Rock-fill dam material compactness automatic detection system and method suitable for high altitude area

Abstract

The invention discloses a rock-fill dam material compactness automatic detection system and method suitable for a high altitude area. The system comprises a master-slave arm synchronous operation intelligent pit detection machine, an automatic screening and metering system and a volume scanning device. The master-slave arm synchronous operation intelligent pit measuring machine is used for simulating an artificial process in a bionic mode, integrates digging and grabbing functions and achieves fine excavation of a test pit through Bluetooth remote control. The automatic screening and metering system is provided with four layers of screens with different sizes and a five-stage discharge port, and is driven by a high-power plateau motor to realize efficient screening and weighing of coarse aggregates; the high-precision volume scanning equipment accurately measures the volume of a test pit through an autonomous lifting scanning and point cloud noise reduction algorithm, and a traditional irrigation method is thoroughly replaced; according to the invention, the problems of poor precision and low efficiency of test pit detection, especially in high and cold high-altitude areas, can be solved.

Description

Technical Field

[0001] This invention relates to a testing system and method, specifically to an automated testing system and method for the compactness of rockfill dam materials suitable for high-altitude areas. Background Technology

[0002] With rapid economic development and the ever-expanding demand for energy and water conservancy construction, the number of water conservancy and hydropower projects in various river basins and regions is constantly increasing. In the construction of rockfill dams, the construction quality of the filling area is directly related to the stability and safety of the dam body. Traditional methods for testing filling quality mainly rely on manual excavation of test pits. Although simple and intuitive, these methods suffer from poor accuracy and low efficiency. Especially in high-altitude and cold regions, manual excavation of test pits is not only time-consuming and labor-intensive but also increases construction costs and delays the construction period. These factors mean that traditional manual test pit testing methods can no longer meet the needs of refined and intelligent construction management.

[0003] In traditional test pit testing, technicians need to excavate, sample, and test at designated representative sampling points. They calculate key parameters such as density, moisture content, and particle size distribution to ensure the performance of the filling material meets design requirements. However, manual excavation of test pits is not only inefficient but also highly susceptible to external environmental factors, such as sunlight, temperature, and blood oxygen concentration, which can interfere with test results and thus affect construction progress. Therefore, developing more efficient and accurate automated testing technologies is urgently needed. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide an automated testing system for the compaction of rockfill dam materials in high-altitude areas to improve the efficiency and accuracy of test pit testing and reduce testing costs, especially in applications in high-altitude and cold regions. On the other hand, it also provides an automated testing method for the compaction of rockfill dam materials in high-altitude areas.

[0005] Technical solution: The automated testing system for the compactness of rockfill dam materials according to the present invention includes:

[0006] Intelligent pit testing machinery for synchronous operation of master and slave arms for excavation of density test pits and loading and unloading of rockfill materials; automatic screening and metering system for screening and dumping rockfill materials; and volume scanning equipment for detecting the volume of test pits.

[0007] The master-slave synchronized operation intelligent pit-finding machine includes a two-stage power telescopic arm. One end of the two-stage power telescopic arm is connected to a bionic excavation module, and the other end is connected to a rotary platform. The bionic excavation module includes a bucket module for digging fine-grained rockfill, a loosening module for loosening loose rockfill, and a clamping module for grabbing long strips or large pieces of rockfill.

[0008] The automatic screening and metering system includes a shell material box that carries the test pit; a high-frequency vibration device is installed at the bottom of the shell material box, and multiple layers of screens are provided inside the shell material box; each layer of screens has a discharge port at the end, and a material mass extraction device is connected after the discharge port, and the material mass extraction device is equipped with a mass sensor for moving and transporting rockfill of different particle sizes.

[0009] The volume scanning equipment includes a mechanical structure and a three-dimensional point cloud radar, wherein the three-dimensional point cloud radar (301) is connected to the bottom plate of the bucket through the mechanical structure.

[0010] Preferably, the intelligent pit-testing machine with synchronous operation of master and slave arms also includes an electrical control system, which consists of a motor start / stop device, a protection circuit, a long-range Bluetooth control system, a controller, a rectifier power supply, an alarm circuit, a lighting circuit, and an electrical cabinet.

