Muck over-excavation and under-excavation early warning system
By using 3D scanning and high-precision positioning technology, the excavation process of construction waste is monitored in real time, which solves the problem of difficulty in controlling over- and under-excavation of construction waste in existing technologies. This enables real-time, accurate monitoring and automated management of the excavation process, improving project quality and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-26
- Publication Date
- 2026-03-10
AI Technical Summary
Existing technologies make it difficult to achieve real-time, continuous monitoring and precise control of the excavation process, leading to frequent over- and under-excavation, which affects project quality, safety, and cost.
By employing 3D scanning and high-precision positioning technologies, real-time 3D point cloud data of the excavation area and equipment posture are collected. This data is then compared and analyzed in conjunction with design parameters to achieve timely early warning of over- or under-excavation. Furthermore, a multi-level early warning mechanism and automated data management are implemented.
It enables real-time and accurate monitoring of the excavation process, reduces manual intervention, improves management efficiency, ensures project safety and quality, and reduces costs.
Smart Images
Figure CN121640657A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of engineering construction technology, and in particular to a slag over-excavation early warning system. BACKGROUND
[0002] In various types of civil engineering construction, such as building foundation pit excavation, municipal pipeline construction, highway and railway tunnel excavation, etc., the control of slag excavation quantity is a key link to ensure the quality, safety, progress and cost of the project. Over-excavation not only leads to unnecessary increase in earthwork transportation, resource waste and cost increase, but also may cause safety hazards such as foundation pit collapse and surrounding rock instability, and even affect the safety of surrounding buildings and underground pipelines; under-excavation requires secondary excavation or treatment, which will also delay the construction period, increase the cost, and may disturb the constructed structure.
[0003] At present, the control of slag excavation quantity mainly relies on the experience judgment of construction personnel, manual measurement (such as level, total station, etc.) and post-earthwork quantity accounting. Manual measurement is difficult to realize continuous and real-time monitoring of the excavation process, and often measurement is carried out after the completion of a certain construction section, at which time over-excavation and under-excavation have already occurred, and it is difficult to recover the loss; experience judgment is highly subjective and the accuracy is difficult to guarantee; traditional manual measurement is greatly affected by factors such as environment and personnel operation level, and it is difficult to measure in complex terrain or hidden areas; post-accounting can only find problems and cannot timely warn in the excavation process, thus failing to play a preventive role; relying on manual operation, the efficiency is low, and it is difficult to realize automatic recording, analysis and management of data.
[0004] Therefore, it is an urgent problem for those skilled in the art to propose a slag over-excavation early warning system to solve the difficulties existing in the prior art. SUMMARY
[0005] Therefore, the present application provides a slag over-excavation early warning system, which can obtain the three-dimensional shape and earthwork quantity change of the excavation area in real time and accurately, and compare and analyze with the designed excavation parameters, so as to realize timely warning of over-excavation and under-excavation.
[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions: A slag over-excavation early warning system, comprising: a data acquisition module, which acquires three-dimensional point cloud data of the excavation area and real-time position and attitude of the excavation equipment; a data processing and analysis module, which is connected with the data acquisition module, and is used for receiving the three-dimensional point cloud data and the operation parameter data, comparing and analyzing the three-dimensional point cloud data and the operation parameter data with the preset designed excavation parameters, and calculating the excavation quantity and over-excavation and under-excavation deviation; an intelligent warning module, which is connected with the data processing and analysis module, and is used for issuing a warning signal when the over-excavation and under-excavation deviation reaches or exceeds a preset threshold. The control and display module is connected with the intelligent early warning module, and is used for controlling the work of each module and displaying the real-time excavation volume, overbreak and underbreak deviation and early warning information; The data storage and management module is connected with the control and display module, and is used for storing the original data of the data acquisition module, the excavation volume and overbreak and underbreak deviation generated by the data processing and analysis module and early warning records.
[0007] The system described above, optionally, the data acquisition module comprises a three-dimensional scanning unit, a positioning and attitude sensing unit and a data transmission unit; The three-dimensional scanning unit is combined with one or more of a laser scanner, a photogrammetric device or a GNSS-RTK-based mobile measurement system to perform three-dimensional point cloud data acquisition on the excavation operation surface and the excavated area; The positioning and attitude sensing unit obtains the real-time position and attitude of the excavation equipment through a GNSS positioning module, an IMU inertial measurement unit, an angle sensor and a displacement sensor; The data transmission unit is used for transmitting the three-dimensional point cloud data, the real-time position and attitude of the excavation equipment to the data processing and analysis module.
