hammered multiple times by the heavy tamping machine includes:

[0015] With the number of hammering as the horizontal axis and the various historical change relationships as the vertical axis, based on the multiple historical change relationships obtained after the same soil position was hammered multiple times by the heavy rammer, the historical change relationship curves corresponding to different soil positions being hammered multiple times by the heavy rammer were obtained.

[0016] Furthermore, the matching and clustering of the historical change relationship curves to obtain multiple groups of historical cluster data includes:

[0017] Perform misalignment matching on each historical change relationship curve through dynamic time warping to obtain aligned matching data;

[0018] The matching data is clustered using the DBSCAN algorithm to obtain multiple groups of historical cluster data.

[0019] Furthermore, the similarity calculation is performed using multiple groups of historical cluster data and current change relationships to obtain target beating pressure data, including:

[0020] By utilizing the difference between the current change relationship and any historical change relationship in the multiple groups of historical cluster data, each similarity between the multiple groups of historical cluster data and the current change relationship is determined to obtain target hammering pressure data.

[0021] Furthermore, the method of utilizing the difference between the current change relationship and any historical change relationship in the multiple sets of historical cluster data to determine the similarities between the multiple sets of historical cluster data and the current change relationship to obtain the target beating pressure data includes:

[0022] Determine the difference between the current change relationship and any historical change relationship in the plurality of sets of historical cluster data;

[0023] determining a hammering pressure difference between a current hammering pressure in the current changing relationship and a historical hammering pressure in any one of the historical changing relationships;

[0024] By using the difference in change relationships and the difference in beating pressure, the similarities between multiple groups of historical cluster data and the current change relationships are obtained, and the target beating pressure data is obtained based on the similarities.

[0025] Furthermore, the use of target hammering pressure data to control the heavy tamping machine includes:

[0026] Determining the next hammering pressure of the historical hammering pressure corresponding to each of the similarities;

[0027] Calculating target beating pressure data using the similarities, the next beating pressure, and the number of pairs of historical cluster data;

[0028] The target hammering pressure data is used to regulate the rammer of the heavy rammer to rise to a target lifting height corresponding to the target hammering pressure data.

[0029] Furthermore, the method of regulating the tamping machine by using the target hammering pressure data may also include:

[0030] Determine the necessary degree of displacement for the next hammer at the same soil position based on the soil settlement corresponding to the current change relationship;

[0031] If the degree of necessity is greater than or equal to a preset threshold value, the next hammer of the rammer is moved to another soil position for hammering.

[0032] Furthermore, the determining of the necessary degree of displacement required for the next hammer strike at the same soil position based on the soil settlement amount corresponding to the current change relationship includes:

[0033] The necessary degree of displacement of the next hammer at the same soil position is calculated using the soil settlement of the current hammer, the soil settlement of the previous hammer, and the cumulative settlement in this hammering operation corresponding to the current change relationship.

[0034] The present invention further provides a fully automatic tamping machine automatic detection system for tamping amount, the system being used to implement the fully automatic tamping machine automatic detection method for tamping amount as described in any one of the above items; the system comprising:

[0035] A data acquisition module is used to determine the historical change relationship and the current change relationship between the soil settlement data and the hammering pressure data detected by the heavy rammer each time;

[0036] The data clustering module is used to determine the historical change relationship curves corresponding to different soil positions after multiple hammerings by the heavy tamping machine based on the historical change relationship, and to match and cluster the historical change relationship curves to obtain multiple groups of historical cluster data;

[0037] The pressure control module is used to use multiple groups of historical cluster data and current change relationships to perform similarity calculations to obtain target hammering pressure data, and use the target hammering pressure data to control the heavy rammer.