[0011] Preferably, the long-range Bluetooth control system has a built-in Bluetooth module that is paired and connected to the control handle.

[0012] Preferably, the intelligent pit-testing machine with synchronous operation of master and slave arms also includes a power system.

[0013] Preferably, the intelligent pit-testing machine with synchronous operation of master and slave arms also includes a hydraulic system, which consists of a hydraulic main pump, a hydraulic main valve, a double-acting hydraulic cylinder, a hydraulic rotary motor, a safety valve, a pressure reducing valve, a balance valve, and other hydraulic components.

[0014] The automated method for detecting the compactness of rockfill dam material according to the present invention includes the following steps:

[0015] S1. Start the intelligent pit-testing machine with synchronous operation of master and slave arms, and pair and connect it with the control handle via Bluetooth. Place the machine body facing the test area horizontally.

[0016] S2. The planing module of the two-stage power telescopic boom is used to plan the surface of the detection area, loosening the dense rock pile material on the surface of the detection area; the bucket module is switched to dig out the loosened loose rock pile material; the clamping module is switched to clamp the claws to pick up long strips or large pieces of rock pile material.

[0017] S3. Move the rockfill material processed in step S2 to the test cloth laid next to the test pit, and repeat step S2 to excavate in layers until the depth of the test pit reaches the design thickness of the compacted layer.

[0018] S4. Unload loose granular rock, long strips or large pieces of rock into the feed inlet, and collect the rock after screening through a multi-layer vibrating screen.

[0019] S5. Take out the riprap materials of each grade in sequence, weigh and record them according to their particle size;

[0020] S6. The three-dimensional point cloud radar is installed vertically upside down on the preset connection port at the bottom of the bucket of the intelligent pit-testing machine with synchronous operation of master and slave arms through a mechanical structure to generate a three-dimensional closed triangular mesh model of the test pit.

[0021] Preferably, the three-dimensional point cloud radar described in S6 collects data in two dimensions, vertical and horizontal, to form two-dimensional slice test pits, which are then accumulated into three-dimensional test pits. A three-dimensional closed triangular mesh model is generated by single-beam laser scanning.

[0022] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0023] 1. The biomimetic excavation module in the intelligent pit testing machine, which operates synchronously with the master and slave arms, accurately simulates the manual excavation process, achieving efficient and non-destructive excavation of test pits; the power system combined with the hydraulic system closed-loop control ensures stable operation in complex terrain; the long-range Bluetooth control system supports remote control, significantly improving the convenience and safety of operation, and is suitable for harsh environments such as high altitude and cold regions, which can greatly reduce the intensity of manual labor and improve the efficiency of test pit testing; the biomimetic excavation module can simultaneously meet the functional excavation of large-scale particles, and is also capable of detecting surface loosening, large particle clamping, and small particle digging.

[0024] 2. The automatic screening and metering system has a compact structure, making it easy to transport and install; the vibration system provides maximum excitation force, and combined with multi-layer screens, it achieves efficient screening; the material quality extraction device can count the mass of rock piles of different particle sizes in real time, significantly improving screening efficiency and data accuracy. It can meet the rapid metering of rock particle size distribution in the 20-200mm range, improve detection accuracy, avoid human experience errors, and reduce labor intensity.

[0025] 3. The volume scanning equipment can quickly and accurately measure the volume of the test pit, realize the automatic segmentation, registration and stitching of the test pit point cloud, and calculate and accumulate the volume of each layer by combining the polar angle filtering slicing method, completely replacing the traditional water filling method; avoiding human operation error, significantly improving the accuracy and efficiency of volume measurement, and suitable for large-scale test pit detection needs. Compared with related test pit volume detection algorithms, there is no need to manually adjust the radar position and angle. The radar can automatically output volume information after it runs on its own.

