CN116405640A - Intelligent positioning monitoring system and method for lining trolley - Google Patents
Intelligent positioning monitoring system and method for lining trolley Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent positioning monitoring, in particular to an intelligent positioning monitoring system and method for a lining trolley, wherein a machine vision sensor module is used for collecting an image data information set of a pouring area; the data processing module is used for analyzing and processing the data information set acquired by the sensor; the controller module is used for controlling pouring work of the lining trolley; the wireless communication module is used for transmitting the sensor data and the data processed by the data processing module to the monitoring center and receiving a control instruction from the monitoring center; the monitoring center is used for remotely monitoring and controlling the trolley, the lining position of the lining trolley is positioned through intellectualization, the error of manual measurement is reduced, the positioning accuracy is improved, the construction efficiency is improved, the construction is visualized through the real-time monitoring and control of the monitoring center on the lining trolley, the real-time state of the construction is well known, and the automatic construction is realized.
Description
Technical Field
The invention relates to the technical field of intelligent positioning monitoring, in particular to an intelligent positioning monitoring system and method for a lining trolley.
Background
Lining trolleys are a type of transport means commonly used in railway construction and maintenance work. It is usually composed of a platform on which building materials such as rails can be placed and four wheels. The name of lining trolley stems from its original use, namely fixing the rail lining on the foundation along the railway. With the development of railway traffic, lining trolleys have also undergone some changes, such as the addition of hydraulic systems, in order to raise and lower the rails more conveniently. Furthermore, modern lining trolleys can also be used for cleaning snow and weeds on railways or as mobile work stations.
At present, lining trolleys are often used for secondary lining construction of highways, railway tunnels and underground caverns, and in the concrete construction process, accurate positioning of pouring positions is critical to ensuring construction quality and efficiency. Conventionally, the pouring position is marked on the ground, the positioning of the lining to be required is manually measured, the construction site is complex and changeable, and certain human measurement errors are necessarily caused, so that the pouring is problematic. Because the lining trolley is controlled by the hydraulic cylinder, when the lining trolley is adjusted to the lining position, the positioning is inaccurate, manual repeated adjustment is needed, the degree of automation is low, the construction progress is affected, the construction efficiency is reduced, and the delay of engineering is possibly caused.
Disclosure of Invention
The invention aims to provide an intelligent positioning monitoring system and method for a lining trolley, which are used for solving the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the intelligent positioning monitoring system comprises a machine vision sensor module, a data processing module, a controller module, a wireless communication module and a monitoring center, wherein the machine vision sensor module is used for collecting an image data information set of a pouring area; the data processing module is used for analyzing and processing the data information set acquired by the sensor; the controller module is used for controlling pouring work of the lining trolley; the wireless communication module is used for transmitting the sensor data and the data analyzed and processed by the data processing module to the monitoring center and receiving a control instruction from the monitoring center; the monitoring center is used for remotely monitoring and controlling the trolley.
According to the invention, the lining position of the lining trolley is positioned through intellectualization, so that the error of manual measurement is reduced, the positioning accuracy is improved, the construction efficiency is improved, the lining trolley is monitored and controlled in real time through the monitoring center, the construction is visualized, the real-time state of the construction is known, the remote control is carried out on the lining trolley through the control panel, and the automatic construction is realized.
Further, the machine vision sensor module comprises an image acquisition unit and a storage unit, wherein the image acquisition unit is used for acquiring an image data information set of the pouring area, the image data information set comprises the range and the shape of the pouring area, the image data information set further comprises the ground height and the inclined length of the pouring area, the inclined length is the slope length of a slope inclined by the pouring area, and the storage unit is used for storing data of the image acquisition unit.
The intelligent analysis processing is carried out by collecting the image of the lining area, so that the intelligent analysis processing is more convenient and faster, the efficiency is improved, the machine vision sensor module can provide high-resolution and high-precision image data, the accurate measurement and analysis are convenient, and compared with sensors such as a laser radar, the intelligent analysis processing has more cost advantages.