[0038] The present invention has the following beneficial effects:

[0039] The present invention analyzes the acquired historical working condition data to determine the pressure information that needs to be set under the acquired different soil states, compares the relationship between the currently acquired rammer pressure and settlement with the data in the historical cluster, analyzes the pressure that may be required for the next hammer based on similar changes in the acquired historical cluster, and performs subsequent hammering control by estimating the pressure required for the next hammer. In addition, the present invention also determines whether the current position needs to continue hammering by analyzing the effect after the current hammering (through the soil settlement). If not, the hammering position can be moved and the next hammering analysis can be performed. Through the analysis of the soil settlement, the heavy rammer system can determine the progress of the operation and automatically adjust it, reducing manual intervention and ensuring that the construction progress can be carried out efficiently and with high quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A flowchart of the steps of a method for automatically detecting the tamping amount of a fully automatic tamping machine provided by one embodiment of the present invention;

[0042] Figure 2 A detailed flow chart of step S3 in a method for automatically detecting the tamping amount of a fully automatic tamping machine provided by one embodiment of the present invention;

[0043] Figure 3 A detailed flow chart of step S31 in a method for automatically detecting the tamping amount of a fully automatic tamping machine provided by one embodiment of the present invention;

[0044] Figure 4 A detailed flow chart of step S313 in a method for automatically detecting the tamping amount of a fully automatic tamping machine provided by one embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of the hardware operating environment of the fully automatic heavy tamping machine automatic detection device for tamping amount involved in the embodiment of the present invention;

[0046] Figure 6 It is a schematic diagram of the framework structure of the automatic detection system of the tamping amount of the fully automatic heavy tamping machine involved in the embodiment of the present invention. DETAILED DESCRIPTION

[0047] To further illustrate the technical means and effectiveness of the present invention in achieving its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effectiveness of a fully automatic tamping machine automatic detection method for tamping weight according to the present invention. In the following description, references to different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0048] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0049] The specific scheme of the automatic detection method of the tamping amount of a fully automatic heavy tamping machine provided by the present invention is described in detail below with reference to the accompanying drawings.

[0050] Example 1:

[0051] For the automatic detection method of the tamping amount of a fully automatic heavy tamping machine provided by the present invention, please refer to Figure 1 , which shows a flowchart of the steps of a method for automatically detecting the tamping amount of a fully automatic heavy tamping machine provided by an embodiment of the present invention.

[0052] The method comprises:

[0053] Step S1, determining a historical change relationship and a current change relationship between soil settlement data and hammering pressure data detected by a heavy rammer each time; wherein the change relationship is used to reflect the correlation change between the soil settlement data and the hammering pressure data each time, including the historical change relationship and the current change relationship;

[0054] In this embodiment, the tamping settlement (soil settlement, hereinafter referred to as "settlement") data after each hammering can be monitored (detected) by a high-precision displacement sensor or a laser scanner to obtain the tamping force applied by the tamping machine (measured by a pressure sensor, i.e., tamping pressure data) and the weight of the tamping machine itself.

[0055] Specifically, the laser rangefinder / rangefinder sensor can be installed on the boom or winch system of the heavy rammer to measure the lifting height and drop distance of the rammer, and the settlement amount can be calculated in combination with the steel cable tension sensor. The time interval for the data obtained is a measurement after each rammer hammering.

[0056] High-precision GNSS (Global Navigation Satellite System) / Beidou RTK (Real-Time Kinematic) positioning can be used on the boom of the heavy rammer to locate the center of the rammer's shaft and the ramming point at the centimeter level, for example, achieving a horizontal accuracy of 0.8cm and an elevation accuracy of 1.5cm.

[0057] A pressure sensor may also be integrated into the hydraulic system of the heavy rammer to provide real-time feedback of ramming energy parameters, including hammering pressure data.

[0058] In addition, a data communication and control module can be set up, and a main control module can be set up to process the above sensor data and transmit it to the cloud via wireless communication (5G / GPS).

[0059] The above-mentioned detected and acquired data can be the hammering pressure data Pa at each hammering, combined with the soil position information (x, y) to be hammered by the heavy rammer, and the displacement data L at each hammering (the settlement (ramming settlement) is calculated by the difference in soil displacement before and after, that is, the soil settlement data).

[0060] Specifically, the step S1 includes:

[0061] Determine the historical ratio and the current ratio between the soil settlement data and the hammering pressure data detected by the heavy rammer at each hammering;

[0062] The historical ratio is used as the historical change relationship, and the current ratio is used as the current change relationship.