[0026] 4. By integrating intelligent pit testing machinery with synchronous operation of master and slave arms, automatic screening and metering system and volume scanning equipment, a complete automated testing system is formed; the collaborative operation of each module can significantly improve testing efficiency, reduce labor costs and labor intensity, and modular design and highly reliable components ensure stable operation of the equipment in harsh environments, providing efficient and accurate technical support for the quality assessment of rockfill dam filling, and has important engineering application value. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the system of the present invention;

[0028] Figure 2 This is a schematic diagram of the intelligent pit-testing machine for synchronous operation of master and slave arms according to the present invention;

[0029] Figure 3 This is a schematic diagram of the automatic screening and metering system of the present invention;

[0030] Figure 4 This is a schematic diagram of the volume scanning equipment of the present invention;

[0031] Figure 5 This is a schematic diagram of the operation process of the present invention. Detailed Implementation

[0032] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0033] An automated testing system for the compaction of rockfill dam materials is designed for high-altitude areas. The entire system is designed with full consideration of the special environment of high-altitude areas, has good adaptability and reliability, and can meet the compaction testing needs of rockfill dam materials in complex terrain.

[0034] In the diagram: 1-Intelligent pit-testing machine with synchronized operation of master and slave arms; 2-Automatic screening and metering system; 3-High-precision volume scanning equipment; 101-Two-stage power telescopic boom; 102-Bucket module; 103-Loosening module; 104-Clamping module; 105-Electrical cabinet; 106-Electrical control system; 107-Hydraulic system; 108-Power system; 109-Hydraulic cylinder; 110-Rotating platform; 111-Crawler chassis; 112-Control handle; 201-Feed inlet; 202-Machine shell and material box; 203-High-strength vibration spring; 204-High-frequency vibration device; 205-Heavy-duty channel steel base; 206-Multi-layer screen, where 206-1 is a 10cm screen, 206-2 is a 60cm screen, 206-3 is a 4cm screen, and 206-4 is a 2cm screen; 301-High-precision volume scanning radar; 302-Mechanical structure.

[0035] like Figure 1-2As shown, the system includes a master-slave arm synchronous operation intelligent pit-digging machine 1, an automatic screening and metering system 2, and a high-precision volume scanning equipment 3. The master-slave arm synchronous operation intelligent pit-digging machine 1 includes a two-stage power telescopic arm 101 connected at both ends to a bionic excavation module and a rotary platform 110, respectively. The two-stage power telescopic arm 101 is driven by hydraulic cylinders 109. One end of the two-stage power telescopic arm 101 is connected to the bionic excavation module, and the lower body and upper body are respectively connected to the inner and outer rings of the rotary platform 110. An electrical cabinet 105 integrates a protection and control system 106; the control system 106 mainly consists of a motor start / stop device, a protection circuit, a long-range Bluetooth control system, a controller, a rectifier power supply, an alarm circuit, a lighting circuit, and the electrical cabinet. The long-range Bluetooth control system has a built-in Bluetooth module and can be paired and connected to the control handle 112 via the long-range Bluetooth control system. The hydraulic system 107 consists of a hydraulic main pump, a hydraulic main valve, a double-acting hydraulic cylinder, a hydraulic rotary motor, a safety valve, a pressure reducing valve, a balance valve, and other hydraulic components, ensuring precise control of mechanical movement, excavation, and attachment actions.

[0036] The biomimetic excavation module includes a bucket module 102, a loosening module 103, and a clamping module 104 for excavating riprap of different particle sizes. The bucket module 102 is equipped with a reinforced bucket tooth to excavate loose material with a particle size ≤200mm, ensuring that fine-grained riprap is effectively transported to the screening machine, avoiding inaccurate testing due to insufficient riprap composition. The loosening module 103 is used to loosen the riprap within the test pit area. Its top carbon steel rock teeth adopt an adjustable amplitude reciprocating impact design, which can effectively loosen the dense surface riprap, especially effective for hard riprap. The clamping module 104 adopts a hydraulic gripper design with an opening angle of 0°-120°. Inspired by a human hand, it performs a gripping-shaking-transfer operation on oversized stones with a particle size >200mm, enabling stable gripping of long strips or large pieces of riprap and ensuring the accuracy of experimental results.

