CN113756820A - Method and device for acquiring swing angle of construction equipment in tunnel construction - Google Patents
Method and device for acquiring swing angle of construction equipment in tunnel construction Download PDFInfo
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- CN113756820A CN113756820A CN202111190915.XA CN202111190915A CN113756820A CN 113756820 A CN113756820 A CN 113756820A CN 202111190915 A CN202111190915 A CN 202111190915A CN 113756820 A CN113756820 A CN 113756820A
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- E—FIXED CONSTRUCTIONS
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- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
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Abstract
The embodiment of the invention discloses a method and a device for acquiring a swing angle of construction equipment in tunnel construction, wherein the method comprises the following steps: moving the free end of the rocker arm to a first contact line and a second contact line respectively to obtain a corresponding first contact point and a corresponding second contact point; acquiring first coordinate data of a first contact point, second coordinate data of a second contact point and an initial linear distance between the first contact point and the second contact point; based on a preset coordinate transformation rule, performing synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of basic angles, and calculating a transformation straight line distance between the first contact point and the second contact point corresponding to each basic angle; and taking the foundation angle which is the same as the initial straight line distance in the conversion straight line distances of all the foundation angles as the swing angle of the construction equipment. The swing angle of the construction equipment in tunnel construction is obtained in a low-cost, rapid and accurate mode, errors generated in tunnel construction are reduced, and tunnel construction quality is guaranteed.
Description
Technical Field
The invention relates to the field of tunnel construction, in particular to a method and a device for acquiring a swing angle of construction equipment in tunnel construction.
Background
The development of science and technology greatly facilitates the life of people, and relates to the field of ground transportation, such as expressways, trains, high-speed railways and the like, a four-way and eight-reach transportation network is formed, and the travel time of passengers is shortened to a great extent.
However, in the process of constructing the infrastructure of ground traffic such as roads, railways and the like, many problems need to be overcome, wherein the tunnel construction in the Chongshan and Tsingling mountains is particularly important, and the smooth construction of the tunnel can shorten the passing time and ensure the passing safety. Can be in the automatic process of tunnel construction, construction equipment berths in the tunnel is random, and this will influence the distance of construction equipment distance left and right sides profile at random, directly leads to construction equipment's swing angle to produce the change, and the swing angle can not be measured fast and accurately, and then makes the uncontrollable error of production in the automation construction, seriously influences tunnel construction quality, and the current safety of passenger in the tunnel also can not be ensured. At present, a total station can be adopted to measure the swing angle of construction equipment, but the cost of tunnel construction is invisibly increased, and higher requirements are provided for machine operation requirements and removal of obstacles in the tunnel.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method and an apparatus for obtaining a swing angle of a construction device in tunnel construction, which can quickly and accurately measure the swing angle of the construction device in tunnel construction at low cost, so as to reduce errors generated in tunnel construction and ensure the quality of tunnel construction.
In a first aspect, an embodiment of the present application provides a method for obtaining a swing angle of construction equipment in tunnel construction, where the construction equipment includes an arm support, the arm support includes a turntable fixed to a working surface and a rocker arm hinged to the turntable, and is applied to a construction tunnel including a tunnel arch, and two sides of the tunnel arch intersect with the working surface respectively to form a first contact line and a second contact line; the method comprises the following steps:
moving the free end of the rocker arm to the first contact line and the second contact line respectively to obtain a corresponding first contact point and a corresponding second contact point;
acquiring first coordinate data of the first contact point, second coordinate data of the second contact point and an initial linear distance between the first contact point and the second contact point;
based on a preset coordinate transformation rule, performing synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of basic angles, and calculating a transformation straight-line distance between the first contact point and the second contact point corresponding to each basic angle;
and taking the foundation angle which is the same as the initial straight line distance in the transformation straight line distances of all the foundation angles as the swing angle of the construction equipment.
In a possible implementation manner, a first coordinate sensor is arranged on the rotary table, a second coordinate sensor is arranged at the free end of the rocker arm, and the first coordinate data and the second coordinate data are acquired through the first coordinate sensor and the second coordinate sensor.