[0063] First of all, it should be noted that during the construction process of the heavy tamping machine, excessive hammering pressure will cause the soil to be over-compacted. If the hammering pressure is too large and the tamping force is too strong, it may cause damage to the soil structure, especially some soils with smaller particles or higher moisture. Excessive compaction will make the gaps in the soil too small, resulting in poor discharge of water and air, thereby affecting the drainage and air permeability of the soil, leading to stability problems of the foundation. Too little hammering pressure may lead to insufficient compaction. If the hammering pressure is too small, although the tamping amount is small, the soil is not compacted enough, which may result in low soil density and failure to meet the design bearing capacity requirements. This will affect the stability of the foundation, especially when the bearing weight is large, settlement problems or uneven foundations are likely to occur.

[0064] Excessive hammering pressure can lead to excessive variations in soil settlement, resulting in uneven settlement and even areas of overcompacted and undercompacted soil. If the hammering pressure is too low, the amount of settlement will be relatively small, but the soil will not meet the required compaction standards, resulting in an inability to withstand the design load. To ensure effective compaction, the amount of settlement and the hammering pressure should be kept within an appropriate range. During the soil compaction process, the amount of settlement should gradually decrease with the number of hammerings, but should always remain within an appropriate range to ensure that the soil compaction degree meets the predetermined standard.

[0065] In this embodiment, when analyzing the rammer effect of the soil, it is necessary to analyze the change in settlement caused by the same tamping pressure. The greater the settlement, the more obvious the fluffiness of the soil. However, according to the above logical analysis, too fast settlement will cause uneven distribution of the internal soil and affect its sedimentation quality. Therefore, it is necessary to analyze the relationship between the pressure data of the heavy rammer and the settlement in the historical process to judge its impact.

[0066] The historical working data of the heavy rammer is obtained, including historical soil settlement data and hammering pressure data, and can also include different hammering times at the same soil position.

[0067] Calculate any The relationship between the soil settlement caused by hammering and the hammering pressure ;

[0068] Where, Indicates the obtained The first beating and the The difference in distance between the hammer blows (i.e., soil settlement), Indicates the obtained The hammering pressure of each hammering.

[0069] The above formula, combined with historical soil settlement data and hammer pressure data, yields the historical ratio, or historical change relationship. Combining current soil settlement data and hammer pressure data yields the current ratio, or current change relationship.

[0070] It should be noted that the historical soil settlement data and hammering pressure data here are preferably data obtained when better hammering effects are achieved during manual intervention in the construction process, thereby providing better data support for the automated hammer in this embodiment, guiding the optimal hammering working parameters during each hammering, and reducing or avoiding subsequent manual intervention.

[0071] Step S2, using the historical change relationship to determine the historical change relationship curves corresponding to different soil positions being hammered multiple times by the heavy tamping machine, and matching and clustering the historical change relationship curves to obtain multiple groups of historical cluster data;

[0072] Specifically, the step S2 uses the historical change relationship to determine the historical change relationship curves corresponding to different soil positions being hammered multiple times by the heavy tamping machine, including:

[0073] With the number of hammering as the horizontal axis and the various historical change relationships as the vertical axis, based on the multiple historical change relationships obtained after the same soil position was hammered multiple times by the heavy rammer, the historical change relationship curves corresponding to different soil positions being hammered multiple times by the heavy rammer were obtained.

[0074] In this embodiment, taking the same soil position as an example, based on the historical soil settlement data and hammering pressure data of the same position, a change relationship curve between the hammering pressure data and soil settlement data of different hammering times at the same position is obtained, wherein the horizontal axis is the hammering times, or the hammering sequence number, and the vertical axis is the historical change relationship D.

[0075] A variation relationship curve is generated for each soil location, comparing the number of times the tamping is performed and its historical variation relationship D. This means that each soil location that is tamped has a variation relationship curve. This means that there are as many variation relationship curves as there are soil locations that need tamping during the tamping operation.