[0037] like Figure 3As shown, the automatic screening and metering system 2 includes four heavy-duty channel steel bases 205. The heavy-duty channel steel bases are reinforced by welding metal frames to maintain stability. High-strength vibration springs 203 are connected to the four heavy-duty channel steel bases 205. The upper part of the high-strength vibration springs 203 is connected to the housing material box 202. A high-frequency vibration device 204 is installed at the bottom of the housing material box 202. The interior of the housing material box 202 is equipped with multiple layers of screens 206. Each layer of screen has a discharge port 207 at its end. A material mass extraction device 208 is connected after the discharge port 207. The material mass extraction device 208 is equipped with a mass sensor 209 that can move and transfer the mass of stones of different particle sizes and output the material gradation. The other end of the uppermost screen of the housing material box 202 is equipped with a feed port 201. Material baffles are provided on both sides of the uppermost screen. The material baffles are detachable. The connection between the housing material box 202 and the screen is fixed with quick-locking bolts, which facilitates the transportation, storage and handling of the entire housing.

[0038] The heavy-duty channel steel base 205 uses cylindrical metal legs. The front and rear heavy-duty channel steel bases 205 are designed with height differences. The rear heavy-duty channel steel base (at the feed inlet 201 end) is slightly longer than the front heavy-duty channel steel base (at the discharge outlet 201 end), so that the material box 202 of the machine casing forms a certain angle, using gravity to assist the movement of materials. Each heavy-duty channel steel base also has two spring clips at the top, which facilitates the connection between the support legs and the vibration springs. Each clip connects to one vibration spring. The inner side wall of the material box 202 of the machine casing has T-shaped grooves. The fixed ends of the screen on both sides are matched with T-shaped protrusions, which are slightly smaller than the T-shaped grooves on both sides of the material box 202 of the machine casing. The two form a snap-fit ​​connection, which realizes the quick insertion and removal of the screen, and the screen can be replaced according to the actual working needs.

[0039] High-precision volumetric scanning equipment 3 Figure 4 As shown, the rotating 3D laser scanner uses single-beam laser scanning to acquire 3D models. The high-precision volume scanning radar 301 is connected to the bottom plate of the excavator bucket through the mechanical structure 302, so that it is vertically inverted at the center of the test pit and can move up and down. Combined with the rotating scanning mechanism, it realizes full data acquisition at a single station. By acquiring data in two dimensions, the fast axis (vertical direction) and the slow axis (horizontal direction), a two-dimensional slice test pit is gradually formed and finally accumulated into a three-dimensional test pit.

[0040] like Figure 5 As shown, an automated testing method for the compaction of rockfill dam materials suitable for high-altitude areas includes the following steps:

[0041] S1. Construction preparation, the specific steps are as follows:

[0042] A detailed automated construction plan for compaction pit testing was formulated, specifying measurement control methods, testing means, quality acceptance standards, and safety precautions. Based on the construction progress and compaction zoning of the rockfill site, representative test points were selected. Density testing rings (rings) were placed at the selected locations in a standardized manner. The diameter of the density testing rings was selected as 200cm or 180cm according to the test requirements, and the testing area was clearly marked.

[0043] The required electromechanical equipment includes: 1. Intelligent pit testing machine with synchronous operation of master and slave arms; 2. Automatic screening and metering system; 3. Generator set; 4. Density detection ring (ring); 5. Weighing bucket; 6. Large range electronic scale; 7. Measuring tape measure; 8. High-precision volume scanning equipment. In this embodiment, the high-precision volume scanning equipment is selected as a high-precision three-dimensional point cloud radar.

[0044] The hydraulic system 107 uses a PVK-2B pump with a working pressure of 24.5MPa and a flow rate of 110L / min, providing stable and efficient hydraulic power to the machinery and ensuring precise operation control under various working conditions. The power system 108 uses a Kubota V2607 diesel engine, featuring an inline four-cylinder, water-cooled design, a rated power of 36kW / 2000rpm, a displacement of 2.615L, and a maximum torque of 206.9N·m. The machine weighs 5780kg, has a ground pressure of 33kPa, and a climbing ability of approximately 35 degrees, making it suitable for operation in complex terrain.

