CN112629549B - Method for planning running track line of concrete arch dam cable machine - Google Patents
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- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 2
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- E02B7/08—Wall dams
- E02B7/12—Arch dams
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- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/02—Handling of bulk concrete specially for foundation or hydraulic engineering purposes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
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Abstract
A planning method for a cable machine running track line of a concrete arch dam is characterized in that a cable machine running curved surface is set in advance, the cable machine running track line is planned on the curved surface, an obstacle in a path is monitored in real time, an optimal running path is modified in advance when the obstacle is monitored, the problems that the swing radian is large and the efficiency is low in the existing cable machine running process are solved, and a practical basis is provided for realizing automatic running of the cable machine.
Description
Technical Field
The invention relates to the technical field of concrete arch dam construction, in particular to a method for planning a running track line of a concrete arch dam cable machine.
Background
The cable machine operation process at present mainly is through manual operation control cable machine from loading platform, reaches the storehouse face and discharges the material back loading platform again after, in this in-process, needs many people to hold the intercom cooperation and accomplishes, and its inefficiency just holds there is the potential safety hazard. In the process, the swinging radian is large in the running process of the cable machine, and the reason for the large swinging is not only the influence of external factors such as wind speed and the like, but also partial reasons are caused by cable machine operators, such as improper speed control, failure in timely and accurate positioning of bin surface unloading points and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing a planning method for the running track line of a concrete arch dam cable machine, solving the problem of inaccurate positioning of the cable machine caused by manual control of the running track of the cable machine in the prior art, and providing a practical basis for realizing automatic running of the cable machine.
In order to solve the technical problems, the invention adopts the following technical scheme: a concrete arch dam cable machine running track line planning method comprises the following steps:
1) According to concreteThe casting position and the feeding point position determine the starting point and the end point of the cable machine, and the coordinates A (x a ,y a ,z z ) And coordinates B (x) b ,y b ,z b )；
2) Determining the highest point H (x) of the cable machine during operation according to the height of each building between the starting point and the ending point and the transverse radiation range of the cable machine H ,y H ,z H ) And a transverse maximum range [ R ] r ,R l ]Wherein the highest point H (x H ,y H ,z H ) The projection on the horizontal plane is located at the midpoint of the AB;
3) From the midpoint H (x) of the straight line AB H ,y H ,z H ) A length R is made to the right side r Is marked as C (x) C ,y C ,z C )；
4) Straight line AB midpoint H (x) H ,y H ,z H ) Left side is provided with a length R l The end point of which is denoted as D (x) D ,y D ,z D )；
5) Recording a projection point H' of H;
6) The end points of line segments AH ', H ' B, H ' C and H ' D are respectively taken and marked as E, F, G, K, X coordinates and Y coordinates of points E, F, G and K, the X coordinates and Y coordinates are jointly determined by points A, B, C and H ', D, and Z coordinates can be controlled manually;
7) Constructing a cable machine operation curved surface according to the determined space coordinate values of the control points A, B, C, D, E, F, G, H and K;
8) At the starting point A (x a ,y a ,z z ) Endpoint B (x) b ,y b ,z b ) The sum cable mechanism wants to run a curved surface S (x i ,y i ,z i ) On the basis of the above, using an improved Dijkstra's algorism (Dijkstra's Algorithm) algorithm to make a cable machine path planning;
9) Installing a sensor on the cable machine, and monitoring the distribution condition of obstacles on the running path of the cable machine in real time;
if an obstacle is detected to be present on the forward travel path, the obstacle is returned to the area O ([ x) 1 ,x 2 ],[y 1 ,y 2 ],[z 1 ,z 2 ]) Cable machine control system based on obstacle distribution of the returnUnder the condition that the current position of the cable machine is taken as a starting point, and under the condition that the destination and the running curved surface of the cable machine are unchanged, avoiding obstacles and planning a path of the cable machine according to the step 8);
10 The cable machine running system circularly executes the process until the cable machine reaches the destination.
In a preferred embodiment, in the step 1), the starting point a is a loading position of the cable machine, and the ending point B is a unloading position of the cable machine.