[0076] Since the hammering pressure of each hammering at the same position is generally different (in most cases the hammering pressure is decreasing), the above-mentioned change relationship curve can also be used to analyze the impact of different hammering pressures on the changing trend of the change relationship curve. Combined with the differences in soil positions between multiple change relationship curves, it can be concluded that the reason for the differences between the change relationship curves may be that the soil conditions are different, or there are differences in the settings of the hammering pressure data.

[0077] When analyzing the differences in the change relationship curves, it is not necessary to compare the same number of hammering times and the individual hammering pressure or settlement, but rather to use the correlation between the settlement and pressure, that is, to indirectly reflect the soil state (mainly the looseness) through the change relationship.

[0078] Specifically, the step S2 matches and clusters the historical change relationship curves to obtain multiple groups of historical cluster data, including:

[0079] Perform misalignment matching on each historical change relationship curve through dynamic time warping to obtain aligned matching data;

[0080] The matching data is clustered using the DBSCAN algorithm to obtain multiple groups of historical cluster data.

[0081] The above-obtained historical change relationship curves are matched by the DTW (Dynamic Time Warping) algorithm to avoid the differences between soil conditions. The change relationship curves corresponding to different positions are staggered matched (the matching basis is the similarity of soil conditions) to obtain aligned matching data. Then, the DBSCAN (Density-Based Spatial Clustering of Applications with Noise) algorithm is used to cluster the obtained matching data to obtain multiple groups of historical cluster data (DTW matching data pairs, referred to as DTW matching pairs for short). Then, the hammering pressure settings of the DTW matching pairs in the same cluster after clustering can be analyzed.

[0082] Step S3, performing similarity calculations on the multiple sets of historical cluster data and the current change relationships to obtain target hammering pressure data, and regulating the heavy tamping machine using the target hammering pressure data;

[0083] According to the above operations, the acquired historical data (historical hammering pressure data and soil settlement data) are analyzed to determine the hammering pressure data set under different soil conditions. The relationship between the currently acquired hammering pressure and settlement is compared with the data in the historical clusters. Based on similar changes in the acquired historical clusters, the pressure that may be required for the next hammer is analyzed. Subsequent hammering control can be performed by estimating the required pressure of the next hammer.

[0084] Specifically, in one embodiment, please refer to Figure 2 The step S3, using multiple sets of historical cluster data and current change relationships to perform similarity calculations to obtain target hammering pressure data, includes:

[0085] Step S31 , using the difference between the current change relationship and any historical change relationship in the multiple sets of historical cluster data, determine the similarities between the multiple sets of historical cluster data and the current change relationship to obtain target beating pressure data.

[0086] More specifically, please refer to Figure 3 , the step S31 includes:

[0087] Step S311, determining the difference between the current change relationship and any historical change relationship in the plurality of groups of historical cluster data;

[0088] Step S312, determining a beating pressure difference between a current beating pressure in the current change relationship and a historical beating pressure in any of the historical change relationships;

[0089] Step S313 , using the change relationship difference and the beating pressure difference, obtains each similarity between multiple groups of historical cluster data and the current change relationship, and obtains target beating pressure data based on each similarity.

[0090] In general, the current The hammering pressure data and soil settlement data obtained from the first hammering are used as the latest data, with the purpose of obtaining the next The target hammer pressure data set can also be expressed as the expected pressure .

[0091] Get the The similarity between DTW matching pairs of the hammered data in the historical clusters (multiple sets of historical cluster data) :

[0092]

[0093] Where, Indicates the current The relationship between the soil settlement and the hammering pressure after each hammering is as follows: Indicates the historical cluster and Any matching after the first hit The changing relationship between the soil settlement and the hammering pressure after each hammering, and the difference between the two is the difference in the changing relationship; Indicates the two beatings mentioned above (corresponding to and The difference in pressure set by the two groups is called the hammering pressure difference. The more similar the hammering pressures are or the more similar the change relationships are, the more similar their soil conditions are. Based on this formula, the similarities between multiple groups of historical cluster data and the current change relationships are obtained.