Further, the data processing module comprises an image analysis unit and an intelligent analysis unit, the image analysis unit is used for measuring and calculating the area of the pouring area, the intelligent analysis unit is used for positioning the pouring angle of the trolley through the ground height and the inclined length, and the time required by pouring of the trolley is calculated through the area of the pouring area, so that the completion time of pouring engineering is estimated.
According to the invention, the area of the pouring area is measured through the image analysis unit, the intelligent analysis unit accurately positions the pouring angle of the lining trolley through the ground height and the inclined length, the pouring time of the lining trolley is calculated through the area of the pouring area, the completion time of pouring engineering is estimated, the positioning accuracy is improved, the error of manual positioning is reduced, and the risk of engineering delay is reduced.
Further, the controller module comprises a power output unit and a PLC controller, wherein the power output unit comprises a control motor and a hydraulic motor and is used for providing power for the trolley, and the PLC controller is used for controlling pouring action of the lining trolley.
According to the invention, the working action of the lining trolley is controlled by the PLC, so that the control of the lining trolley is more stable and reliable, the PLC allows a user to modify a program according to actual needs, and the method has programmability and is more flexible.
Further, the wireless communication module comprises a 4G module, a first radio frequency transceiver and a storage unit, wherein the 4G module is used for carrying out wireless communication between the first radio frequency transceiver and the monitoring center, the radio frequency transceiver is used for sending the sensor data and the data processed by the data processing module to the monitoring center, receiving a control instruction from the monitoring center and transmitting the control instruction to the PLC, and the storage unit is used for storing the signal data received and sent by the radio frequency transceiver.
The invention uses wireless communication to transmit data, has no cable and distance limitation, has flexibility, is favorable for deployment, can provide various alternative signal routes, reduces network interruption time, and enhances the reliability and stability of data transmission.
Further, the monitoring center comprises a second radio frequency transceiver, a visualization unit and a control console, wherein the second radio frequency transceiver is used for sending control instructions to the wireless communication module, receiving sensor data from the wireless communication module and analyzing and processing data by the data processing module, the visualization unit is used for displaying the data transmitted by the wireless communication module, and the control console is used for inputting the control instructions and controlling pouring work of the lining trolley through the wireless communication module.
The invention displays the lining area required by the lining trolley through visualization, is clearer, and can realize the observation of the real-time work of the lining trolley.
The intelligent positioning and monitoring method for the lining trolley comprises the following steps:
step one: collecting data information of a pouring area through a machine vision sensor module, collecting the range and the shape of an ith pouring area of a pouring project through an image collecting unit of the machine vision sensor module, and the ground height and the inclined length of the pouring area, and storing the range and the shape of the ith pouring area in a storage unit;
step two: measuring the pouring area by using an image analysis unit, calculating the area of the pouring area, positioning the pouring angle by using an intelligent analysis unit through the ground height and the inclined length of the pouring area, and calculating the pouring time of the lining trolley by using the area of the pouring area;
the method for calculating the casting area comprises the following steps:
dividing the figure of the ith pouring area into a plurality of small areas through Computer Aided Design (CAD) software, then carrying out area calculation on the small areas to obtain area estimation values, and finally adding the area estimation values of each small area to obtain the area of the pouring area:
(1) Dividing the pouring area into a plurality of small areas, wherein the small areas are defined by three-side straight lines and one-side curves;
(2) For each small area, a coordinate system is established, a function f (x) is selected to describe the shape of the irregular area,
the method for setting up a coordinate system comprises the following steps: taking the opposite side of the irregular curve as the x axis of the coordinate system, taking the opposite side as a straight line, setting a y axis perpendicular to the x axis, and ensuring that the irregular curve and the small area are in a first quadrant of the coordinate axis;
the selection method of the function f (x) comprises the following steps: selecting two endpoints of a curve and any ten scattered points on the curve on the basis of a coordinate system, and performing function fitting on the curve by using a SciPy library in python;
(3) Calculating the area of the small region for the function f (x), the area of the region R between x=a and x=b and the x axis is intended to be calculated, and this area can then be expressed as a fixed integral:
wherein x=a and x=b are the abscissa of the two endpoints of the curve, respectively;
(4) Summing the areas of the small areas to obtain the area S of the pouring area i ；
