阅读说明：本技术 一种半自动挖掘机数字化土方场地标高控制施工方法 (Semi-automatic excavator digital earthwork site elevation control construction method ) 是由 王艳龙 陈大为 黄蔚 王佳源 雷文浩 于 2020-06-09 设计创作，主要内容包括：本发明涉及一种半自动挖掘机数字化土方场地标高控制施工方法,通过在作业端和边缘参考端的两个区域的识别、反馈、调节的施工方法,不仅减少传统从安装仪器到指挥挖机的繁琐工序,还解决了许多复杂地形下土方开挖的施工困境,降低了施工作业人员安全风险,节省人力和提高施工效率。该方法达到准确控制需求工作面标高和平整度的目的,来避免工作面不不合格带来的地基不稳定、易损坏或建筑材料浪费现象,实现由人工指挥判断到智能可视化反馈,为物联网及信息化工地提供一种思路。(The invention relates to a construction method for elevation control of a digital earthwork site of a semi-automatic excavator, which not only reduces the traditional complicated processes from instrument installation to commanding excavator, but also solves the construction dilemma of earthwork excavation under a plurality of complex terrains, reduces the safety risk of construction operators, saves manpower and improves the construction efficiency by a construction method of identification, feedback and adjustment in two areas of an operation end and an edge reference end. The method achieves the purpose of accurately controlling the standard height and the flatness of the required working face, avoids the phenomena of unstable foundation, easy damage or building material waste caused by unqualified working faces, realizes intelligent visual feedback from manual command judgment, and provides a thought for the Internet of things and information chemical engineering.)

1. A semi-automatic excavator digital earthwork site elevation control construction method is characterized by comprising the following steps:

step 1, placing an intelligent identification vertical hanging ruler on a structural component in a site at an edge reference end in advance, installing a laser transmitter and a sensor on an excavator, cleaning the site and setting pretreatment site parameters;

step 2, sending instructions to a digital laser transmitter by 4 miniature pressure sensors of the bucket in the operation process of the excavator, sending laser emission horizontal path lines to the intelligent identification vertical hanging ruler at the closest distance by adopting the digital laser transmitter arranged on a first section of movable arm of the excavator, and carrying out elevation identification on digital elevation information code areas on the intelligent identification vertical hanging ruler;

and 3, calculating a judgment value H = X-C- (B-A) -Los alpha/2 according to the bucket leveling state height C, the virtual zero elevation A, the required working face elevation B, the movable arm length L parameter, the laser reading elevation X and the movable arm auxiliary angle alpha data, and adjusting the excavation direction and distance according to the judgment value H until H is 0.

2. The semi-automatic excavator digital earth yard elevation control construction method according to claim 1, characterized in that the specific operation method of step 1 is: firstly, cleaning a field, then determining the surrounding environment of a construction site, determining the leveling height C of the bucket, the length L of the movable arm and the width parameter of the section in the operation direction, and determining the elevation B of a required working surface.

3. The semi-automatic excavator digital earth space elevation control construction method according to claim 1, characterized in that in step 1, the installation method of the intelligent identification vertical hanging ruler is as follows: firstly, guiding a leveling instrument to a horizontal point in a plane range or a vertical range to an edge reference end 14 area by using a guiding method, and making a spraying mark on structural members such as a wall column and the like; unfolding the intelligent identification vertical hanging ruler 12, hanging the intelligent identification vertical hanging ruler on a steel bar of a transverse non-stressed member such as an iron column which does not generate absolute displacement within a period of time, and fixedly placing the intelligent identification vertical hanging ruler in a matching way with the marked level height; and further arranging intelligent identification hanging rulers according to the excavation direction of the earthwork field, wherein at least two hanging rulers are supposed to be arranged in one laser operation sight distance.