[0094] For ease of understanding, it is supplemented that during soil compaction, the state of the soil will affect the compaction effect, so the compaction process requires analysis of the influence and effect of each hammer's hammering pressure. The state of the soil can also be reflected by simplifying the analysis of the hammering effect of the previous hammer. For example, when the soil is loose, the soil state of the third hammer can be the same or similar to that of the second hammer when the soil is compacted. In other words, the loose fourth hammer and the compacted third hammer have the same or similar soil information, and the corresponding soil positions of the two may have the same hammering pressure data for the heavy rammer.

[0095] Specifically, in another embodiment, please refer to Figure 4 The step S313, using the target hammering pressure data to control the heavy tamping machine, includes:

[0096] Step S3131, determining the next beating pressure of the historical beating pressure corresponding to each of the similarities;

[0097] Step S3132, using the similarities, the next beating pressure, and the number of pairs of historical cluster data, to calculate target beating pressure data;

[0098] Based on the above implementation process, for the target hammering pressure data, that is, the expected pressure ,have:

[0099]

[0100] Where, Indicates the number of pairs of historical cluster data, that is, DTW matching pairs; Indicates the Any DTW matching pair of the data of the hammer in the historical cluster (any set of historical cluster data) The similarity between Represents DTW matching pairs In the Hammer pressure data for hammer settings.

[0101] The above formula is to determine the expected pressure setting of the next hammer by weighted average of the historical hammer pressure data, where the weights (similarity) obtained are ) Its essence is the judgment of the soil state of the previous hammer. The more similar the soil state is, the greater its weight.

[0102] Furthermore, the effect of the estimated pressure YPa is analyzed to determine the estimated pressure of the current ramming machine. Is there a big difference between the actual change relationship after the hammer is hammered and the historical change relationship with the same or similar soil state (greater than or equal to the similarity threshold, such as 0.8) (the corresponding threshold can be set as needed for judgment). If there is a difference, it is necessary to recalculate and adjust the calculation weight of the expected pressure of the next hammer based on the obtained difference, that is, the similarity.

[0103] Furthermore, in one embodiment, the step S3 of regulating the tamping machine using the target hammering pressure data further includes:

[0104] Determine the necessary degree of displacement for the next hammer at the same soil position based on the soil settlement corresponding to the current change relationship;

[0105] If the degree of necessity is greater than or equal to a preset threshold value, the next hammer of the rammer is moved to another soil position for hammering.

[0106] The method of determining the necessary degree of displacement required for the next hammer at the same soil position based on the soil settlement amount corresponding to the current change relationship specifically includes:

[0107] The necessary degree of displacement of the next hammer at the same soil position is calculated using the soil settlement of the current hammer, the soil settlement of the previous hammer, and the cumulative settlement in this hammering operation corresponding to the current change relationship.

[0108] In this embodiment, the data of the current rammer during operation is analyzed, and an initial rammer hammering pressure data can be set during the initial operation. The initial rammer hammering pressure data can be the average of the first hammer hammering data set historically.

[0109] To analyze the hammering data of the current position that has been obtained, it is necessary to obtain the The hammer pressure data set by the hammer is to analyze the previous hammer The hammering effect will The hammer is set to the latest one.

[0110] The first The hammer is set to the number of hammers to be struck next, and the first to the The similarities between the historical data of hammer and historical cluster data are as follows:

[0111] Get the 1st to the The changing relationship between the soil settlement and hammering pressure of each hammer;

[0112] Based on the Hammer to analyze its next hammer The need for displacement :

[0113]

[0114] Where, Indicates the obtained The soil settlement of the hammer, that is, the soil settlement of the current hammer; Indicates the obtained The soil settlement of the hammer, that is, the soil settlement of the previous hammer; Indicates the accumulated settlement at the same current position, that is, the accumulated settlement in this hammering operation.

