Construction machinery operation area coordinate monitoring and protection system and method

Abstract

The invention discloses a construction machinery operation area coordinate monitoring and protection system and method. The device mainly comprises an operation area coordinate acquisition module, a space coordinate conversion module and a pre-alarm module. Wherein the operation area coordinate acquisition module is mounted on mechanical operation equipment, monitors the posture of the mechanical operation equipment in real time, and solves the current excavation depth based on basic structure parameters of the equipment; the space coordinate conversion module is fixedly erected to automatically complete relative coordinate acquisition, earth absolute coordinate conversion and real-time tracking of the operation area coordinate acquisition module; and the pre-alarm module is used for giving an alarm signal when judging that the excavation operation on the construction site does not meet the technical requirement of a safe distance based on a set threshold value according to the current absolute coordinates of the earth and the excavation depth of the operation area coordinate acquisition module. According to the device and the method, high-precision and automatic monitoring can be carried out on the coordinates of the operation area of the construction machinery, underground space element safety protection is realized, and safety accidents of underground space element damage are effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of Internet of Things (IoT) technology in engineering construction, and in particular to a coordinate monitoring and protection system and method for construction machinery operating areas. Background Technology

[0002] The development and utilization of underground space relies heavily on various types and functions of construction machinery and equipment. The operation of this machinery often depends heavily on the skill and experience of the operators. Traditional methods of controlling coordinates (such as depth) through mechanical rulers and operator visual estimation suffer from large errors and low efficiency. For example, the control coordinates of existing construction machinery (such as excavators and loaders) mainly depend on hydraulic system pressure feedback or operator visual judgment, with an error range typically between 10 and 30 centimeters. Taking shallow cables as an example, their burial depth is generally only 0.5 to 1.5 meters. Existing coordinate control methods are highly susceptible to exceeding safety thresholds, leading to safety accidents such as cable breakage and damage to underground space elements. This not only causes significant economic losses but also poses a serious threat to public safety. Especially given the current significantly increased density of underground space elements, traditional methods are even less able to meet the requirements of precise and efficient construction technology.

[0003] On the other hand, construction machinery is generally leased. Construction owners do not own the various types of construction machinery that are highly mobile and have diverse usage scenarios. Furthermore, it is even more difficult to customize and modify construction machinery without precise coordinate monitoring capabilities.

[0004] Furthermore, although BIM (Building Information Modeling) and GIS (Geographic Information System) technologies have been piloted in some projects, the lack of automated and information-based monitoring of construction machinery operation coordinates makes it difficult to integrate with existing systems, resulting in information silos and making it difficult to form a closed-loop management system covering the entire chain of "surveying-planning-operation-monitoring". Summary of the Invention

[0005] This disclosure provides a coordinate monitoring and protection system and method for the work area of ​​construction machinery. It can be installed and removed from the construction machinery without modification, and can follow the construction machinery to achieve high-accuracy, high-efficiency, and automatic monitoring and protection of the coordinates of the work area of ​​the construction machinery.

[0006] The construction machinery operation area coordinate monitoring and protection system disclosed herein mainly includes: an operation area coordinate acquisition module, a spatial coordinate transformation module, and a pre-alarm module, wherein: The work area coordinate acquisition module is installed on the mechanical work equipment to monitor the attitude of the mechanical work equipment in real time and calculate the current digging depth based on the basic structural parameters of the equipment. The spatial coordinate transformation module is used to automatically complete the relative coordinate acquisition, absolute geodetic coordinate transformation, and real-time tracking of the work area coordinate acquisition module; The pre-alarm module is used to issue a warning signal when it determines that the excavation operation at the construction site does not meet the safety distance technical requirements based on the current absolute ground coordinates and excavation depth of the work area coordinate acquisition module and a set threshold.

[0007] Furthermore, the work area coordinate acquisition module can be installed and removed from the construction machinery without modifying the machinery, and can move with the construction machinery to monitor non-single fixed excavation positions. The methods that do not require modification of construction machinery and equipment include any one of the following: magnetic attraction, vacuum adsorption, and clamp-type installation.