In a possible implementation manner, the step of performing synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of basic angles, calculating a transformation straight-line distance between the first contact point and the second contact point corresponding to each basic angle, and using a basic angle, which is the same as the initial straight-line distance, in the transformation straight-line distances of all basic angles as the swing angle of the boom includes:
gradually adjusting within a first preset adjusting range according to first adjusting precision to obtain a plurality of basic angles and calculating corresponding transformation linear distances until basic angles equal to the initial linear distances are obtained;
and if the basic angle equal to the initial straight line distance is not obtained, gradually adjusting according to a second adjusting precision within a second preset adjusting range to obtain a plurality of basic angles, wherein the first adjusting precision is greater than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
In one possible implementation manner, a space rectangular coordinate system is established by taking the rotary table as a coordinate origin, and a transverse shaft of the space rectangular coordinate system is perpendicular to a central axis of the tunnel and is parallel to the working surface;
the step of determining a plurality of said base angles comprises:
judging whether the vertical coordinates of the first contact point and the second contact point are equal or not;
and if the vertical coordinates in the first coordinate data and the second coordinate data are not equal, randomly generating a plurality of basic angles.
In one possible implementation manner, the preset coordinate transformation rule includes:
X1＝y1*sinθ+x1*cosθ；
X2＝y2*sinθ+x2*cosθ；
acquiring an initial linear distance L between the first contact point and the second contact point, wherein the initial linear distance L satisfies the following conditions:
|X1|+|X2|＝L；
wherein θ is the base angle, x1And y1Respectively the abscissa and ordinate, x, before transformation of the first contact point2And y2Respectively the abscissa and the ordinate of the second contact point;
X1for the abscissa, X, after transformation of the first contact point2The transformed abscissa of the second contact point.
In a second aspect, an embodiment of the present application provides an apparatus for obtaining a swing angle of a construction device in tunnel construction, where the boom includes a revolving platform fixed to a working surface and a rocker arm hinged to the revolving platform, and is applied to a construction tunnel including a tunnel arch, two sides of the tunnel arch respectively intersect with the working surface to form a first contact line and a second contact line, and the apparatus includes:
the first acquisition module is used for respectively moving the free end of the rocker arm to the first contact line and the second contact line to obtain a corresponding first contact point and a corresponding second contact point;
the second acquisition module is used for acquiring first coordinate data of the first contact point, second coordinate data of the second contact point and an initial linear distance between the first contact point and the second contact point;
the coordinate transformation module is used for carrying out synchronous coordinate transformation on the first contact point and the second contact point by utilizing a plurality of basic angles based on a preset coordinate transformation rule and calculating a transformation straight line distance between the first contact point and the second contact point corresponding to each basic angle;
and the detection module is used for taking the foundation angle which is the same as the initial straight line distance in the conversion straight line distances of all the foundation angles as the swing angle of the construction equipment.
In a possible implementation manner, a first coordinate sensor is arranged on the rotary table, a second coordinate sensor is arranged at the free end of the rocker arm, and the first coordinate data and the second coordinate data are acquired through the first coordinate sensor and the second coordinate sensor.
In a possible implementation manner, the detection module is further configured to gradually adjust the plurality of basic angles within a first preset adjustment range according to a first adjustment precision and calculate corresponding transformation linear distances until a basic angle equal to the initial linear distance is obtained;
and if the basic angle equal to the initial straight line distance is not obtained, gradually adjusting according to a second adjusting precision within a second preset adjusting range to obtain a plurality of basic angles, wherein the first adjusting precision is greater than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
In a third aspect, an embodiment of the present application provides a computer device, where the computer device includes a computer-readable storage medium and a processor, where the computer-readable storage medium stores a computer program, and the computer program, when executed by the processor, implements the method for obtaining a swing angle of construction equipment in tunnel construction provided in the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by one or more processors, implements the method for obtaining a swing angle of construction equipment in tunnel construction provided by the present application.