[0045] Check the integrity of the equipment's mechanical structure, the reliability of hydraulic / electrical system connections, the effectiveness of safety protection devices, the adequacy of fuel / lubricating oil levels, and the calibration status of instruments and meters. Ensure that all equipment is in a safe and usable condition and is in place as required, and confirm that the construction site environment meets the equipment's operating requirements.

[0046] S2. Trial pit excavation, the specific steps are as follows:

[0047] Start the master-slave arm synchronous operation intelligent pit testing machine 1 and pair it with the control handle 112 via Bluetooth. Adjust the position of the master-slave arm synchronous operation intelligent pit testing machine 1 so that the machine body is facing and horizontally placed in the detection area (center of the density detection ring), ensuring that the outer edge of the machine body track is ≥50cm away from the edge of the density detection ring. Operate the two-stage power telescopic arm 101 and use the rock teeth at the top of the loosening module 103 to reciprocate to impact and loosen the surface of the detection layer, loosening the dense piled stone. Switch to control the bucket module 102 to dig out the loosened loose piled stone with a particle size ≤200mm, and pour the excavated loose material directly into the feed inlet 201 of the automatic screening and metering system 2. Operate the clamping module 104 hydraulic claw to clamp the stone and perform a slight shaking action to make the attached fine material fall back into the test pit to avoid experimental errors. Transfer the processed oversized stone to the test cloth laid next to the test pit.

[0048] According to the required depth of the test pit, the position of the machinery should be finely adjusted as needed (keeping it level); the steps of loosening, excavating loose material, and handling oversized material should be repeated to carry out layered excavation; excavation should continue until the depth reaches the designed thickness of the compacted layer; the overall shape of the test pit should be controlled to be a rounded bottom (with a smooth transition at the bottom and a stable slope of the pit walls). After the main mechanical excavation is completed, auxiliary workers should clean and collect the remaining fine soil in the test pit, check the edges and walls of the test pit, and manually repair any defects such as local loosening or collapse caused by mechanical disturbance to ensure that the pit walls are stable, the shape is regular and meets the testing requirements; throughout the construction process, a dedicated person should observe the stability of the pit walls from a safe distance.

[0049] S3. Outdoor sieve analysis test of stone materials, the specific steps are as follows:

[0050] Place the automatic screening and metering system 2 stably in front of the main and slave arm synchronous operation intelligent pit testing machine 1 (at least 1m from the edge of the test pit to avoid disturbing the pit wall); use the matching cable to reliably connect the automatic screening and metering system 2 to the generator set to ensure stable power supply.

[0051] The automatic screening and metering system 2 is confirmed to be equipped with four layers of screens. The spacing between the screen layers varies according to the particle size of each layer. The spacing between the layers increases from bottom to top. In this embodiment, the screen aperture size from top to bottom is 10cm, 6cm, 4cm and 2cm, which corresponds to five output particle size ranges of 20-10cm, 10-6cm, 6-4cm, 4-2cm and <2cm. Weighing buckets are placed below each discharge port 207 to collect the sieved stone materials and facilitate subsequent weighing; check that the screen is securely installed, all connecting parts are tight, and the safety guard is intact; start the generator set, and after the output voltage stabilizes, start the automatic screening and metering system 2; operate the master-slave arm synchronous operation intelligent pit testing machine 1, and use the bucket module 102 to directly unload the loose granular stone materials with a particle size ≤200mm excavated from the test pit into the feed port 201 of the automatic screening and metering system 2, following the principle of small amount, uniform and continuous feeding, to avoid excessive feeding at one time, which may cause screen overload or blockage; under the action of the screen box tilting vibration, the material is thrown forward along the screen surface, and falls through the screen according to the particle size level to the corresponding collection hopper.

[0052] Closely observe the screening process to ensure stable operation without abnormal noise or vibration. Place oversized stones with a diameter >200mm on the test cloth, measure their size with a tape measure, and weigh and record the weight using an electronic scale. Collect the loose material carried out by the oversized stones in the test cloth and feed it into the inlet 201 of the screening machine. Repeat the above screening process until all the stones excavated from the test pit (including loose material and fine material attached to oversized stones) have been screened.