[0115] There are some industry indicators or preset indicators when analyzing the hammering effect. When the cumulative settlement reaches the industry indicator or preset indicator, and the difference in settlement between the last two hammerings is relatively small (for example, the difference between the last two hammerings is no more than 100mm), it means that the obtained soil hammering is relatively uniform and stable, and the purpose of hammering is also achieved. At this time, the necessity of the next hammering is relatively poor.

[0116] Through Set a preset necessary threshold of 0.8, and positions greater than or equal to the preset necessary threshold will not be hammered next time. The heavy rammer will be moved, and positions less than the threshold will need to be hammered next time. The hammering force needs to be determined based on the hammering pressure in the similar clusters obtained above.

[0117] According to the above implementation process, the estimated hammering pressure data of the next hammer (target hammering pressure data) is obtained, but the heavy rammer pressure data is determined according to the height of the rammer lifting, and the relationship between the hammering pressure and the height may or may not be linear, so it is necessary to obtain a relationship curve between the hammering pressure and the height, and perform statistical analysis on the historical hammering pressure data and its rising height data to obtain a curve of hammering pressure and rising height. The historical hammering pressure data and the corresponding hammer head rising height are fitted by the least squares method, and the obtained target hammering pressure data is used to judge the expected rising height required by the hammer head in the relationship curve between the hammering pressure and the height. The equipment is controlled to perform hammering according to the obtained expected rising height, and the hammering information of the current position is marked on the map according to the obtained GPS position data. By analyzing the GPS position information, it can be determined whether there is any area in the current land that has been missed or has an unsatisfactory hammering effect.

[0118] The present invention analyzes the acquired historical working condition data to determine the pressure information that needs to be set under the acquired different soil states, compares the relationship between the currently acquired rammer pressure and settlement with the data in the historical cluster, analyzes the pressure that may be required for the next hammer based on similar changes in the acquired historical cluster, and performs subsequent hammering control by estimating the pressure required for the next hammer. In addition, the present invention also determines whether the current position needs to continue hammering by analyzing the effect after the current hammering (through the soil settlement). If not, the hammering position can be moved and the next hammering analysis can be performed. Through the analysis of the soil settlement, the heavy rammer system can determine the progress of the operation and automatically adjust it, reducing manual intervention and ensuring that the construction progress can be carried out efficiently and with high quality.

[0119] Example 2:

[0120] The embodiment of the present invention further provides a fully automatic heavy rammer automatic detection device for the tamping amount. The fully automatic heavy rammer automatic detection device for the tamping amount can be a data computing and processing device such as a computer, a server, or a combination of multiple devices.

[0121] like Figure 5 As shown, Figure 5 It is a structural diagram of the hardware operating environment of the automatic detection device for the tamping amount of the fully automatic tamping machine involved in the embodiment of the present invention.

[0122] like Figure 5 As shown, the fully automatic tamping machine automatic detection device for tamping amount may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to enable connection and communication between these components. The user interface 1003 may include a display and an input unit such as a control panel. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WiFi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory, such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001. The memory 1005, which serves as a computer storage medium, may include a fully automatic tamping machine automatic detection program for tamping amount.

[0123] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0124] Continue to refer to Figure 5 , Figure 5 The memory 1005 as a computer-readable storage medium may include an operating system, a user interface module, a network communication module, and an automatic detection program for the tamping amount of the full-automatic tamping machine.

[0125] exist Figure 5 In the embodiment, the network communication module is mainly used to connect to the server and can communicate data with the server; and the processor 1001 can call the automatic detection program of the tamping amount of the fully automatic heavy tamping machine stored in the memory 1005 and execute the steps in the above embodiments.

[0126] Based on the hardware structure of the above-mentioned fully automatic heavy rammer automatic detection device, it is used to implement various embodiments of the fully automatic heavy rammer automatic detection method of the present invention.