The method for calculating the pouring angle comprises the following steps:
according to the height and the inclined length of the ground of the ith pouring area, the inclined angle beta of the pouring head can be calculated by a trigonometric function,
β=arcsin (height difference/inclined length of the casting ground), wherein the height difference of the casting ground is the height difference of both ends of the casting ground inclined, wherein the inclined angle β is the angle at which the casting head is positioned on the side of the casting ground that is high and points to the side of the casting ground that is low with the horizontal plane as the starting edge;
casting time T i Area of casting S i * Pouring flow p, wherein T i For the casting time of the ith area in the engineering, S i The casting flow p is the casting time required by the lining trolley for casting each square meter and is a set value of the lining trolley;
step three: the time for completing pouring engineering is estimated according to the time for pouring the area by the lining trolley:
when the ith pouring area is pouredM T i Distance L between ith and (i+1) th casting areas i The time required for the lining trolley to move one meter is m, then the total time for the pouring engineering to be completed
，
Wherein T is i Indicating the time required for pouring the ith area, L i The distance between the ith area and the (i+1) th area is represented, n represents the number of areas to be poured in engineering, k represents the number of areas which are already poured, b is a bias item, and is a preset value in the system;
the invention compares the estimated engineering time with the engineering period provided by the customer, if the estimated engineering time is longer than the engineering period provided by the customer, the system carries out early warning prompt, and if the estimated engineering time is within the engineering period provided by the customer, the engineering operation is continued;
step four: the wireless communication module performs wireless communication with the monitoring center through the 4G module, and transmits the sensor data and the data processed by the data processing module to the monitoring center through the first radio frequency transceiver;
step five: the monitoring center monitors the sensor data received by the second radio frequency transceiver and the data processed by the data processing module through the visualization unit, and an administrator inputs a control instruction through the control console and sends the control instruction to the wireless communication module;
step six: and a control instruction is transmitted to the PLC through the wireless communication module, so that the pouring work of the lining trolley is controlled.
Compared with the prior art, the invention has the following beneficial effects:
according to the intelligent accurate positioning method, the intelligent accurate positioning of the pouring angle is adopted, the PLC is used for controlling, errors of measuring the pouring angle and adjusting the lining trolley are reduced, and the influence of human factors on lining is reduced;
according to the invention, through monitoring the pouring process of the lining trolley in real time, an administrator can more efficiently arrange tasks, so that repeated work is avoided, the cost is saved, and the working efficiency is improved;
the monitoring system can record the operation process of the lining trolley, the adjustment of the pouring angle and the basic condition of the pouring area, provide powerful data support for subsequent work evaluation and quality audit, help to find and correct problems and improve the work quality;
the invention uses wireless communication to transmit data, has no cable and distance limitation, has flexibility, is favorable for deployment, can provide various alternative signal routes, reduces network interruption time, and enhances the reliability and stability of data transmission.
By predicting the engineering time and comparing the engineering time with the engineering period provided by the customer, the invention can effectively early warn and reduce the risk of engineering delay.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a lining trolley intelligent positioning monitoring system;
fig. 2 is a schematic flow chart of an intelligent positioning monitoring method of a lining trolley.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides the following technical solutions: an intelligent positioning monitoring system of a lining trolley comprises a machine vision sensor module, a data processing module, a controller module, a wireless communication module and a monitoring center,
the machine vision sensor module is used for collecting an image data information set of the pouring area; the data processing module is used for analyzing and processing the data information set acquired by the sensor; the controller module is used for controlling pouring work of the lining trolley; the wireless communication module is used for transmitting the sensor data and the data analyzed and processed by the data processing module to the monitoring center and receiving a control instruction from the monitoring center; the monitoring center is used for remotely monitoring and controlling the trolley.
According to the invention, the lining position of the lining trolley is positioned through intellectualization, so that the error of manual measurement is reduced, the positioning accuracy is improved, the construction efficiency is improved, the lining trolley is monitored and controlled in real time through the monitoring center, the construction is visualized, the real-time state of the construction is known, the remote control is carried out on the lining trolley through the control panel, and the automatic construction is realized.
