阅读说明：本技术 一种基于挖掘机智能扫描的基坑时空分布监测系统 (Foundation pit space-time distribution monitoring system based on intelligent scanning of excavator ) 是由 徐晓兵 李俊逸 叶泽锋 胡敏云 于 2021-08-23 设计创作，主要内容包括：一种基于挖掘机智能扫描的基坑时空分布监测系统,用于实时监测土方开挖过程中基坑内部的时空分布情况。包括：信号发射接收模块、坐标标定模块、数据传输模块、PC终端模块。信号发射接收模块受驾驶室控制开关指令发射激光信号并接收反射回的激光信号,坐标标定模块计算扫描点位在基坑空间坐标下的具体位置,坐标转换模块用于将轮廓仪坐标系转化为工作坐标系,数据传输模块利用传感器将数据处理信息传输至PC终端模块,PC终端模块对数据信息进行编程处理,并最终将时间与空间结合的4D云图通过显示器展示。本发明实现基坑土方开挖过程中土方分布信息的精确采集,便于土方开挖阶段性造价计算。(A foundation pit space-time distribution monitoring system based on intelligent scanning of an excavator is used for monitoring the space-time distribution condition inside a foundation pit in the earth excavation process in real time. The method comprises the following steps: the device comprises a signal transmitting and receiving module, a coordinate calibration module, a data transmission module and a PC terminal module. The signal transmitting and receiving module is used for transmitting laser signals under the instruction of the cab control switch and receiving the reflected laser signals, the coordinate calibration module is used for calculating the specific position of the scanning point under the space coordinate of the foundation pit, the coordinate conversion module is used for converting the coordinate system of the contourgraph into a working coordinate system, the data transmission module transmits data processing information to the PC terminal module by using the sensor, the PC terminal module is used for programming the data information, and finally the 4D cloud picture combined by time and space is displayed through the display. The invention realizes the accurate collection of the earthwork distribution information in the excavation process of the foundation pit earthwork and is convenient for the calculation of the manufacturing cost of the earthwork excavation stage.)

1. The utility model provides a foundation ditch space-time distribution monitoring system based on excavator intelligence scanning which characterized in that includes: the system comprises a signal transmitting and receiving module, a coordinate calibration module, a coordinate conversion module, a data transmission module and a PC terminal module; the signal transmitting and receiving module is used for transmitting laser signals under the instruction of a cab control switch and receiving the reflected laser signals, the coordinate calibration module calculates the specific position of a scanning point under the spatial coordinates of the foundation pit, the coordinate conversion module is used for converting a contourgraph coordinate system into a working coordinate system, the data transmission module transmits data processing information to the PC terminal module by using a sensor, the PC terminal module performs programming processing on the data information and finally displays a 4D cloud picture combined by time and space through a display;

the signal transmitting and receiving module (1) comprises a control switch, a laser contourgraph and a signal receiving device; the control switch in the signal transmitting and receiving module is used for sending a signal acquisition command, the laser profiler transmits a laser signal after receiving the acquisition command of the control switch, the laser signal returns linearly after meeting a measured object, and meanwhile, the signal receiving device receives the reflected laser; the single photon diode respectively marks a breakdown mark when signal laser is transmitted and received, and further marks the breakdown mark with timestamp information by using a time-digital converter to obtain the total time t of laser propagation;

the coordinate calibration module (2) comprises a distance calibration sub-module, a contourgraph coordinate calibration sub-module and a coordinate conversion sub-module, and the distance calibration sub-module calculates the distance S between the scanned point position and the laser contourgraph on the excavator through the total laser propagation time t₀The contourgraph coordinate calibration sub-module is used for calibrating the coordinate (x) of the laser contourgraph on the excavator under the contourgraph coordinate system₀,y₀,z₀) The included angle between the laser profile instrument on the mechanical arm of the excavator and the horizontal planeAnd monitoring the distance S between the point location and the laser profiler₀Calculating the coordinates (x) of the scanning point relative to the laser profilometer₁，y₁，z₁) The specific position of (2) is calculated as follows:

S₀＝t×v÷2 (1)

whereinWhen the scanned point is located at east side of the laser profiler, x₁Is composed ofOn the contrary, x₁Is composed ofWhen the scanned point is located at the north side of the laser profiler, y₁Is composed ofConversely, y₁Is composed ofWhen the scanned point is higher than the elevation of the laser profilometer, z₁Is composed ofOn the contrary, z₁Is composed of