[0053] After the screening operation is paused or completed in stages, the stone material in the weighing bucket below the discharge port 207 of each grade is taken out in sequence, and the stone material in each particle size range is weighed in batches using an electronic platform scale with the corresponding range (300kg, 30kg) (the weight is recorded to an accuracy of 0.1kg).

[0054] in:

[0055] For stones with a particle size >100 μm: it is necessary to use a measuring tape to measure their maximum size (record with an accuracy of 1 cm) and classify and stack them according to particle size range (20-10 cm, 10-6 cm, etc.);

[0056] For fine materials with a particle size <20mm: After collection and weighing, three representative samples are evenly extracted from the sample bag, sealed and labeled, and brought back to the laboratory for indoor fine material sieving;

[0057] Records in real-time and accurately the weighing data of stones of all sizes, the size measurement results of oversized stones, and the sampling information of fine materials. Ensures uniform feeding and prevents screen blockage; if slight blockage occurs, it can be assisted by manual clearing using the equipment's own vibration characteristics or by briefly stopping the machine; monitors screening efficiency to ensure there is no obvious material accumulation or incomplete screening.

[0058] S4. Volume detection test, the specific steps are as follows:

[0059] The high-precision 3D point cloud radar 3 (rotating 3D laser scanner) is vertically inverted and installed on the preset connection port at the bottom of the bucket of the master-slave arm synchronous operation intelligent pit testing machine 1 using its dedicated mechanical structure. Ensure that the installation is secure, turn on the radar power switch, and start the equipment for self-test. Operate the two-stage power telescopic arm 101 to precisely move the bucket module 102 with the radar installed to directly above the center of the test pit (i.e., the center position of the density detection ring). Slowly lower the height of the bucket module 102 until the bottom scanning surface of the high-precision 3D point cloud radar 3 is flush with the upper edge of the density detection ring (or at the preset reference height), ensuring that there is no risk of contact between the radar and the pit bottom or pit wall.

[0060] Open the accompanying radar scanning control software and ensure that the device is properly connected to the radar via the local wireless network; select or confirm the scanning parameters on the scanning software interface (usually using the default or preset pit test mode), and click the start scan or bilateral scan operation button to begin data acquisition.

[0061] During the scanning process, the radar's fast axis (900 RPM) and slow axis (0.5° / step) rotate in tandem, emitting a 905nm laser beam to capture the spatial coordinates of the pit wall (acquiring approximately 60,000 points per second). The software interface monitors the progress and equipment operating status to ensure no abnormal interruptions. After the software indicates that the scan is complete, it automatically performs point cloud noise reduction filtering (radius outlier removal) and surface reconstruction (Poisson surface reconstruction) to generate a three-dimensional closed triangular mesh model of the test pit. Based on the reconstructed surface model, the software automatically applies the Gaussian divergence theorem integral to calculate the volume of the test pit with an accuracy of up to 95%.

[0062] Save the generated raw point cloud data file, 3D model file, and volume calculation results. File names must include key identifying information; recommended format: Volume Scan_[Date]_[Station]_[Elevation].txt (or other naming conventions conforming to project file management requirements). Before scanning, ensure the test pit is regularly shaped like a rounded bottom, with stable walls free from looseness or collapse, and no residual materials or tools inside. Maintain a safe distance during scanning; personnel are strictly prohibited from entering the scanning area or peering over the test pit to prevent accidents. Preliminarily check whether the generated model's visualization fully reflects the test pit's shape and whether the volume value is within a reasonable range. If there are obvious abnormalities (such as incomplete models, excessively large or small volume values), analyze the cause (such as unstable pit walls, obstructions, or improper scanning height) and consider rescanning.