The machine vision sensor module comprises an image acquisition unit and a storage unit, wherein the image acquisition unit is used for acquiring an image data information set of a pouring area, the image data information set comprises the range and the shape of the pouring area, the image data information set further comprises the ground height and the inclined length of the pouring area, the inclined length is the slope length of a slope inclined by the pouring area, and the storage unit is used for storing data of the image acquisition unit.
The intelligent analysis processing is carried out by collecting the image of the lining area, so that the intelligent analysis processing is more convenient and faster, the efficiency is improved, the machine vision sensor module can provide high-resolution and high-precision image data, the accurate measurement and analysis are convenient, and compared with sensors such as a laser radar, the intelligent analysis processing has more cost advantages.
The data processing module comprises an image analysis unit and an intelligent analysis unit, wherein the image analysis unit is used for measuring and calculating the area of a pouring area, the intelligent analysis unit is used for positioning the pouring angle of the trolley through the ground height and the inclined length, and the time required by pouring is calculated through the area of the pouring area, so that the completion time of pouring engineering is estimated.
According to the invention, the area of the pouring area is measured through the image analysis algorithm, the intelligent analysis unit accurately positions the pouring angle of the lining trolley through the ground height and the inclination angle, and the pouring time of the lining trolley is calculated through the area of the pouring area, so that the completion time of pouring engineering is estimated, the efficiency is improved, the positioning accuracy is improved, the error of manual positioning is reduced, and the risk of engineering delay is reduced.
The controller module comprises a power output unit and a PLC controller, wherein the power output unit comprises a control motor and a hydraulic motor and is used for providing power for the trolley, and the PLC controller is used for controlling pouring action of the lining trolley.
According to the invention, the working action of the lining trolley is controlled by the PLC, so that the control of the lining trolley is more stable and reliable, the PLC allows a user to modify a program according to actual needs, and the method has programmability and is more flexible.
The wireless communication module comprises a 4G module, a first radio frequency transceiver and a storage unit, wherein the 4G module is used for carrying out wireless communication between the first radio frequency transceiver and the monitoring center, the radio frequency transceiver is used for sending the sensor data and the data processed by the data processing module to the monitoring center, receiving a control instruction from the monitoring center and transmitting the control instruction to the PLC, and the storage unit is used for storing signal data received and sent by the radio frequency transceiver.
The invention uses wireless communication to transmit data, has no cable and distance limitation, has flexibility, is favorable for deployment, can provide various alternative signal routes, reduces network interruption time, and enhances the reliability and stability of data transmission.
The monitoring center comprises a second radio frequency transceiver, a visualization unit and a control console, wherein the second radio frequency transceiver is used for sending control instructions to the wireless communication module, receiving sensor data from the wireless communication module and data analyzed and processed by the data processing module, the visualization unit is used for displaying data transmitted by the wireless communication module, and the control console is used for inputting the control instructions and controlling pouring work of the lining trolley through the wireless communication module.
The invention displays the lining area required by the lining trolley through visualization, is clearer, and can realize the observation of the real-time work of the lining trolley.