[0127] In addition, the present invention also provides a full-automatic heavy tamping machine automatic detection system for tamping amount, please refer to Figure 6 The automatic detection system for the tamping amount of the fully automatic tamping machine includes:

[0128] The data acquisition module A10 is used to determine the historical change relationship and the current change relationship between the soil settlement data and the hammering pressure data detected by the heavy rammer each time;

[0129] The data clustering module A20 is used to determine the historical change relationship curves corresponding to different soil positions after being hammered multiple times by the heavy tamping machine based on the historical change relationship, and to match and cluster the historical change relationship curves to obtain multiple groups of historical cluster data;

[0130] The pressure control module A30 is used to perform similarity calculations on multiple groups of historical cluster data and current change relationships to obtain target hammering pressure data, and use the target hammering pressure data to control the heavy rammer.

[0131] Furthermore, the data acquisition module A10 is further configured to:

[0132] Determine the historical ratio and the current ratio between the soil settlement data and the hammering pressure data detected by the heavy rammer at each hammering;

[0133] The historical ratio is used as the historical change relationship, and the current ratio is used as the current change relationship.

[0134] Furthermore, the data clustering module A20 is further configured to:

[0135] With the number of hammering as the horizontal axis and the various historical change relationships as the vertical axis, based on the multiple historical change relationships obtained after the same soil position was hammered multiple times by the heavy rammer, the historical change relationship curves corresponding to different soil positions being hammered multiple times by the heavy rammer were obtained.

[0136] Furthermore, the data clustering module A20 is further configured to:

[0137] Perform misalignment matching on each historical change relationship curve through dynamic time warping to obtain aligned matching data;

[0138] The matching data is clustered using the DBSCAN algorithm to obtain multiple groups of historical cluster data.

[0139] Furthermore, the pressure control module A30 is further configured to:

[0140] By utilizing the difference between the current change relationship and any historical change relationship in the multiple groups of historical cluster data, each similarity between the multiple groups of historical cluster data and the current change relationship is determined to obtain target hammering pressure data.

[0141] Furthermore, the pressure control module A30 is further configured to:

[0142] Determine the difference between the current change relationship and any historical change relationship in the plurality of sets of historical cluster data;

[0143] determining a hammering pressure difference between a current hammering pressure in the current changing relationship and a historical hammering pressure in any one of the historical changing relationships;

[0144] By using the difference in change relationships and the difference in beating pressure, the similarities between multiple groups of historical cluster data and the current change relationships are obtained, and the target beating pressure data is obtained based on the similarities.

[0145] Furthermore, the pressure control module A30 is further configured to:

[0146] Determining the next hammering pressure of the historical hammering pressure corresponding to each of the similarities;

[0147] Target beating pressure data is calculated using the similarities, the next beating pressure, and the number of pairs of historical cluster data.

[0148] Furthermore, the pressure control module A30 is further configured to:

[0149] Determine the necessary degree of displacement for the next hammer at the same soil position based on the soil settlement corresponding to the current change relationship;

[0150] If the degree of necessity is greater than or equal to a preset threshold value, the next hammer of the rammer is moved to another soil position for hammering.

[0151] Furthermore, the pressure control module A30 is further configured to:

[0152] The necessary degree of displacement of the next hammer at the same soil position is calculated using the soil settlement of the current hammer, the soil settlement of the previous hammer, and the cumulative settlement in this hammering operation corresponding to the current change relationship.

[0153] The specific implementation of the automatic detection system for the tamping amount of a fully automatic rammer of the present invention is basically the same as the various embodiments of the automatic detection method for the tamping amount of a fully automatic rammer described above, and will not be repeated here.

[0154] The present invention also provides a computer-readable storage medium. The computer-readable storage medium stores a program for automatically detecting the tamping amount of a fully automatic rammer. When the program is executed by a processor, the steps of the method for automatically detecting the tamping amount of a fully automatic rammer are implemented.

[0155] Among them, the method implemented when the automatic detection program of the tamping amount of the fully automatic tamping machine is executed can refer to the various embodiments of the automatic detection method of the tamping amount of the fully automatic tamping machine of the present invention, and will not be repeated here.