4. The digitized earthwork site elevation control construction method of the semi-automatic excavator according to claim 1, wherein in the step 1, the laser transmitter is installed by: the upper position and the lower position of a digital laser transmitter 92/93 are respectively determined at the position 30mm outside the upper and lower hinged supports of the first section of movable arm of the excavator 15, the position of the middle position of the digital laser transmitter 91 is marked by the midpoint of the connecting line of the two points, wherein the connecting line is the movable arm bit line 8; and laser transmitters at three positions are installed, and the functions of single-line scanning uploading (the elevation data obtained by scanning the digital elevation information code area 13 by laser is directly fed back to the field high-rise computer 16) and double-line instruction receiving reaction are tested.

5. The digitized earthwork site elevation control construction method of the semi-automatic excavator according to claim 1, wherein in the step 1, the installation method of the sensor is as follows: taking down the bucket 31 of the excavator, and burning and melting the upper outer ring and the lower outer ring of the bottom panel 32 of the bucket to respectively manufacture rectangular ports with the depth of 5 mm; as shown in fig. 4, after the port is cooled, a miniature pressure sensor 35 (3 mm) is installed, when the bottom panel 32 of the bucket contacts and is completely attached to the soil layer, and the command action time of 4 sensors is 0.5s, the laser scanning data sent by the digital laser transmitter 91 can be transmitted, and the sensitivity is 5 ms; and meanwhile, when 1 of the 4 sensors has no pressure load or is less than 10% of the pressure load of the other three sensors, laser flicker scanning is instructed to prompt that the field flatness does not meet the requirement.

6. The semi-automatic excavator digital earth space elevation control construction method according to claim 1, wherein the step 2 specifically comprises:

step 2.1, assisting vertical angle zero adjustment: the gravity damping vertical angle measurer is arranged at the upper section end of the first movable arm, and an auxiliary movable angle alpha between a movable arm bit line of the movable arm and an auxiliary vertical line is rapidly determined by utilizing a damping gravity effect; firstly, placing the bucket on a leveled earth layer, enabling a bottom panel of the bucket to be in pre-contact with the soil layer and be completely attached to the soil layer to obtain a pre-reading X1, calculating X = C- (B-A) -L, and slightly adjusting a movable arm to enable the displayed reading X1 to be matched with the calculated X;

step 2.2, leveling reading of the bucket: leveling and compacting the excavated earthwork layer, and rapidly scanning by a digital laser transmitter within 0.5s to obtain a laser reading elevation X; the intelligent identification vertical hanging ruler can be hung at a suitable elevation point in the vertical direction under complex geology and environment, and an upper digital laser transmitter and a lower digital laser transmitter corresponding to different laser horizontal emission path lines are started to flexibly obtain elevation readings;

step 2.3, laser flashing: when the scanning laser emitted by the digital laser emitter 91 on the movable arm is in a flashing state and the representation is continuous, the reading is invalidated; the driver further levels the site to be determined to treat soft soil or mucky soil, and digs small-width ditches in the edge reference end 14 area for open drainage, so that the centralized infiltration condition of the groundwater in the construction process is improved.

7. The digitized earthwork elevation control construction method of the semi-automatic excavator according to claim 1, wherein in the step 3, the specific method for judging and adjusting is as follows:

when H is greater than 0 (, then it is necessary to dig H again;

when H is less than 0, the H is dug upwards;

repeating the steps until H = 0; can continue to move in the direction of the back excavation of the earthwork and enter the earthwork layer to be leveled.

Technical Field

The invention belongs to the technical field of earthwork excavation construction, particularly relates to a site leveling construction technology in foundation pit engineering, and particularly relates to a construction method for controlling elevation of a digital earthwork site of a semi-automatic excavator.