In a preferred embodiment, in the step 2), the high point H (x) H ,y H ,z H ) The lowest level of the trajectory for the cable machine to bypass the ground obstacle.
In a preferred embodiment, in said step 2), the lateral maximum range [ R ] r ,R l ]For maximum distance of lateral movement of the cable machine, where R r Is the right maximum radiation range of the straight line AB, R l Is the maximum radiation range to the left of the line AB.
In a preferred embodiment, in the step 5), the projected point of the point H' falls on a quadrangleThe centroid of ABCD.
In a preferred embodiment, in the step 7), the method for constructing the curved running surface of the cable machine specifically includes:
by adjusting the Z coordinates of E, F, G, K, nine points of A, B, C, D, E, F, G, H, K are approximately distributed on a smooth curved surface (hemispherical surface), and grid coordinates (X) are constructed on an XOY plane based on the X, Y coordinate ranges of the nine points of A, B, C, D, E, F, G, H, K i ,y i ) Then, based on the actual coordinates of the nine points, a grid coordinate (x) is calculated by a kriging interpolation algorithm i ,y i ) The corresponding Z coordinate, the curved surface grid coordinate S (x i ,y i ,z i )。
In a preferred embodiment, in the step 8), the modification of the modified dijkstra algorithm is as follows:
the next target point is selected in the neighborhood consisting of 24 points by 24 neighborhood search instead of point-by-point search in the coordinate point search mode of the original dijkstra algorithm, and then the remaining 23 points are all marked as searched.
In the preferred scheme, the 24 neighborhood search is to take the current point as the center, make 24 rays which are not coincident with each other around, find a point near each ray, make it nearest to the center point, thus confirm 24 points through 24 rays, 24 points that confirm constitute the neighborhood of the current coordinate point.
In the preferred scheme, in the step 9), when the cable machine path planning is performed again according to the step 8), in the process of performing obstacle avoidance path planning by using the improved dijkstra algorithm, all scattered point coordinates of the area where the obstacle is located are defaulted as points which have been searched, so that the obstacle is avoided.
According to the method for planning the running track line of the concrete arch dam cable machine, which is provided by the invention, by adopting the method, the optimal line for the running of the cable machine can be accurately determined, and when the cable machine runs on the line, the obstacle in the path can be monitored in real time, and when the obstacle is monitored, the optimal running path is modified in advance, so that the purpose of automatic running of the cable machine is realized, the construction efficiency of the concrete arch dam is effectively improved, and the safety and the precision in the construction process are ensured.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a functional block diagram of the present invention.
Fig. 2 is a schematic diagram of a motion curve of a cable machine according to the present invention.
Fig. 3 is a schematic view of a motion curve of a cable machine according to the present invention. (Cable-containing machine operation starting point and ending point)
FIG. 4 is a schematic diagram of a 24-neighborhood construction method according to the present invention.
Fig. 5 is a schematic diagram of the dam path layout of the cable machine according to the present invention.
Fig. 6 is a plan view of XOY of fig. 5 in accordance with the present invention.
Fig. 7 is a plan view of XOZ of fig. 5 in accordance with the present invention.
Fig. 8 is a YOZ plan view of fig. 5 in accordance with the present invention.
FIG. 9 is a projection view of the XOY plane of the locations of various control points in the actual project of the present invention.
FIG. 10 is a YOZ plane projection of the position of each control point in the actual project of the present invention.
FIG. 11 is a projection view of the XOZ plane of the location of each control point in the actual project of the present invention.
FIG. 12 is a schematic diagram showing the relative positions of the control points in the actual engineering of the present invention.