[0008] The system described above, optionally, the data processing and analysis module comprises a data preprocessing unit, a design model storage and calling unit, an excavation volume calculation unit, a comparative analysis and judgment unit and a warning threshold setting unit; The data preprocessing unit is used for denoising, filtering, registration and coordinate conversion on the received three-dimensional point cloud data, the real-time position and attitude of the excavation equipment; The design model storage and calling unit is used for storing the preset design excavation parameters, including the design excavation surface three-dimensional coordinates, the design excavation volume and the design excavation slope, and calling as needed; The excavation volume calculation unit is used for calculating the actual excavation surface three-dimensional coordinates, the actual excavation volume and the actual excavation slope based on the preprocessed three-dimensional point cloud data; The comparative analysis and judgment unit is used for comparing the actual excavation parameters with the called preset design excavation parameters to calculate the overbreak and underbreak deviation; The warning threshold setting unit is used for setting the overbreak warning threshold and the underbreak warning threshold.
[0009] The system described above, optionally, the intelligent early warning module, preset multi-level warning, through the visual alarm, auditory alarm and send alarm information to the management platform or management personnel, send warning signal.
[0010] The control and display module, optionally, is used for coordinating and controlling the work of each module through an industrial control computer, a PLC or an embedded microprocessor; The high-definition display screen shows the real-time excavation volume, over- and under-excavation deviations, and early warning information. The human-computer interaction interface allows users to set system parameters and interact with the computer.
[0011] The aforementioned system may optionally include a data storage and management module that uses local server storage and cloud storage, and provides data query, export, and backup functions.
[0012] As can be seen from the above technical solution, compared with the prior art, the present invention provides an early warning system for over- and under-excavation of construction waste, which has the following beneficial effects: This invention can capture real-time changes in the morphology of the excavation area and the operating status of the excavation equipment. The data processing and analysis module responds quickly to achieve real-time monitoring. Utilizing advanced 3D scanning and high-precision positioning technologies, it can accurately acquire the 3D coordinate information of the excavated body, ensuring the accuracy of excavation volume calculation and deviation analysis. During excavation, by comparing actual excavation parameters with design parameters in real time, an early warning is immediately issued once over-excavation or under-excavation trends are detected or the warning threshold is reached, facilitating timely adjustments by operators to prevent escalation. It automates the data acquisition, transmission, processing, analysis, early warning, and storage processes, reducing manual intervention, improving management efficiency, and accumulating construction data to support subsequent project optimization. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0014] Figure 1 The present invention provides a structural diagram of an early warning system for over-excavation and under-excavation of construction waste. Detailed Implementation
[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0016] Reference Figure 1 As shown, this invention discloses an early warning system for over- or under-excavation of construction waste, comprising: The data acquisition module collects 3D point cloud data of the excavation area and the real-time position and attitude of the excavation equipment; The data processing and analysis module, connected to the data acquisition module, is used to receive 3D point cloud data and operation parameter data, compare and analyze them with the preset design excavation parameters, and calculate the excavation volume and over- or under-excavation deviation. The intelligent early warning module, connected to the data processing and analysis module, is used to issue an early warning signal when the over-excavation or under-excavation deviation reaches or exceeds a preset threshold. The control and display module, connected to the intelligent early warning module, is used to control the operation of each module and display the real-time excavation volume, over-excavation and under-excavation deviations, and early warning information. The data storage and management module, connected to the control and display module, is used to store the raw data from the data acquisition module, the excavation volume, over- and under-excavation deviations, and early warning records generated by the data processing and analysis module.