Background

With the acceleration of urbanization process, the construction of urban underground engineering is becoming more common and increasing. In the construction of earthwork excavation, the field leveling of the earthwork needs to provide a reliable working surface for the next process. The inventor discovers that high-rise marks are sprayed in a non-operation area through research and analysis on-site earth excavation site leveling, the marks are calibrated by a level gauge or a laser projector, a constructor conducts multiple point location measurement readings on an excavation operation surface by a tower ruler and commands the excavator before, an excavator manipulator implements an adjusting scheme or enters a next operation link after receiving an instruction of a height difference value, so that the construction operation end is overlapped and fed back step by step, elevation control errors and construction management confusion are easily caused, manpower and material resources are wasted, and the construction efficiency is low. Meanwhile, the superposition of personnel and heavy machinery at one operation end has certain potential safety hazard.

Disclosure of Invention

The technical problem of the invention is mainly solved by the following technical scheme:

a semi-automatic excavator digital earthwork site elevation control construction method is characterized by comprising the following steps:

step 1, placing an intelligent identification vertical hanging ruler on a structural component in a site at an edge reference end in advance, installing a laser transmitter and a sensor on an excavator, cleaning the site and setting pretreatment site parameters;

step 2, sending instructions to a digital laser transmitter by 4 miniature pressure sensors of the bucket in the operation process of the excavator, sending laser emission horizontal path lines to the intelligent identification vertical hanging ruler at the closest distance by adopting the digital laser transmitter arranged on a first section of movable arm of the excavator, and carrying out elevation identification on digital elevation information code areas on the intelligent identification vertical hanging ruler;

and 3, calculating a judgment value H = X-C- (B-A) -Los alpha/2 according to the bucket leveling state height C, the virtual zero elevation A, the required working face elevation B, the movable arm length L parameter, the laser reading elevation X and the movable arm auxiliary angle alpha data, and adjusting the excavation direction and distance according to the judgment value H until H is 0.

In the above construction method for controlling elevation of the digitized earthwork site of the semi-automatic excavator, the specific operation method of the step 1 is: firstly, cleaning a field, then determining the surrounding environment of a construction site, determining the leveling height C of the bucket, the length L of the movable arm and the width parameter of the section in the operation direction, and determining the elevation B of a required working surface.

In the above construction method for controlling elevation of the digitized earthwork site of the semi-automatic excavator, in step 1, the installation method for intelligently identifying the vertical hanging ruler is as follows: firstly, guiding a leveling instrument to a horizontal point in a plane range or a vertical range to an edge reference end 14 area by using a guiding method, and making a spraying mark on structural members such as a wall column and the like; unfolding the intelligent identification vertical hanging ruler 12, hanging the intelligent identification vertical hanging ruler on a steel bar of a transverse non-stressed member such as an iron column which does not generate absolute displacement within a period of time, and fixedly placing the intelligent identification vertical hanging ruler in a matching way with the marked level height; and further arranging intelligent identification hanging rulers according to the excavation direction of the earthwork field, wherein at least two hanging rulers are supposed to be arranged in one laser operation sight distance.

In the above construction method for controlling elevation of the digitized earthwork site of the semi-automatic excavator, in step 1, the installation method of the laser transmitter is as follows: the upper position and the lower position of a digital laser transmitter 92/93 are respectively determined at the position 30mm outside the upper and lower hinged supports of the first section of movable arm of the excavator 15, the position of the middle position of the digital laser transmitter 91 is marked by the midpoint of the connecting line of the two points, wherein the connecting line is the movable arm bit line 8; and laser transmitters at three positions are installed, and the functions of single-line scanning uploading (the elevation data obtained by scanning the digital elevation information code area 13 by laser is directly fed back to the field high-rise computer 16) and double-line instruction receiving reaction are tested.

In the above construction method for controlling elevation of the digitized earthwork site of the semi-automatic excavator, in step 1, the installation method of the sensor is as follows: taking down the bucket 31 of the excavator, and burning and melting the upper outer ring and the lower outer ring of the bottom panel 32 of the bucket to respectively manufacture rectangular ports with the depth of 5 mm; as shown in fig. 4, after the port is cooled, a miniature pressure sensor 35 (3 mm) is installed, when the bottom panel 32 of the bucket contacts and is completely attached to the soil layer, and the command action time of 4 sensors is 0.5s, the laser scanning data sent by the digital laser transmitter 91 can be transmitted, and the sensitivity is 5 ms; and meanwhile, when 1 of the 4 sensors has no pressure load or is less than 10% of the pressure load of the other three sensors, laser flicker scanning is instructed to prompt that the field flatness does not meet the requirement.