[0008] Furthermore, the work area coordinate acquisition module monitors the attitude parameters of the excavating equipment in real time, including: the angle θ1 between the boom and the horizontal plane, the angle θ2 between the stick and the boom, and the angle θ3 between the bucket and the stick. The basic structural parameters of the excavating equipment include: boom length L1, stick length L2, bucket length L3, and the height of the boom root hinge point from the ground H0. The method for calculating the mining depth is as follows: The digging depth D is the sum of the downward projections of the boom, stick, and bucket in the vertical direction, which is also the sum of the products of the length of each component and the sine of the corresponding vertical angle. Therefore, the total projection T is:

[0009] Subtracting the height H0 of the boom root itself from the ground from the total vertical projection, the excavation depth D is:

[0010] If the calculation result D>0, it indicates that the tip of the bucket tooth is below the ground, which is the actual digging depth; If D ≤ 0, it indicates that the bucket teeth are on or above the ground, and there is no effective digging depth.

[0011] Furthermore, the spatial coordinate transformation module is installed in the surrounding environment of the construction machinery and equipment, and is in line with the work area coordinate acquisition module. Through the built-in distance and angle measuring devices, it obtains the relative distance and angle of the work area coordinate acquisition module, and obtains the relative coordinates of the work area coordinate acquisition module with the spatial coordinate transformation module as the coordinate origin.

[0012] Furthermore, the spatial coordinate transformation module measures the relative distance to the work area coordinate acquisition module using a built-in laser rangefinder. ; The horizontal angle of the laser beam is measured using angle encoders on the horizontal and vertical axes. and vertical angle The relative coordinates of the work area coordinate acquisition module with the spatial coordinate transformation module as the origin are obtained. : , , .

[0013] Furthermore, the geodetic coordinate transformation method used by the spatial coordinate transformation module is as follows: Assuming relative coordinates The corresponding point coordinates in the geodetic coordinate system are The spatial coordinate transformation module provides the coordinates in the geodetic coordinate system as follows: The spatial transformation from a local system to a geodetic system is obtained by the following equation:

[0014] in, The rotation matrix consists of rotations about the x-axis, y-axis, and z-axis, respectively. , , Then according to the matrix , , Multiplying them together, we get:

[0015] in: .

[0016] Furthermore, when the construction machinery moves, the spatial coordinate transformation module drives the laser pointing to adjust the direction of the laser by detecting the deviation of the laser beam reflected by the coordinate acquisition module of the work area, so as to maintain tracking. Let the horizontal deviation of the deviation signal from the center of the image be... Vertical deviation is The required spatial angle deviation adjustment is: , ,

[0017] in, , This is the detector sensitivity coefficient; To eliminate deviation, the controller uses a PID algorithm to calculate the driving quantities of the horizontal and vertical axes, and controls the rotation of the motor in the spatial coordinate transformation module. , ,

[0018] in, This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients; , The rotation angle increments for the horizontal and vertical axes are used to adjust the laser direction.

[0019] The method for monitoring and protecting the coordinates of construction machinery operating areas using the above system mainly includes the following steps: Install the work area coordinate acquisition module on the construction machinery operating equipment; When construction machinery is in operation, the work area coordinate acquisition module monitors the posture of the machinery in real time and calculates the current excavation depth based on the basic structural parameters of the equipment. The spatial coordinate transformation module automatically completes the relative coordinate acquisition, absolute geodetic coordinate transformation, and real-time tracking of the work area coordinate acquisition module; Based on the current absolute geodetic coordinates and excavation depth of the work area coordinate acquisition module, and based on a set threshold, a warning signal is issued when it is determined that the excavation operation at the construction site does not meet the technical requirements for safe distance.

[0020] Compared with the prior art, the beneficial effects of this disclosure are: ① It can achieve high-accuracy, high-efficiency and automated monitoring of the coordinates of the construction machinery operation area, thereby realizing the safety protection of underground space elements and effectively avoiding safety accidents such as cable digging and other damage to underground space elements, which could cause unnecessary major economic losses; In terms of accuracy, the use of photoelectric ranging technology significantly improves the accuracy of spatial coordinate measurement in the work area to the centimeter level; In terms of efficiency, it can follow the construction machinery by being installed with the construction machinery to complete the dynamic scanning of the work area, realize immediate measurement upon installation, and provide early warning or alarm when situations such as failure to meet the safe distance are encountered, which is highly efficient and convenient. In terms of automation, all components are fully automated, requiring no monitoring personnel to participate.