[0017] Furthermore, the data acquisition module includes: a 3D scanning unit, a positioning and attitude sensing unit, and a data transmission unit; The 3D scanning unit is used to collect 3D point cloud data of the excavation face and the excavated area in real time or periodically to obtain its 3D point cloud model. It can use vehicle-mounted, airborne (such as drone-mounted), or fixed laser scanners, or use photogrammetry technology (such as oblique photography based on ordinary cameras or professional SLR cameras), or combine GNSS-RTK technology to assist in positioning mobile measurement systems to quickly and accurately obtain the surface 3D coordinate information of the excavated body. The positioning and attitude sensing unit, through a GNSS positioning module, an IMU inertial measurement unit, an angle sensor, and a displacement sensor, is used to acquire the real-time position, attitude, and operating parameters (such as bucket position and digging depth) of excavation equipment (such as excavators, tunnel boring machine cutterheads, etc.). The data transmission unit is used to stably and efficiently transmit 3D point cloud data and the real-time position and attitude of the excavation equipment to the data processing and analysis module; it can use wired (such as industrial Ethernet) or wireless (such as 5G, Wi-Fi, Bluetooth, LoRa, etc.) communication methods.
[0018] Furthermore, the data processing and analysis module includes: a data preprocessing unit, a design model storage and retrieval unit, an excavation volume calculation unit, a comparative analysis and judgment unit, and an early warning threshold setting unit; The data preprocessing unit is used to denoise, filter, register, and transform the received 3D point cloud data and the real-time position and attitude of the excavating equipment; generate a high-quality 3D mesh model or point cloud model of the excavation area; and at the same time, verify, fuse, and solve the received positioning attitude data of the excavating equipment. The design model storage and retrieval unit is used to store preset design excavation parameters, including: three-dimensional coordinates of the design excavation face, design excavation volume, and design excavation slope, and to retrieve them as needed; The excavation volume calculation unit, based on the real-time or current 3D model of the excavation area output by the data preprocessing unit, and combined with the 3D model of the previous cycle or initial state, calculates the earthwork excavation volume and the volume change of the excavation area for the current excavation operation. Simultaneously, it can calculate the actual 3D coordinates of the excavation face (such as elevation and slope). Specifically, the excavation volume calculation unit compares the current point cloud model with the point cloud model of the previous scanning cycle (or the designed excavation starting face model), obtains the newly added excavation volume (i.e., the current excavated soil volume) through spatial geometric calculations, and calculates the actual elevation of each point on the excavation face. The comparative analysis and judgment unit compares the actual 3D model of the current excavation face with the design excavation model point by point or region by region. It compares the actual excavation parameters (such as actual excavation volume and actual 3D coordinates of the excavation face) obtained by the excavation volume calculation unit with the preset design excavation parameters (such as design excavation volume, design excavation boundary, design elevation, and design slope). It calculates the deviation values between the actual excavation face and the design excavation face (such as over-excavation depth / under-excavation height, area deviation, and volume deviation at a certain point). It then determines whether the current excavation status exceeds the preset over-excavation threshold or under-excavation threshold.
[0019] The warning threshold setting unit is used to set over-excavation warning thresholds and under-excavation warning thresholds, allowing users to set over-excavation warning thresholds and under-excavation warning thresholds for different areas and different construction stages according to the specific conditions of the project (such as geological conditions, construction technology, structural importance, etc.) (which can be absolute values, relative percentages, or slope differences, etc.).
[0020] Furthermore, the intelligent early warning module can issue early warning signals by pre-setting multi-level early warnings (such as indicator lights and display screens showing warning information), auditory alarms (such as buzzers and voice prompts), and sending alarm information to the management platform or management personnel.
[0021] Furthermore, three warning levels are set for over-excavation and under-excavation warning thresholds, and different warning recipients are flexibly set for different warning levels, making the warning of over-excavation and under-excavation of construction waste flexible and automated. The early warning system sets dual comparison standards. Standard one is the deviation threshold between the actual real-time change in excavated soil and the theoretical real-time change in excavated soil. Standard two is the deviation threshold between the current actual real-time change in excavated soil and the average values of the past 5 short-term (excavated soil change corresponding to the change in cylinder stroke) and the past 10 long-term average values. The dual comparison determines whether the threshold is exceeded, thus improving construction safety.
[0022] Furthermore, the control and display module, as the core of the system, coordinates and controls the operation of each module through an industrial control computer, PLC, or embedded microprocessor. The high-definition display screen shows the real-time excavation volume, over- and under-excavation deviations, and early warning information. The human-computer interaction interface allows users to perform operations such as setting system parameters (e.g., warning thresholds, scanning frequency), calling models, and inputting commands.
[0023] Furthermore, the data storage and management module employs both local server storage and cloud storage, and provides data query, export, and backup functions, enabling data traceability.