In the above construction method for controlling elevation of the digitized earthwork site of the semi-automatic excavator, step 2 specifically includes:

step 2.1, assisting vertical angle zero adjustment: the gravity damping vertical angle measurer is arranged at the upper section end of the first movable arm, and an auxiliary movable angle alpha between a movable arm bit line of the movable arm and an auxiliary vertical line is rapidly determined by utilizing a damping gravity effect; firstly, placing the bucket on a leveled earth layer, enabling a bottom panel of the bucket to be in pre-contact with the soil layer and be completely attached to the soil layer to obtain a pre-reading X1, calculating X = C- (B-A) -L, and slightly adjusting a movable arm to enable the displayed reading X1 to be matched with the calculated X;

step 2.2, leveling reading of the bucket: leveling and compacting the excavated earthwork layer, and rapidly scanning by a digital laser transmitter within 0.5s to obtain a laser reading elevation X; the intelligent identification vertical hanging ruler can be hung at a suitable elevation point in the vertical direction under complex geology and environment, and an upper digital laser transmitter and a lower digital laser transmitter corresponding to different laser horizontal emission path lines are started to flexibly obtain elevation readings;

step 2.3, laser flashing: when the scanning laser emitted by the digital laser emitter 91 on the movable arm is in a flashing state and the representation is continuous, the reading is invalidated; the driver further levels the site to be determined to treat soft soil or mucky soil, and digs small-width ditches in the edge reference end 14 area for open drainage, so that the centralized infiltration condition of the groundwater in the construction process is improved.

In the above construction method for controlling elevation of the digitized earthwork site of the semi-automatic excavator, in step 3, the specific method for judging and adjusting is as follows:

when H is greater than 0 (, then it is necessary to dig H again;

when H is less than 0, the H is dug upwards;

repeating the steps until H = 0; can continue to move in the direction of the back excavation of the earthwork and enter the earthwork layer to be leveled.

Therefore, the invention has the following advantages: 1. compared with the traditional construction process, the construction method has the advantages that the investment of field construction personnel is greatly reduced, the use of measuring instruments is also reduced, and the construction management is efficient and the resources are utilized to the maximum extent. 2. The method of directly feeding back the calculation result to the excavator manipulator is adopted, and compared with the traditional method that the operation of a driver needs manual measurement, judgment and on-site command, the method greatly reduces the construction safety risk. 3. The bucket with four miniature pressure sensors can accurately control the size of the beam and the distance between the steel bars, and the quality of field flatness is guaranteed, so that the phenomena of unstable foundation, easy damage or building material waste caused by unqualified working surfaces are avoided. 4. The invention utilizes the excavator bucket to measure the effective elevation of the operation area and complete self-adjustment and recheck when leveling the earth field, completely subverts the step-by-step feedback sequence of people at the operation end and the reference end outside the field in the traditional process, reduces the number of four operation positions to two, and realizes the semi-automation of construction. Meanwhile, an informatization device is added to the excavator, a site elevation leveling visualization scheme is provided for an operator, judgment and reaction are rapidly made, and accordingly digitization of the process is achieved.

Drawings

FIG. 1 is a schematic diagram of the principle of the main optical geometric relationship of construction site leveling according to the present invention.

Fig. 2 is a schematic diagram illustrating a positional relationship between an earthwork layer of a working area and an edge reference end.

FIG. 3 is a schematic diagram of multiple horizontal laser paths under complex conditions.

FIG. 4 is a schematic view of a lower bucket with a miniature pressure sensor positioned therein.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.