[0021] ② It eliminates the need for destructive modifications to construction machinery, breaking down external limitations such as construction owners' lack of ownership and difficulty in customizing their machinery. It also overcomes the modification dilemma caused by the lack of ownership rights for owners in traditional leasing models. Construction owners can freely and customarily conduct monitoring and protection work according to specific project needs, providing a low-threshold, highly adaptable intelligent upgrade path for fields such as building construction, municipal maintenance, and energy extraction.

[0022] ③ It technically solves the long-standing problem of the lack of coordinate information collection methods and the existence of information silos that make it difficult to integrate with existing BIM and other systems during construction machinery operations, providing a solution for building a closed-loop management system covering the entire chain of "surveying-planning-operation-monitoring". Attached Figure Description

[0023] The above and other objects, features and advantages of this disclosure will become more apparent from the more detailed description of exemplary embodiments of this disclosure taken in conjunction with the accompanying drawings, in which the same reference numerals generally represent the same components.

[0024] Figure 1 This is a schematic diagram of a coordinate monitoring and protection system for a construction machinery operating area according to this disclosure; Figure 2 This is a flowchart of a coordinate monitoring and protection system for a construction machinery work area according to the present disclosure. Detailed Implementation

[0025] Preferred embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0026] This disclosure provides a coordinate monitoring and protection system for construction machinery operating areas. One exemplary embodiment is shown in the attached figure. Figure 1 As shown, the monitoring and protection system according to this disclosure includes: a work area coordinate acquisition module 1, a spatial coordinate transformation module 2, a data management module 3, and an early warning module 4; Work area coordinate acquisition module 1 is used to detect the spatial coordinate information of the work area; Spatial coordinate transformation module 2 is used to match spatial relative coordinate information to absolute geodetic coordinates; Data management module 3 is used for reading, displaying, modifying, and storing data; The pre-alarm module 4 is used to provide normal signals, early warning signals, and alarm signals based on the positional relationship between the set threshold and the spatial coordinates.

[0027] 1. Work area coordinate acquisition module The work area coordinate acquisition module is used to monitor the posture of mechanical equipment in real time and calculate the excavation depth based on the pre-stored basic structural parameters of the mechanical equipment.

[0028] For example, for an excavator, the basic structural parameters include: boom length L1, stick length L2, bucket length L3, and the ground clearance H0 of the boom root hinge point. Monitoring attitude parameters may include: the angle θ1 between the boom and the horizontal plane, the angle θ2 between the stick and the boom, and the angle θ3 between the bucket and the stick. The excavation depth D is the sum of the projections of the boom, stick, and bucket in the vertical (downward) direction, which is also the sum of the products of the length of each component and the sine of the corresponding vertical angle. Therefore, the total projection T is: ,

[0029] Deduct the height of the boom root from the ground: The height H0 of the boom root itself above the ground needs to be subtracted from the total vertical projection, therefore the excavation depth D is: , If the calculation result D>0, it indicates that the tip of the bucket tooth is below the ground, which is the actual digging depth; If D ≤ 0: the bucket teeth are on or above the ground, indicating no effective digging depth.

[0030] In this embodiment, the work area coordinate acquisition module adopts installation methods such as magnetic suction, hanging, vacuum adsorption, and clamp type, which can be installed and disassembled on the construction machinery without modifying the construction machinery, and move with the construction machinery to realize non-single fixed excavation position monitoring.

[0031] As an optional solution, the work area coordinate acquisition module acquires the spatial position information of the surface of the object being measured in the work area in a non-contact manner. The non-contact acquisition method includes, but is not limited to, photoelectric signals such as laser, image, and video.