Claims

1. An automated testing system for the compaction of rockfill dam materials suitable for high-altitude areas, characterized in that, include: The intelligent pit-measuring machine with synchronous operation of master and slave arms (1), the automatic screening and metering system (2), and the volume scanning equipment (3) are all included. The master-slave synchronized operation intelligent pit-testing machine (1) includes a two-stage power telescopic arm (101), one end of which is connected to a bionic excavation module and the other end is connected to a rotary platform (110); the bionic excavation module includes a bucket module (102) for excavating rockfill of different particle sizes, a loosening module (103) and a clamping module (104); The automatic screening and metering system (2) includes a housing hopper (202) that carries the test pit; a high-frequency vibration device (204) is installed at the bottom of the housing hopper (202), and multiple layers of screens (206) are provided inside the housing hopper (202); each layer of screens is provided with a discharge port (207) at the end, and a material mass extraction device (208) is connected after the discharge port (207), and the material mass extraction device (208) is equipped with a mass sensor (209) for moving and transporting rockfill materials of different particle sizes; The volume scanning equipment (3) includes a mechanical structure (302) and a three-dimensional point cloud radar (301), and the three-dimensional point cloud radar (301) is connected to the bottom plate of the bucket through the mechanical structure (302).

2. The automated detection system for the compactness of rockfill dam material according to claim 1, characterized in that, The master-slave synchronous operation intelligent pit-testing machine (1) also includes an electrical control system (106).

3. The automated detection system for the compaction of rockfill dam material according to claim 2, characterized in that, The long-range Bluetooth control system has a built-in Bluetooth module and is paired with the control handle (112).

4. The automated detection system for the compactness of rockfill dam material according to claim 1, characterized in that, The intelligent pit-testing machine (1) with synchronous operation of master and slave arms also includes a power system (108).

5. The automated detection system for the compaction of rockfill dam material according to claim 1, characterized in that, The intelligent pit-testing machine (1) with synchronous operation of master and slave arms also includes a hydraulic system (107).

6. The automated detection system for the compaction of rockfill dam material according to claim 1, characterized in that, The uppermost screen of the multi-layer screen (206) is provided with a feed inlet (201) at one end.

7. The automated detection system for the compactness of rockfill dam material according to claim 1, characterized in that, Material baffles are provided on both sides of the uppermost layer of the multi-layer screen (206).

8. The automated detection system for the compaction of rockfill dam material according to claim 1, characterized in that, The inner wall of the machine housing hopper (202) is provided with a T-shaped groove, and the fixed ends on both sides of the screen are matching T-shaped tenons. The T-shaped groove and the T-shaped tenon form a bayonet pull-out connection.

9. An automated method for detecting the compactness of rockfill dam materials suitable for high-altitude areas, characterized in that, Includes the following steps: S1. Start the master-slave arm synchronous operation intelligent pit detection machine (1) and pair it with the control handle (112) via Bluetooth. Place the machine body facing the detection area horizontally. S2. The loosening module (103) of the two-stage power telescopic boom (101) loosens the surface of the detection area and loosens the dense piled stone material on the surface of the detection area; the bucket module (102) is switched to dig out the loosened granular piled stone material; the clamping module (104) is switched to clamp the long strips or large pieces of piled stone material. S3. Move the long strips or large blocks of riprap processed in step S2 to the test cloth laid next to the test pit, and repeat step S2 to excavate in layers until the depth of the test pit reaches the design thickness of the compacted layer. S4. Unload the bulk rockfill into the feed inlet (201), and after vibrating and screening through a multi-layer screen (206), collect the rockfill of each grade after screening. S5. Take out the riprap materials of each grade in sequence, weigh and record them according to their particle size; S6. The three-dimensional point cloud radar (301) is vertically inverted and installed on the preset connection port at the bottom of the bucket of the master-slave arm synchronous operation intelligent pit testing machine (1) through the mechanical structure (302) to generate a three-dimensional closed triangular mesh model of the test pit.

10. The automated method for detecting the compactness of rockfill dam material according to claim 9, characterized in that, The three-dimensional point cloud radar (301) described in S6 collects data in two dimensions, vertical and horizontal, to form two-dimensional slice test pits, which are then accumulated into three-dimensional test pits. A three-dimensional closed triangular mesh model is generated by single-beam laser scanning.

Images