[0024] In one specific embodiment, a fixed laser scanner is used, which is mounted on a stable support near the excavation face and covers the entire current excavation area. The excavation area is scanned periodically (e.g., once every T minutes) or triggered according to the progress of the excavation work. The positioning and attitude sensing unit includes a GNSS-RTK receiver (with centimeter-level positioning accuracy) and an IMU module installed at the position of the excavator bucket teeth, as well as displacement sensors installed on the boom, stick, and bucket cylinders to obtain the real-time three-dimensional coordinates and attitude angles of the bucket; the positioning and attitude sensing unit collects the attitude and position data of the excavating equipment in real time. The data transmission unit uses an industrial Ethernet switch and a 5G router; A high-performance industrial control computer is used to coordinate and control the working sequence and data flow of each module; A 15-inch touchscreen is used to display the real-time excavation volume, over-excavation and under-excavation deviations, and early warning information. Operators can use the touchscreen to configure system parameters, switch models, and set thresholds. The data storage and management module uses a network server equipped with a large-capacity hard disk array. It supports multi-dimensional data queries by time, region, and device, and can generate daily and weekly statistical reports. The data can be shared with other management systems via the network.
[0025] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0026] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A system for slag overbreak warning, characterized in that, The system comprises: a data acquisition module for acquiring three-dimensional point cloud data of a digging area and real-time position and attitude of a digging device; a data processing and analysis module connected with the data acquisition module, for receiving three-dimensional point cloud data and operation parameter data, comparing and analyzing the data with preset design digging parameters, and calculating digging volume and over / under-digging deviation; an intelligent early warning module connected with the data processing and analysis module, for issuing a warning signal when the over / under-digging deviation reaches or exceeds a preset threshold; a control and display module connected with the intelligent early warning module, for controlling the work of each module and displaying real-time digging volume, over / under-digging deviation and warning information; a data storage and management module connected with the control and display module, for storing original data of the data acquisition module, digging volume and over / under-digging deviation generated by the data processing and analysis module, and warning records.
2. The over / under-digging early warning system according to claim 1, wherein the data acquisition module comprises a three-dimensional scanning unit, a positioning and attitude sensing unit, and a data transmission unit. The three-dimensional scanning unit acquires three-dimensional point cloud data of a digging area and real-time position and attitude of a digging device through a laser scanner, a photogrammetric device or a GNSS-RTK-based mobile measurement system. The positioning and attitude sensing unit acquires real-time position and attitude of a digging device through a GNSS positioning module, an IMU inertial measurement unit, an angle sensor and a displacement sensor. The data transmission unit transmits three-dimensional point cloud data, real-time position and attitude of a digging device to the data processing and analysis module.
3. The over / under-digging early warning system according to claim 2, wherein the data processing and analysis module comprises a data preprocessing unit, a design model storage and calling unit, a digging volume calculation unit, a comparison and analysis and judgment unit, and a warning threshold setting unit. The data preprocessing unit is used for denoising, filtering, registration and coordinate conversion of the received three-dimensional point cloud data, real-time position and attitude of a digging device. The design model storage and calling unit is used for storing preset design digging parameters, including design digging surface three-dimensional coordinates, design digging volume and design digging slope, and calling them as needed. The digging volume calculation unit is used for calculating actual digging surface three-dimensional coordinates, actual digging volume and actual digging slope based on the preprocessed three-dimensional point cloud data. The comparison and analysis and judgment unit is used for comparing actual digging parameters with called preset design digging parameters, and calculating over / under-digging deviation. The warning threshold setting unit is used for setting over-digging warning threshold and under-digging warning threshold.
4. The over / under-digging early warning system according to claim 1, wherein the intelligent early warning module presets multiple levels of early warning, and issues a warning signal through visual alarm, auditory alarm and sending alarm information to a management platform or management personnel.
5. The over / under-digging early warning system according to claim 1, wherein the control and display module coordinates the work of each module through an industrial control computer, a PLC or an embedded microprocessor. The real-time digging volume, over / under-digging deviation and warning information are displayed on a high-definition display screen. Through the human-computer interaction interface, the user is allowed to make system parameter settings and human-computer interaction.
6. The system according to claim 1, wherein the system further comprises a device for detecting the depth of the excavated material. The data storage and management module adopts local server storage and cloud storage, and provides data query, export and backup functions.