The intelligent positioning and monitoring method for the lining trolley comprises the following steps:
step one: collecting data information of a pouring area through a machine vision sensor module, collecting the range and the shape of an ith pouring area of a pouring project through an image collecting unit of the machine vision sensor module, and the ground height and the inclined length of the pouring area, and storing the range and the shape of the ith pouring area in a storage unit;
step two: measuring the pouring area by using an image analysis unit, calculating the area of the pouring area, positioning the pouring angle by using an intelligent analysis unit through the ground height and the inclined length of the pouring area, and calculating the pouring time of the lining trolley by using the area of the pouring area;
the method for calculating the casting area comprises the following steps:
dividing the figure of the ith pouring area into a plurality of small areas through Computer Aided Design (CAD) software, then carrying out area calculation on the small areas to obtain area estimation values, and finally adding the area estimation values of each small area to obtain the area of the pouring area:
(1) Dividing the pouring area into a plurality of small areas, wherein the small areas are defined by three-side straight lines and one-side curves;
(2) For each small area, a coordinate system is established, a function f (x) is selected to describe the shape of the irregular area,
the method for setting up a coordinate system comprises the following steps: taking the opposite side of the irregular curve as the x axis of the coordinate system, taking the opposite side as a straight line, setting a y axis perpendicular to the x axis, and ensuring that the irregular curve and the small area are in a first quadrant of the coordinate axis;
the selection method of the function f (x) comprises the following steps: selecting two endpoints of a curve and any ten scattered points on the curve on the basis of a coordinate system, and performing function fitting on the curve by using a SciPy library in python;
(3) Calculating the area of the small region for the function f (x), it is desired to calculate x=a and x=b between the x-axisAnd this area can be expressed as a fixed integral:
wherein x=a and x=b are the abscissa of the two endpoints of the curve, respectively;
(4) Summing the areas of the small areas to obtain the area S of the pouring area i ；
The method for calculating the pouring angle comprises the following steps:
according to the height and the inclined length of the ground of the ith pouring area, the inclined angle beta of the pouring head can be calculated by a trigonometric function,
β=arcsin (height difference/inclined length of casting floor), wherein the height difference of the casting floor is the height difference of both ends of the casting floor inclined, wherein the inclined angle β is the angle at which the casting head is on the side of the casting floor high and points to the side of the casting floor low with the horizontal plane as the starting edge.
Casting time T i Area of casting S i * Pouring flow p, wherein T i For the casting time of the ith area in the engineering, S i The casting flow p is the casting time required by the lining trolley for casting each square meter and is a set value of the lining trolley;
examples: dividing the 1 st casting area into three small areas by Computer Aided Design (CAD) software, establishing a coordinate system, and fitting functions using the SciPy library best curves in python, respectively:
first small region: f (x 1) = -1/2x, +8x-4, x=a=2, x=b=4, surrounding the x axis;
second small region: f (x 2) =sinx, x=a=n/3, x=b=n/2, and the x axis is defined;
third small region: f (x 3) = -x, +9,x =a=1, x=b=2, surrounding the x axis,
A1=∫ 2 4 f(x1)dx= 30.7；
A2=∫ Π/3 Π/2 f(x2)dx=0.5；
A3=∫ 1 2 f(x3)dx=6.7；
area S of the casting area 1 =A1+A2+a3=37.9 square meters;
from the floor height h1=30 cm, h2=10 cm of the casting area, the inclined length of the casting area is 80cm, so the inclined angle β=arcsin ((h 1-h 2)/80) =14.48 degrees of the casting head;
pouring flow p is 0.25h, and pouring time T of the area 1 =S*p=9.475h。
Step three: the time for completing pouring engineering is estimated according to the time for pouring the area by the lining trolley:
casting time T of the ith casting area i Distance L between ith and (i+1) th casting areas i The time required for the lining trolley to move one meter is m, then the total time for the pouring engineering to be completed
，
Wherein T is i Indicating the time required for pouring the ith area, L i The distance between the ith area and the (i+1) th area is represented, n represents the number of areas to be poured in engineering, k represents the number of areas which are already poured, b is a bias item, and is a preset value in the system;
step four: the wireless communication module performs wireless communication with the monitoring center through the 4G module, and transmits the sensor data and the data processed by the data processing module to the monitoring center through the first radio frequency transceiver;
step five: the monitoring center monitors the sensor data received by the second radio frequency transceiver and the data processed by the data processing module through the visualization unit, and an administrator inputs a control instruction through the control console and sends the control instruction to the wireless communication module;
step six: and a control instruction is transmitted to the PLC through the wireless communication module, so that the pouring work of the lining trolley is controlled.