Detailed Description
Example 1:
a concrete arch dam cable machine running track line planning method comprises the following steps:
1) Determining the starting point and the end point of the cable machine according to the concrete pouring position and the feeding point position, and recording the coordinates A (x a ,y a ,z z ) And coordinates B (x) b ,y b ,z b )；
2) Determining the highest point H (x) of the cable machine during operation according to the height of each building between the starting point and the ending point and the transverse radiation range of the cable machine H ,y H ,z H ) And a transverse maximum range [ R ] r ,R l ]Wherein the highest point H (x H ,y H ,z H ) The projection on the horizontal plane is located at the midpoint of the AB;
3) From the midpoint H (x) of the straight line AB H ,y H ,z H ) A length R is made to the right side r Is marked as C (x) C ,y C ,z C )；
4) Straight line AB midpoint H (x) H ,y H ,z H ) Left side is provided with a length R l The end point of which is denoted as D (x) D ,y D ,z D )；
5) Recording a projection point H' of H;
6) The end points of line segments AH ', H' B, H 'C and H' D are respectively marked as E, F, G and K;
7) Constructing a cable machine operation curved surface according to the determined space coordinate values of the control points A, B, C, D, E, F, G, H and K;
8) At the starting point A (x a ,y a ,z z ) Endpoint B (x) b ,y b ,z b ) The cable-mixing mechanism wants to operate the curveSurface S (x) i ,y i ,z i ) On the basis of the above, using an improved Dijkstra's algorism (Dijkstra's Algorithm) algorithm to make a cable machine path planning;
9) Installing a sensor on the cable machine, and monitoring the distribution condition of obstacles on the running path of the cable machine in real time;
if an obstacle is detected to be present on the forward travel path, the obstacle is returned to the area O ([ x) 1 ,x 2 ],[y 1 ,y 2 ],[z 1 ,z 2 ]) According to the distribution condition of the transmitted obstacles, the cable machine control system avoids the obstacles and performs cable machine path planning again according to the step 8) under the condition that the current position of the cable machine is used as a starting point and the destination and the operation curved surface of the cable machine are unchanged;
10 The cable machine running system circularly executes the process until the cable machine reaches the destination.
In a preferred embodiment, in said step 2), the lateral maximum range [ R ] r ,R l ]For maximum distance of lateral movement of the cable machine, where R r Is the right maximum radiation range of the straight line AB, R l Is the maximum radiation range to the left of the line AB.
In a preferred embodiment, in the step 5), the projected point of the point H' falls on a quadrangleThe centroid of ABCD.
Example 2:
based on embodiment 1, in the step 7), the method for constructing the running curved surface of the cable machine specifically includes the following steps:
by adjusting the Z coordinates of E, F, G, K, nine points of A, B, C, D, E, F, G, H, K are approximately distributed on a smooth curved surface (hemispherical surface), and grid coordinates (X) are constructed on an XOY plane based on the X, Y coordinate ranges of the nine points of A, B, C, D, E, F, G, H, K i ,y i ) Then, based on the actual coordinates of the nine points, a grid coordinate (x) is calculated by a kriging interpolation algorithm i ,y i ) The corresponding Z coordinate, the curved surface grid coordinate S (x i ,y i ,z i )。
In a preferred embodiment, in the step 8), the modification of the dijkstra algorithm is as follows:
the next target point is selected in the neighborhood consisting of 24 points by 24 neighborhood search instead of point-by-point search in the coordinate point search mode of the original dijkstra algorithm, and then the remaining 23 points are all marked as searched.
In the preferred scheme, the 24 neighborhood search is to take the current point as the center, make 24 rays which are not coincident with each other around, find a point near each ray, make it nearest to the center point, thus confirm 24 points through 24 rays, 24 points that confirm constitute the neighborhood of the current coordinate point.
Example 3:
taking a concrete arch dam project as an example on the basis of the embodiment 1, in a certain period of time:
according to the method in the step 1), the position coordinates of the loading point of the cable crane lifting tank are determined to be A (589000 m,3013042m,700 m), and the unloading point coordinates of the cable crane lifting tank on the construction bin surface are determined to be B (589145 m,3012281m,700 m). The highest point coordinate of the cable machine operation is determined to be H (589073 m, 301262551 m,850 m) according to the actual height of the building between the starting point and the ending point of the cable machine operation.