According to the method and the device for acquiring the swing angle of the construction equipment in tunnel construction, the first contact point on the first contact line and the second contact point on the second contact line are formed by acquiring the free end of the rocker arm at two sides of a tunnel arch frame and intersecting with a working surface respectively, the preset coordinate transformation rule is adopted, and then the swing angle of the arm support is acquired according to the distance between the two contact points and the coordinate data. The method can be used for quickly and accurately measuring the swing angle of the construction arm support in tunnel construction at low cost so as to reduce errors generated in tunnel construction and ensure the tunnel construction quality.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
FIG. 1 is a schematic structural diagram of a computer device provided by an embodiment of the present application;
fig. 2 shows a flowchart of a method for acquiring a swing angle of construction equipment in tunnel construction according to an embodiment of the present application;
fig. 3 shows a tunnel arch schematic diagram according to an embodiment of the present application, in which a method for obtaining a swing angle of construction equipment in tunnel construction is involved;
fig. 4 shows a functional module schematic diagram of an acquisition device for a swing angle of construction equipment in tunnel construction according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure, where the computer device may be a computer device with data processing capability, such as a personal computer, a server, and the like. The elements of the memory 120 and the processor 130 are electrically connected to each other, directly or indirectly, to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The computer device 100 includes at least one software function module which can be stored in the memory 120 in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the computer device 100. The processor 130 is configured to execute executable modules stored in the memory 120, such as software functional modules and computer programs included in the device 110 for acquiring the swing angle of the construction equipment in the tunnel construction.
The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 120 is used for storing a program, and the processor 130 executes the program after receiving the execution instruction.
The processor 130 may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 2, fig. 2 is a flowchart of a method for obtaining a swing angle of construction equipment in tunnel construction according to an embodiment of the present application, and the steps included in the method will be described in detail below.
S210, moving the free end of the rocker arm to the first contact line and the second contact line respectively to obtain a corresponding first contact point and a corresponding second contact point.
In the present embodiment, a tunnel arch, as shown in fig. 3, is essential in tunnel construction, and fully ensures the safety of tunnel construction, the two sides and the bottom of the tunnel arch are usually made into arches, and the two sides of the tunnel arch in the present embodiment intersect with the working surface respectively to form a first contact line and a second contact line, that is, the two arches of the tunnel arch intersect with the working surface respectively to form a first contact line and a second contact line, wherein the first contact line and the second contact line are both located on the working surface, which can ensure the smooth operation of construction equipment.
S220, acquiring first coordinate data of the first contact point, second coordinate data of the second contact point and an initial straight-line distance between the first contact point and the second contact point.
Specifically, after a first contact point on the first contact line and a second contact point on the second contact line are obtained, coordinate data corresponding to the two contact points need to be obtained, and the swing angle of the construction equipment in tunnel construction can be further calculated through the obtained coordinate data. For example, referring to fig. 3, point a may be used as a first contact point, and point B may be used as a second contact point, and coordinate data of the two points may be determined A, B according to the established three-dimensional rectangular coordinate system, so that the swing angle of the construction equipment may be further calculated.
Alternatively, the first coordinate data and the second coordinate data may be acquired by a first coordinate sensor provided on the turntable, and a second coordinate sensor provided on the free end of the swing arm.
And S230, based on a preset coordinate transformation rule, performing synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of basic angles, and calculating a transformation straight-line distance between the first contact point and the second contact point corresponding to each basic angle.
In this embodiment, the basic angle may cooperate with a preset coordinate transformation rule to perform coordinate transformation on the obtained first contact point and the second contact point, and specifically, after performing synchronous coordinate transformation on two contact points by selecting one basic angle, a linear distance between the two contact points after coordinate transformation needs to be calculated, so as to determine a swing angle of construction equipment, specifically, construction equipment such as an engineering vehicle.
Optionally, the preset transformation rule is:
X1＝y1*sinθ+x1*cosθ (1)
X2＝y2*sinθ+x2*cosθ (2)
wherein x is1And y1Respectively the abscissa and ordinate, x, before transformation of the first contact point2And y2Respectively the abscissa and the ordinate of the second contact point; x1For the abscissa, X, after transformation of the first contact point2The transformed abscissa of the second contact point.
For example, with the turntable as the origin of coordinates, if the second contact point is located in the positive direction of the horizontal axis, the second contact point may be subjected to counterclockwise coordinate transformation, and if the second contact point is located in the negative direction of the horizontal axis, the second contact point may be subjected to clockwise coordinate transformation. The first contact point and the second contact point may be selected according to requirements, and the embodiment is not particularly limited.
And S240, taking the foundation angle which is the same as the initial straight line distance in the conversion straight line distances of all the foundation angles as the swing angle of the construction equipment.