The coordinate conversion sub-module converts a contourgraph coordinate system where the excavator is located into a working coordinate system, and after the coordinates of the scanning points of the excavator in the contourgraph coordinate system are determined, the coordinates are converted into the relative positions of the working coordinate system through the coordinate conversion module, and the conversion method comprises the following steps:

wherein { s } is a profiler coordinate system; { w } is the working coordinate system; p is the coordinate of the scanned point in the contourgraph coordinate system, and can be expressed as P ═ x₁ y₁ z₁]^T；_AP is a position vector of the { s } coordinate system origin relative to the { w } coordinate origin;^w _sr is a 3 × 3 rotation matrix, is a representation of s relative to w, represented by the directional component per unit in w for each vector in s,^wX_s、^wY_s、^wZ_sa unit vector representing the major axis direction of the coordinate { s } when expressed in the coordinate system { w }; scalar a_ijWhere i 1, 2, 3, j 1, 2, 3, represents the component of each vector in s projected in its reference system w in a unit direction;

the data transmission module (3) transmits the scanning point position coordinate information obtained by the calculation of the data processing module to a PC terminal module in the cab of the excavator by using a sensor;

and the PC terminal module (4) comprises a data receiving submodule, an encoder and a display, the data receiving submodule receives the transmitted data information, the encoder performs programming processing on the measured time-space data information by using programming software to generate a time-space-based 4D cloud picture, and finally the 4D cloud picture is displayed by the display.

2. The excavation pit space-time distribution monitoring system based on excavator intelligent scanning of claim 1, wherein the laser profiler mounted on the excavator mechanical arm rotates up and down in a plane, and the distance S between the laser profiler and a scanning point is obtained by transmitting and receiving laser signals₀。

3. The excavation machine intelligent scanning-based foundation pit space-time distribution monitoring system as claimed in claim 1, wherein the coordinate calibration module mounted on the mechanical arm of the excavation machine is configured to pass through the coordinates (x) of the laser profiler on the excavation machine under the profiler coordinate system₀,y₀,z₀) The included angle between the laser profile instrument and the horizontal planeCalculating the coordinate (x) of the scanned point under the contourgraph coordinate system by the included angle theta between the mechanical arm and the main shaft of the excavator₁,y₁,z₁) (ii) a The coordinate conversion module converts the coordinates of the scanned point in the coordinate system of the contourgraph into coordinates (x) in the working coordinate system through a coordinate conversion matrix₂,y₂,z₂)。

4. The system of claim 1, wherein the encoder in the PC terminal module of the location to be scanned is enabled by the coordinate transformation module to combine x, y and z coordinates obtained by monitoring with the laser profiler and timestamp information obtained by the time-to-digital converter using Matlab software to generate the spatio-temporal distribution 4D cloud map.

Technical Field

The invention relates to a foundation pit space-time distribution monitoring system based on intelligent scanning of an excavator

Background

With the development of urban economy in China, the national soil space is more and more tense, the development of underground space is enhanced, and foundation pit engineering projects are rapidly increased.

In the process of excavation of the foundation pit earthwork, the space-time distribution is an important reference index of foundation pit engineering, and the method can assist in analyzing the deformation mechanism of the foundation pit support structure in the process of excavation of the foundation pit, can predict the possible development trend of the deformation of the foundation pit support structure, and can provide reliable support for the safety analysis of the foundation pit.

At the present stage, the space distribution of the foundation pit in the earth excavation process cannot be monitored accurately. Secondly, the feasibility technique of monitoring the spatial distribution in real time in the excavation stage of the foundation pit is not mentioned. Therefore, the foundation pit space-time distribution monitoring system based on the intelligent scanning of the excavator is invented for realizing the accurate observation of the space distribution in the foundation pit excavation process and providing a real-time observation result.

Disclosure of Invention

Aiming at the limitation of the time-space distribution monitoring in the foundation pit excavation process in the prior art, the invention provides a foundation pit time-space distribution monitoring system based on intelligent scanning of an excavator.

The utility model provides a foundation ditch space-time distribution monitoring system based on excavator intelligence scanning which characterized in that includes: the device comprises a signal transmitting and receiving module, a coordinate calibration module, a data transmission module and a PC terminal module. The signal transmitting and receiving module is used for transmitting laser signals under the instruction of a cab control switch and receiving the reflected laser signals, the coordinate calibration module is used for calculating the specific position of a scanned point 5 under the spatial coordinates of the foundation pit, the coordinate conversion module is used for converting a contourgraph coordinate system into a working coordinate system, the data transmission module is used for transmitting data processing information to the PC terminal module by using a sensor, the PC terminal module is used for programming the data information, and finally, a 4D cloud picture combined by time and space is displayed through a display.