[0032] 2. Spatial coordinate transformation module Fixed in the environment around the construction machinery, it only needs to be in line with the coordinate acquisition module of the work area to automatically complete the relative coordinate acquisition, absolute geodetic coordinate transformation and real-time tracking of the coordinate acquisition module of the work area.

[0033] The spatial coordinate transformation module has built-in absolute spatial coordinate information, which can automatically track the work area coordinate acquisition module and provide the absolute spatial coordinate information of the work area coordinate acquisition module without operator intervention.

[0034] (1) Relative coordinate acquisition The spatial coordinate transformation module incorporates a laser (velocity C) transmitting and receiving sensor, which measures the flight time of the coordinate acquisition module in the work area. Obtain the relative distance :

[0035] The horizontal angle of the laser beam is measured using angle encoders on the horizontal and vertical axes. and vertical angle The relative coordinates of the work area coordinate acquisition module with the spatial coordinate transformation module as the origin are obtained. : , , ;

[0036] (2) Geodetic coordinate transformation: Assuming relative coordinates The corresponding point coordinates in the geodetic coordinate system are The spatial coordinate transformation module provides the coordinates in the geodetic coordinate system as follows: The spatial transformation from a local system to a geodetic system can be obtained by the following formula:

[0037] in, Let the rotation matrix be the rotation matrix about the xyz coordinate axes. , , Multiplying them together, we get:

[0038] Furthermore, among them .

[0039] (3) Real-time tracking: When the construction machinery moves, the photoelectric detectors and other sensors built into the spatial coordinate transformation module detect the deviation between the laser beam reflected from the work area coordinate acquisition module and drive the laser direction adjustment to maintain tracking. Let the horizontal deviation of the deviation signal from the imaging center be denoted as... Vertical deviation is The required spatial angle deviation adjustment is: , , in, , denoted as the detector sensitivity coefficient.

[0040] To eliminate deviation, the controller uses a PID algorithm to calculate the drive amount (angle increment) of the horizontal and vertical axes, and controls the rotation of the motor in the spatial coordinate transformation module. , ,

[0041] in, This is the proportionality coefficient. The integral coefficient is... is the differential coefficient. , The rotation angle increments for the horizontal and vertical axes are used to adjust the laser direction.

[0042] 3. Data Management Module This includes relative coordinate information of the work area, absolute coordinate information of the work area, and pre-alarm threshold information.

[0043] In this embodiment, the workflow for monitoring and protecting the coordinates of the construction machinery work area using the above system includes: Step 1: Install the work area coordinate acquisition module onto the construction machinery and equipment; Step 2: When construction machinery is in operation, the work area coordinate acquisition module detects the spatial coordinate information of the work area; Step 3: Use the data management module to send the absolute geodetic coordinate information to the spatial coordinate transformation module; Step 4: Use the spatial coordinate transformation module to automatically track the work area coordinate acquisition module and transform the relative coordinates to absolute geodetic coordinates; Step 5: When excavation operations at the construction site do not meet technical requirements such as safe distances, use the pre-alarm module to issue a pre-alarm signal based on the pre-alarm threshold.

[0044] The above technical solutions are merely exemplary embodiments of the present invention. For those skilled in the art, based on the application methods and principles disclosed in the present invention, it is easy to make various types of improvements or modifications, and not limited to the methods described in the specific embodiments of the present invention. Therefore, the methods described above are merely preferred and not restrictive.

Claims

1. A coordinate monitoring and protection system for construction machinery operating areas, characterized in that, include: The module includes a work area coordinate acquisition module, a spatial coordinate transformation module, and a pre-alarm module; among which: The work area coordinate acquisition module is installed on the mechanical operating equipment to monitor the attitude of the mechanical operating equipment in real time and calculate the current digging depth based on the basic structural parameters of the equipment. The spatial coordinate transformation module is used to automatically complete the relative coordinate acquisition, absolute geodetic coordinate transformation, and real-time tracking of the work area coordinate acquisition module; The pre-alarm module is used to issue a warning signal when it determines that the excavation operation at the construction site does not meet the safety distance technical requirements based on the current absolute ground coordinates and excavation depth of the work area coordinate acquisition module and a set threshold.