Determining specific coordinates of each control point according to the method described in the step 2) to the step 6), wherein the specific coordinates are as follows:
control point space coordinates
| Control point | X/m | Y/m | Z/m |
| A | 589000 | 3013042 | 700 |
| B | 589145 | 3012281 | 700 |
| C | 588692 | 3012589 | 700 |
| D | 589453 | 3012734 | 700 |
| E | 589036 | 3012852 | 820 |
| F | 589109 | 3012471 | 820 |
| G | 588882 | 3012625 | 820 |
| H | 589073 | 3012662 | 850 |
| K | 589263 | 3012698 | 820 |
The locations of the control points in the above table are shown in fig. 9-12.
According to the steps 7) to 8), generating a cable machine running grid curved surface S (x) by using the control points i ,y i ,z i ) The results are shown in figures 2 and 3.
And 9) when an obstacle appears, planning a cable machine path on the cable machine running curved surface. A schematic of the 24 neighborhood construction of the modified dijkstra algorithm is shown in fig. 4.
The path planning results are shown in the following table:
table path planning results
| Numbering device | X/m | Y/m | Z/m | Numbering device | X/m | Y/m | Z/m |
| A | 589000 | 3013042 | 700 | 23 | 589027 | 3012462 | 824 |
| 1 | 589414 | 3012513 | 708 | 24 | 589015 | 3012462 | 823 |
| 2 | 589401 | 3012513 | 713 | 25 | 589002 | 3012462 | 822 |
| 3 | 589389 | 3012513 | 718 | 26 | 588989 | 3012462 | 820 |
| 4 | 589350 | 3012500 | 731 | 27 | 588976 | 3012462 | 818 |
| 5 | 589311 | 3012488 | 745 | 28 | 588963 | 3012462 | 815 |
| 6 | 589272 | 3012475 | 757 | 29 | 588924 | 3012475 | 809 |
| 7 | 589234 | 3012462 | 768 | 30 | 588886 | 3012488 | 796 |
| 8 | 589221 | 3012462 | 774 | 31 | 588873 | 3012500 | 793 |
| 9 | 589208 | 3012462 | 779 | 32 | 588860 | 3012513 | 789 |
| 10 | 589195 | 3012462 | 784 | 33 | 588847 | 3012526 | 784 |
| 11 | 589182 | 3012462 | 790 | 34 | 588834 | 3012539 | 778 |
| 12 | 589169 | 3012462 | 795 | 35 | 588821 | 3012552 | 771 |
| 13 | 589156 | 3012462 | 799 | 36 | 588808 | 3012578 | 765 |
| 14 | 589143 | 3012462 | 804 | 37 | 588795 | 3012604 | 757 |
| 15 | 589131 | 3012462 | 808 | 38 | 588782 | 3012629 | 749 |
| 16 | 589118 | 3012462 | 811 | 39 | 588769 | 3012655 | 740 |
| 17 | 589105 | 3012462 | 815 | 40 | 588757 | 3012681 | 731 |
| 18 | 589092 | 3012462 | 817 | 41 | 588744 | 3012707 | 723 |
| 19 | 589079 | 3012462 | 820 | 42 | 588731 | 3012733 | 715 |
| 20 | 589066 | 3012462 | 822 | 43 | 588718 | 3012745 | 709 |
| 21 | 589053 | 3012462 | 823 | B | 589145 | 3012281 | 700 |
| 22 | 589040 | 3012462 | 823 |
The planned path is shown in the above table, and is composed of 45 coordinate points, wherein the starting point is the point A, the end point is the point B, the path is drawn on the running curved surface of the cable machine, and the effects are shown in fig. 5-8 (the shaded area is an obstacle in the figure, the black line segment is the path of the cable machine, and the two ends of the black line segment are the starting point A and the end point B of the cable machine running respectively).
5-8, when the path of the cable machine is planned, the area where the obstacle is located is successfully bypassed, and the planned path is smoother and accords with the movement rule of the cable machine.