The working principle of the invention is as follows: the method comprises the steps of collecting an image data information set of a pouring area through a machine vision sensor module, wherein the image data information module comprises the range and the shape of the pouring area, the image data information module further comprises the ground height and the inclined length of the pouring area, the collected data information set is stored in a storage unit, then data are extracted from the storage unit through a data processing module, an image is analyzed through an image analysis unit, the pouring area is divided into a plurality of small areas through Computer Aided Design (CAD) software, the areas of the small areas are subjected to area estimation, area estimation values of the small areas are added, the area of the pouring area is calculated, then an intelligent analysis unit calculates the pouring angle through the ground height and the inclined length, the pouring time of a lining trolley is calculated through the area of the pouring area, so that the completion time of pouring engineering is estimated, then the data obtained through processing of the image information set of the pouring area and the data processing module are sent to a monitoring center through a wireless communication module, after the monitoring center receives the processed data, the lining trolley is subjected to control instruction input through a control console, then the control instruction is sent to the wireless communication module, the lining trolley is connected with a lining trolley through the wireless communication module, the lining trolley is connected with the control trolley, the lining trolley is controlled by the wireless communication module, the lining trolley is adjusted, and the lining trolley is synchronously, and the pouring operation can be performed through the PLC.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The intelligent positioning monitoring system for the lining trolley is characterized by comprising a machine vision sensor module, a data processing module, a controller module, a wireless communication module and a monitoring center, wherein the machine vision sensor module is used for collecting an image data information set of a pouring area; the data processing module is used for analyzing and processing the data information set acquired by the sensor; the controller module is used for controlling pouring work of the lining trolley; the wireless communication module is used for transmitting the sensor data and the data processed by the data processing module to the monitoring center and receiving a control instruction from the monitoring center; the monitoring center is used for remotely monitoring and controlling the trolley.
2. The intelligent positioning and monitoring system for a lining trolley according to claim 1, wherein: the machine vision sensor module comprises an image acquisition unit and a storage unit, wherein the image acquisition unit is used for acquiring an image data information set of a pouring area, the image data information set comprises the range and the shape of the pouring area, the image data information set further comprises the ground height and the inclined length of the pouring area, the inclined length is the slope length of a slope inclined by the pouring area, and the storage unit is used for storing data of the image acquisition unit.
3. The intelligent positioning and monitoring system for a lining trolley according to claim 1, wherein: the data processing module comprises an image analysis unit and an intelligent analysis unit, wherein the image analysis unit is used for measuring and calculating the area of a pouring area, the intelligent analysis unit is used for positioning the pouring angle of the trolley through the ground height and the inclined length, and the time required by pouring is calculated through the area of the pouring area, so that the completion time of pouring engineering is estimated.
4. The intelligent positioning and monitoring system for a lining trolley according to claim 1, wherein: the controller module comprises a power output unit and a PLC controller, wherein the power output unit comprises a control motor and a hydraulic motor and is used for providing power for the trolley, and the PLC controller is used for controlling pouring action of the lining trolley.
5. The intelligent positioning and monitoring system for a lining trolley according to claim 1, wherein: the wireless communication module comprises a 4G module, a first radio frequency transceiver and a storage unit, wherein the 4G module is used for carrying out wireless communication between the first radio frequency transceiver and the monitoring center, the radio frequency transceiver is used for sending the sensor data and the data processed by the data processing module to the monitoring center, receiving a control instruction from the monitoring center and transmitting the control instruction to the PLC, and the storage unit is used for storing signal data received and sent by the radio frequency transceiver.
6. The intelligent positioning and monitoring system for a lining trolley according to claim 1, wherein: the monitoring center comprises a second radio frequency transceiver, a visualization unit and a control console, wherein the second radio frequency transceiver is used for sending control instructions to the wireless communication module, receiving sensor data from the wireless communication module and data analyzed and processed by the data processing module, the visualization unit is used for displaying data transmitted by the wireless communication module, and the control console is used for inputting the control instructions and controlling pouring work of the lining trolley through the wireless communication module.
7. A lining trolley intelligent positioning monitoring method applied to the lining trolley intelligent positioning monitoring system as claimed in any one of claims 1-6, characterized in that the method comprises the following steps:
step one: collecting data information of a pouring area through a machine vision sensor module, collecting the range and the shape of an ith pouring area of a pouring project through an image collecting unit of the machine vision sensor module, and the ground height and the inclined length of the pouring area, and storing the range and the shape of the ith pouring area in a storage unit;
step two: measuring the pouring area by using an image analysis unit, calculating the area of the pouring area, positioning the pouring angle by using an intelligent analysis unit through the ground height and the inclined length of the pouring area, and calculating the pouring time of the lining trolley by using the area of the pouring area;
step three: the time for completing pouring engineering is estimated according to the time for pouring the area by the lining trolley;
step four: the wireless communication module performs wireless communication with the monitoring center through the 4G module, and transmits the sensor data and the data processed by the data processing module to the monitoring center through the first radio frequency transceiver;
step five: the monitoring center monitors the sensor data received by the second radio frequency transceiver and the data processed by the data processing module through the visualization unit, and an administrator inputs a control instruction through the control console and sends the control instruction to the wireless communication module;
step six: and a control instruction is transmitted to the PLC through the wireless communication module, so that the pouring work of the lining trolley is controlled.