The signal transmitting and receiving module (1) comprises a control switch, a laser profile instrument and a signal receiving device. The control switch in the signal transmitting and receiving module is used for sending a signal acquisition instruction, the laser profiler transmits a laser signal after receiving the acquisition instruction of the control switch, the laser signal returns linearly after encountering a scanned point 5, and meanwhile, the signal receiving device receives the reflected laser. And respectively marking the breakdown marks on the single photon diodes while transmitting and receiving signal laser, and further marking the breakdown marks with timestamp information by using a time-digital converter to obtain the total laser propagation time t.

The coordinate calibration module (2) comprises a distance calibration sub-module, a contourgraph coordinate calibration sub-module and a coordinate conversion sub-module, and the distance calibration sub-module calculates the distance S between the scanned point 5 and the laser contourgraph on the excavator through the total laser propagation time t₀The contourgraph coordinate calibration sub-module is used for calibrating the coordinate (x) of the laser contourgraph on the excavator under the contourgraph coordinate system₀,y₀,z₀) The included angle between the laser profile instrument on the mechanical arm of the excavator and the horizontal planeAnd the distance S between the scanned point 5 and the laser profiler₀The coordinates (x) of the scanned point 5 relative to the laser profiler are calculated₁，y₁，z₁) The specific position of (2) is calculated as follows:

S₀＝t×v÷2 (1)

wherein, when the scanned point 5 is located at the east side of the laser profiler, x₁Is composed ofOn the contrary, x₁Is composed ofWhen the scanned point 5 is located at the north side of the laser profiler, y₁Is composed ofConversely, y₁Is composed ofWhen the scanned point 5 is higher than the laser profile instrument elevation, z₁Is composed ofOn the contrary, z₁Is composed of

The coordinate conversion sub-module converts a contourgraph coordinate system where the excavator is located into a working coordinate system, and after the coordinates of the scanned point 5 of the excavator in the contourgraph coordinate system are determined, the coordinates are converted into the relative position of the working coordinate system through the coordinate conversion module, and the conversion method comprises the following steps:

wherein { s } is a profiler coordinate system; { w } is the working coordinate system; p is the coordinate of the scanned point 5 in the profiler coordinate system, and can be expressed as P ═ x₁ y₁ z₁]^T；_AP is the position of the origin of the { s } coordinate system relative to the origin of the { w } coordinate systemSetting a vector;_wsr is a 3 × 3 rotation matrix, is a representation of s relative to w, represented by the directional component per unit in w for each vector in s,^wX_s、^wY_s、^wZ_sa unit vector representing the major axis direction of the coordinate { s } when expressed in the coordinate system { w }; scalar a_ijWhere i 1, 2, 3, j 1, 2, 3, represents the component of each vector in s projected in its reference system w in a unit direction.

And the data transmission module (3) transmits the coordinate information of the scanned point 5 calculated by the data processing module to a PC terminal module in the cab of the excavator by using the sensor.

And the PC terminal module (4) comprises a data receiving submodule, an encoder and a display, the data receiving submodule receives the transmitted data information, the encoder performs programming processing on the measured time-space data information by using programming software to generate a time-space-based 4D cloud picture, and finally the 4D cloud picture is displayed by the display.

Preferably, the laser profiler arranged on the mechanical arm of the excavator rotates up and down in a plane, and the distance S between the laser profiler and the scanned point 5 is obtained by transmitting and receiving laser signals₀。

Preferably, the coordinate calibration module mounted on the mechanical arm of the excavator is used for calibrating the coordinate (x) of the laser profile instrument on the excavator in a profile instrument coordinate system₀,y₀,z₀) The included angle between the laser profile instrument and the horizontal planeCalculating the coordinate (x) of the scanned point 5 under the contourgraph coordinate system by the included angle theta between the mechanical arm and the main shaft of the excavator₁,y₁,z₁) (ii) a The coordinate conversion module converts the coordinates of the scanned point 5 in the coordinate system of the contourgraph into coordinates (x) in the working coordinate system through a coordinate conversion matrix₂,y₂,z₂)。

Preferably, the coordinate conversion module combines x, y and z coordinates obtained by monitoring the laser profiler with timestamp information obtained by a time-to-digital converter by using Matlab software through an encoder in the PC terminal module of the scanned point 5 to generate a space-time distribution 4D cloud image.