Claims (4)
1. The method for planning the running track line of the concrete arch dam cable machine is characterized by comprising the following steps of:
1) Determining the starting point and the end point of the cable machine according to the concrete pouring position and the feeding point position, and recording the coordinates A (x a ,y a ,z z ) And coordinates B (x) b ,y b ,z b ) The starting point A is the loading position of the cable machine, and the ending point B is the unloading position of the cable machine;
2) Determining the highest point H (x) of the cable machine during operation according to the height of each building between the starting point and the ending point and the transverse radiation range of the cable machine H ,y H ,z H ) And a transverse maximum range [ R ] r ,R l ]Wherein the highest point H (x H ,y H ,z H ) The projection on the horizontal plane is located at the midpoint of AB, where the high point H (x H ,y H ,z H ) Minimum height of track for cable machine to bypass ground obstacle, transverse maximum range [ R r ,R l ]For maximum distance of lateral movement of the cable machine, where R r Is the right maximum radiation range of the straight line AB, R l The maximum radiation range on the left side of the straight line AB;
3) From the midpoint H (x) of the straight line AB H ,y H ,z H ) A length R is made to the right side r Is marked as C (x) C ,y C ,z C )；
4) Straight line AB midpoint H (x) H ,y H ,z H ) Left side is provided with a length R l The end point of which is denoted as D (x) D ,y D ,z D )；
5) Recording a projection point H' of H;
6) The end points of line segments AH ', H' B, H 'C and H' D are respectively marked as E, F, G and K;
7) According to the determined space coordinate values of the control points A, B, C, D, E, F, G, H and K, constructing a cable machine operation curved surface, wherein the cable machine operation curved surface construction method specifically comprises the following steps:
by adjusting Z coordinates of E, F, G, K, nine points of A, B, C, D, E, F, G, H, K are approximately distributed on a smooth curved surface, and grid coordinates (X) are constructed on an XOY plane based on X, Y coordinate ranges of the nine points of A, B, C, D, E, F, G, H, K i ,y i ) Then with nine points of actual sittingThe standard is used as a basis, and the grid coordinate (x is calculated by a Kriging interpolation algorithm i ,y i ) The corresponding Z coordinate, the curved surface grid coordinate S (x i ,y i ,z i )；
8) At the starting point A (x a ,y a ,z z ) Endpoint B (x) b ,y b ,z b ) The sum cable mechanism wants to run a curved surface S (x i ,y i ,z i ) On the basis of the above, using an improved Dijkstra's algorism (Dijkstra's Algorithm) algorithm to make a cable machine path planning;
9) Installing a sensor on the cable machine, and monitoring the distribution condition of obstacles on the running path of the cable machine in real time; if an obstacle is detected to be present on the forward travel path, the obstacle is returned to the area O ([ x) 1 ,x 2 ],[y 1 ,y 2 ],[z 1 ,z 2 ]) According to the distribution condition of the transmitted obstacle, the cable machine control system takes the current position of the cable machine as a starting point, avoids the obstacle and performs cable machine path planning according to the step 8) under the condition that the running curved surface of the cable machine is unchanged, and when performing cable machine path planning according to the step 8), the improved Di Jie Style algorithm performs obstacle avoidance path planning, and defaults all scattered point coordinates of the area where the obstacle is located to be searched points so as to avoid the obstacle;
10 The cable machine operation system circularly executes the processes of the steps 1) to 9) until the cable machine reaches the end point.
2. The method for planning the running track line of the concrete arch dam cable machine according to claim 1, wherein the method comprises the following steps of: in the step 5), the projected point of the point H' falls at the centroid of the quadrangle ≡abcd.
3. The method for planning the running track line of the concrete arch dam cable machine according to claim 1, wherein in the step 8), the modification of the dijkstra algorithm is as follows:
the next target point is selected in the neighborhood consisting of 24 points by 24 neighborhood search instead of point-by-point search in the coordinate point search mode of the original dijkstra algorithm, and then the remaining 23 points are all marked as searched.
4. A method for planning a concrete arch dam cable machine operation track line according to claim 3, wherein: the 24 neighborhood search is to take the current point as the center, make 24 rays which are not overlapped with each other to the periphery, find one point near each ray to make it nearest to the center point, thereby confirm 24 points through 24 rays, the 24 points confirmed constitute the neighborhood of the current coordinate point.
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