8. The intelligent positioning and monitoring method for the lining trolley of the intelligent positioning and monitoring system for the lining trolley according to claim 7, wherein the method for calculating the area of the pouring area is described in the second step:
dividing the figure of the ith pouring area into a plurality of small areas through computer aided design software, then carrying out area calculation on the small areas to obtain area estimation values, and finally adding the area estimation values of each small area to obtain the area of the pouring area:
(1) Dividing the pouring area into a plurality of small areas, wherein the small areas are defined by three-side straight lines and one-side curves;
(2) For each small area, a coordinate system is established, a function f (x) is selected to describe the shape of the irregular area,
the method for setting up a coordinate system comprises the following steps: taking the opposite side of the irregular curve as the x axis of the coordinate system, taking the opposite side as a straight line, setting a y axis perpendicular to the x axis, and ensuring that the irregular curve and the small area are in a first quadrant of the coordinate axis;
the selection method of the function f (x) comprises the following steps: selecting two endpoints of a curve and any ten scattered points on the curve on the basis of a coordinate system, and performing function fitting on the curve by using a SciPy library in python;
(3) Calculating the area of the small region for the function f (x), the area of the region R between x=a and x=b and the x axis is intended to be calculated, and this area can then be expressed as a fixed integral:
wherein x=a and x=b are the abscissa of the two endpoints of the curve, respectively;
(4) Summing the areas of the small areas to obtain the area S of the pouring area i 。
9. The intelligent positioning and monitoring method for the lining trolley of the intelligent positioning and monitoring system for the lining trolley, according to claim 7, wherein the calculating method for the pouring angle and the pouring time in the second step comprises the following steps:
according to the height and the inclined length of the ground of the ith pouring area, the inclined angle beta of the pouring head can be calculated by a trigonometric function,
β=arcsin (height difference/inclined length of the casting ground), wherein the height difference of the casting ground is the height difference of both ends of the casting ground inclined, wherein the inclined angle β is the angle at which the casting head is positioned on the side of the casting ground that is high and points to the side of the casting ground that is low with the horizontal plane as the starting edge;
casting time T i Area of casting S i * Pouring flow p, wherein T i For the casting time of the ith area in the engineering, S i The casting area of the ith casting area is set, and the casting flow p is the casting flow p of each square meter of the lining trolleyThe casting time required by the line casting is a set value of the lining trolley.
10. The intelligent positioning and monitoring method for the lining trolley of the intelligent positioning and monitoring system for the lining trolley according to claim 7, wherein the time for completing the pouring engineering is estimated according to the time for pouring an area by the lining trolley in the third step: casting time T of the ith casting area i Distance L between ith and (i+1) th casting areas i The time required for the lining trolley to move one meter is m, then the total time for the pouring engineering to be completed
Wherein T is i Indicating the time required for pouring the ith area, L i The distance between the ith area and the (i+1) th area is represented, n represents the number of areas to be poured in engineering, k represents the number of areas which are already poured, and b is a bias item and is a preset value in the system. />
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| CN119087849A (en) * | 2024-08-12 | 2024-12-06 | 乐昌市恒源水电建筑工程有限公司 | A control method and system for formwork construction trolley |
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| CN119087849A (en) * | 2024-08-12 | 2024-12-06 | 乐昌市恒源水电建筑工程有限公司 | A control method and system for formwork construction trolley |
| CN119087849B (en) * | 2024-08-12 | 2025-04-01 | 乐昌市恒源水电建筑工程有限公司 | A control method and system for formwork construction trolley |
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