[0156] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0157] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0158] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. All equivalent structural / method transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A method for automatically detecting the tamping amount of a fully automatic tamping machine, characterized in that: The method comprises: Determine the historical change relationship and current change relationship between the soil settlement data and the hammering pressure data detected by the heavy rammer each time; The historical change relationship is used to determine the historical change relationship curves corresponding to different soil positions after multiple hammering by the heavy tamping machine, and the historical change relationship curves are matched and clustered to obtain multiple groups of historical cluster data; The target hammering pressure data is obtained by calculating the similarity between multiple groups of historical cluster data and the current change relationship, and the heavy tamping machine is controlled by using the target hammering pressure data. Among them, the change relationship is used to reflect the correlation change between soil settlement data and hammering pressure data, including historical change relationship and current change relationship; The determining of the historical change relationship and the current change relationship between the soil settlement data and the hammering pressure data detected by the heavy rammer each time of hammering includes: Determine the historical ratio and the current ratio between the soil settlement data and the hammering pressure data detected by the heavy rammer at each hammering; Taking the historical ratio as the historical change relationship and the current ratio as the current change relationship; The historical change relationship curves corresponding to different soil positions being hammered multiple times by a heavy tamping machine are determined by using the historical change relationship, including: With the number of hammering as the horizontal axis and the various historical change relationships as the vertical axis, based on the multiple historical change relationships obtained by hammering the same soil position multiple times with the heavy tamping machine, the historical change relationship curves corresponding to the different soil positions hammered multiple times with the heavy tamping machine are obtained; The matching and clustering of the historical change relationship curves to obtain multiple groups of historical cluster data includes: Perform misalignment matching on each historical change relationship curve through dynamic time warping to obtain aligned matching data; Clustering the matching data using the DBSCAN algorithm to obtain multiple groups of historical cluster data; The method of performing similarity calculations on multiple groups of historical cluster data and current change relationships to obtain target beating pressure data includes: Determine the difference between the current change relationship and any historical change relationship in the plurality of sets of historical cluster data; determining a hammering pressure difference between a current hammering pressure in the current changing relationship and a historical hammering pressure in any one of the historical changing relationships; By using the difference in change relationships and the difference in beating pressure, the similarities between multiple groups of historical cluster data and the current change relationships are obtained, and the target beating pressure data is obtained based on the similarities.

2. The automatic detection method of the tamping amount of a fully automatic tamping machine according to claim 1 is characterized in that: The target beating pressure data is obtained based on each similarity, including: Determining the next hammering pressure of the historical hammering pressure corresponding to each of the similarities; Target beating pressure data is calculated using the similarities, the next beating pressure, and the number of pairs of historical cluster data.

3. The automatic detection method of the tamping amount of a fully automatic tamping machine according to claim 1 is characterized in that: The method of regulating the heavy tamping machine by using the target hammering pressure data also includes: Determine the necessary degree of displacement for the next hammer at the same soil position based on the soil settlement corresponding to the current change relationship; If the degree of necessity is greater than or equal to a preset threshold value, the next hammer of the rammer is moved to another soil position for hammering.

4. The automatic detection method of tamping amount of a fully automatic tamping machine according to claim 3 is characterized in that: The determining of the necessary degree of displacement required for the next hammer at the same soil position based on the soil settlement amount corresponding to the current change relationship includes: The necessary degree of displacement of the next hammer at the same soil position is calculated using the soil settlement of the current hammer, the soil settlement of the previous hammer, and the cumulative settlement in this hammering operation corresponding to the current change relationship.

5. A fully automatic tamping machine automatic detection system for tamping amount, characterized in that: The system is used to implement the automatic detection method of the tamping amount of the fully automatic heavy tamping machine according to any one of claims 1 to 4; the system comprises: A data acquisition module is used to determine the historical change relationship and the current change relationship between the soil settlement data and the hammering pressure data detected by the heavy rammer each time; The data clustering module is used to determine the historical change relationship curves corresponding to different soil positions after multiple hammerings by the heavy tamping machine based on the historical change relationship, and to match and cluster the historical change relationship curves to obtain multiple groups of historical cluster data; The pressure control module is used to use multiple groups of historical cluster data and current change relationships to perform similarity calculations to obtain target hammering pressure data, and use the target hammering pressure data to control the heavy rammer.

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