The invention discloses a foundation pit space-time distribution monitoring system based on intelligent scanning of an excavator, which is used for monitoring the space-time distribution condition inside a foundation pit in the earth excavation process in real time. The information acquisition of the time-space distribution of the foundation pit is mainly completed by a signal transmitting and receiving module, a control switch sends a signal acquisition command, a laser profiler transmits laser signals, a signal receiving device receives reflected laser, a single photon diode respectively marks breakdown marks while transmitting and receiving the signal laser, and further a time-digital converter is used for marking the breakdown marks with timestamp information to obtain the total time t of laser propagation. The collected information is processed and the coordinate calibration is mainly finished by a coordinate calibration module, and a distance S between a scanned point 5 and a laser profiler on the excavator is calculated by a distance calibration submodule through the total time t of laser propagation₀The coordinate calibration submodule passes through the included angle between the laser contourgraph on the mechanical arm of the excavator and the horizontal planeAnd the distance S between the scanned point 5 and the laser profiler₀And calculating the specific position of the scanned point 5 relative to the coordinates of the laser profiler, and converting the coordinate system of the profiler where the excavator is positioned into a working coordinate system by the coordinate conversion submodule. The transmission of the signals is mainly completed by a sensor in the signal transmission module, and the sensor is mainly responsible for transmitting data information to the PC terminal module. The information visualization processing is mainly completed by the PC terminal module, the data receiving submodule receives the transmitted data information, the encoder utilizes programming software to program the measured time-space data information to generate a time-space-based 4D cloud picture, and finally the 4D cloud picture is displayed through the display.

The invention has the advantages that:

(1) as a terrain distribution monitoring system attached to an excavator, the invention can realize accurate acquisition of earthwork distribution information in the excavation process of the foundation pit earthwork through a signal transmitting and receiving module positioned on a mechanical arm of the excavator, and collects observation information of the foundation pit space-time distribution by combining with time information. The method has the advantages of real-time performance, accuracy and convenience.

(2) The invention can generate the space-time distribution visual cloud picture through the PC terminal module, and the visual expression is convenient for the calculation of the stage cost of earth excavation.

Drawings

Fig. 1 is a side view of the use state of the present invention.

Fig. 2 is a rear view of the use state of the present invention.

Fig. 3 is a plan view of the use state of the present invention.

FIG. 4 is a diagram illustrating the operation of the coordinate transformation module according to the present invention.

FIG. 5 is a block diagram of the operation of the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

The invention provides a foundation pit space-time distribution monitoring system based on intelligent scanning of an excavator, which is characterized by being mainly used for monitoring space-time distribution in the foundation pit earthwork excavation process, and the specific monitoring method comprises the following steps:

the method comprises the following steps: when an excavator is used for earth excavation within an excavation range, the position of the inner point of the foundation pit is scanned by moving the position of the excavator and rotating a laser profiler positioned on a movable arm of the excavator. A control switch in the signal transmitting and receiving module sends a signal acquisition instruction, the laser profiler transmits a laser signal after receiving the instruction, the laser signal is reflected linearly after encountering a scanned point 5, and the signal receiving module receives the reflected laser signal. The single photon diodes respectively mark breakdown marks when transmitting and receiving signals, the time-digital converter marks time stamp information on the breakdown, and the total laser propagation time t is obtained through the time stamp information.

Step two: the distance calibration submodule in the coordinate calibration module calculates the distance S between the scanned point 5 and the laser profiler through the laser flight speed v and the laser propagation time t₀The calculation method is shown as formula 1; the contourgraph coordinate calibration submodule passes through a laser contourgraph on an excavator mechanical arm andangle of horizontal planeAnd the distance S between the scanned point 5 and the laser profiler₀The coordinates (x) of the scanned point 5 relative to the laser profiler are calculated₁，y₁，z₁) The calculation method is as shown in the formula 2-4. The coordinate conversion sub-module converts a contourgraph coordinate system where the excavator is located into a working coordinate system, and after the coordinates of the scanned point 5 of the excavator in the contourgraph coordinate system are determined, the coordinates are converted into coordinates (x) in the working coordinate system through the coordinate conversion module₂，y₂，z₂) The calculation method is shown in the formula 5-7.

Step three: and the data transmission module transmits the coordinate information of the scanned point 5 calculated by the data processing module to a PC terminal module in the cab of the excavator by using a sensor.

Step four: and a data receiving submodule in the PC terminal module receives the transmitted data information, an encoder performs programming processing on the measured time-space data information by using programming software to generate a time-space-based 4D cloud picture, and finally the 4D cloud picture is displayed through a display.