2. The system according to claim 1, characterized in that, The work area coordinate acquisition module can be installed and removed from the construction machinery without modifying the construction machinery, and moves with the construction machinery to monitor non-single fixed excavation positions. The methods that do not require modification of construction machinery and equipment include any one of the following: magnetic attraction, vacuum adsorption, and clamp-type installation.

3. The system according to claim 1 or 2, characterized in that, The work area coordinate acquisition module monitors the attitude parameters of the excavating equipment in real time, including: the angle θ1 between the boom and the horizontal plane, the angle θ2 between the stick and the boom, and the angle θ3 between the bucket and the stick. The basic structural parameters of the excavating equipment include: boom length L1, stick length L2, bucket length L3, and the height of the boom root hinge point from the ground H0. The method for calculating the mining depth is as follows: The digging depth D is the sum of the downward projections of the boom, stick, and bucket in the vertical direction, which is also the sum of the products of the length of each component and the sine of the corresponding vertical angle. Therefore, the total projection T is: ， Subtracting the height H0 of the boom root itself from the ground from the total vertical projection, the excavation depth D is: ， If the calculation result D > 0, it indicates that the tip of the bucket tooth is below the ground, which is the actual digging depth; If D ≤ 0, it indicates that the bucket teeth are on or above the ground, and there is no effective digging depth.

4. The system according to claim 1, characterized in that, The spatial coordinate transformation module is installed in the surrounding environment of the construction machinery and equipment, and is in line with the work area coordinate acquisition module. Through the built-in distance and angle measuring devices, it obtains the relative distance and angle of the work area coordinate acquisition module, and obtains the relative coordinates of the work area coordinate acquisition module with the spatial coordinate transformation module as the coordinate origin.

5. The system according to claim 4, characterized in that, The spatial coordinate transformation module measures the relative distance to the work area coordinate acquisition module using a built-in laser rangefinder. ; The horizontal angle of the laser beam is measured using angle encoders on the horizontal and vertical axes. and vertical angle The relative coordinates of the work area coordinate acquisition module with the spatial coordinate transformation module as the origin are obtained. : ， ， 。 6. The system according to claim 4, characterized in that, The geodetic coordinate transformation method used in the spatial coordinate transformation module is as follows: Assuming relative coordinates The corresponding point coordinates in the geodetic coordinate system are The coordinates of the spatial coordinate transformation module in the geodetic coordinate system are: The spatial transformation from a local system to a geodetic system is obtained by the following equation: ， in, The rotation matrix consists of rotations about the x-axis, y-axis, and z-axis, respectively. , , Then according to the matrix , , Multiplying them together, we get: ， in: 。 7. The system according to claim 4, characterized in that, When the construction machinery moves, the spatial coordinate transformation module detects the deviation of the laser beam reflected by the work area coordinate acquisition module and drives the laser direction to adjust to maintain tracking. Let the horizontal deviation of the deviation signal from the center of the image be... Vertical deviation is The required spatial angle deviation adjustment is: ， ， in, , This is the detector sensitivity coefficient; To eliminate deviation, the controller uses a PID algorithm to calculate the driving quantities of the horizontal and vertical axes, and controls the rotation of the motor in the spatial coordinate transformation module. ， ， in, This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients; , These are the rotation angle increments for the horizontal and vertical axes, used to adjust the laser direction.

8. A method for monitoring and protecting the coordinates of a construction machinery operating area using the system described in any one of claims 1-7, characterized in that, Includes the following steps: Install the work area coordinate acquisition module on the construction machinery operating equipment; When construction machinery is in operation, the work area coordinate acquisition module monitors the posture of the machinery in real time and calculates the current excavation depth based on the basic structural parameters of the equipment. The spatial coordinate transformation module automatically completes the relative coordinate acquisition, absolute geodetic coordinate transformation, and real-time tracking of the work area coordinate acquisition module; Based on the current absolute geodetic coordinates and excavation depth of the work area coordinate acquisition module, and based on a set threshold, a warning signal is issued when it is determined that the excavation operation at the construction site does not meet the technical requirements for safe distance.

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