In this embodiment, the initial linear distance is a distance between the first contact point and the second contact point, and after the positions of the first contact point and the second contact point are determined, the distance between the two contact points may be identified by a computer device or measured in a manual manner, and a specific measurement manner may be selected as needed. After the foundation angle corresponding to the initial straight-line distance is determined from the plurality of foundation angles, the determined foundation angle can be used as the swing angle of the construction equipment.
Wherein the initial straight-line distance L satisfies:
|X1|+|X2|＝L。
in the method for obtaining the swing angle of the construction equipment in tunnel construction provided by this embodiment, a first contact point on a first contact line and a second contact point on a second contact line are formed by obtaining that the free ends of the rocker arms intersect with the working surface on two sides of the tunnel arch respectively, a preset coordinate transformation rule is adopted, and then the swing angle of the construction equipment is obtained according to the distance between the two contact points and coordinate data. The method can be used for quickly and accurately measuring the swing angle of the construction equipment in tunnel construction at low cost so as to reduce errors generated in tunnel construction and ensure the tunnel construction quality.
In one possible embodiment, the step of performing synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of base angles, calculating a transformation straight-line distance between the first contact point and the second contact point corresponding to each of the base angles, and setting a base angle, which is the same as the initial straight-line distance, among the transformation straight-line distances of all the base angles as the swing angle of the construction equipment includes:
gradually adjusting within a first preset adjusting range according to first adjusting precision to obtain a plurality of basic angles and calculating corresponding transformation linear distances until basic angles equal to the initial linear distances are obtained;
and if the basic angle equal to the initial straight line distance is not obtained, gradually adjusting according to a second adjusting precision within a second preset adjusting range to obtain a plurality of basic angles, wherein the first adjusting precision is greater than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
In this embodiment, the first preset adjustment range and the second preset adjustment range provide adjustment regions for the selected base angle, and the adjustment precision can further adjust the base angle to determine the precise swing angle of the construction equipment.
Illustratively, if the base angle selected at this time is 1 degree, the first preset adjustment range is (-20, 20), and the first preset adjustment precision is 0.1, the 1 degree may be increased positively to 20 degrees with a precision of 0.1 degree, or decreased negatively to negative 20 degrees. If the base angle corresponding to the initial straight-line distance cannot be obtained, the preset adjustment range can be expanded and the preset adjustment precision can be reduced, for example, if the second preset adjustment range is (-30, 30), and the second preset adjustment precision is 0.01, the 1 degree can be increased to 30 degrees in the positive direction or decreased to minus 30 degrees in the negative direction with the precision of 0.01 degree. The specific preset adjusting range and the preset adjusting precision can be modified according to requirements.
Before a plurality of basic angles are selected, whether the vertical coordinates of the two current contact points are equal or not needs to be judged, in a possible implementation mode, a space rectangular coordinate system is established by taking the rotary table as a coordinate origin, and the transverse axis of the space rectangular coordinate system is perpendicular to the central axis of the tunnel and parallel to the working surface;
the step of determining a plurality of said base angles comprises:
judging whether the vertical coordinates of the first contact point and the second contact point are equal or not;
and if the vertical coordinates in the first coordinate data and the second coordinate data are not equal, randomly generating a plurality of basic angles.
If the vertical coordinates of the first contact point and the second contact point are equal, the current swing angle of the construction equipment is considered to be zero, otherwise, a plurality of basic angles can be generated, and optionally, the mode of generating the plurality of basic angles can be generated randomly or according to a preset numerical value interval.
To sum up, this application through two on the hunch foot of tunnel bow member with the contact of working face, according to predetermineeing coordinate transformation rule, then obtain construction equipment's swing angle according to the interval and the coordinate data of two contact points, the measurement of the swing angle of construction equipment in tunnel construction is realized to low-cost, quick and accurate mode, reduces the error that produces in the tunnel construction, guarantees tunnel construction quality.
Corresponding to the method embodiment, the application also provides a device for acquiring the swing angle of the construction equipment in tunnel construction.
Referring to fig. 4, fig. 4 is a functional module schematic diagram of an apparatus for acquiring a swing angle of construction equipment in tunnel construction according to an embodiment of the present application, where the apparatus 400 for acquiring a swing angle of construction equipment in tunnel construction includes:
the first obtaining module 410 moves the free end of the rocker arm to the first contact line and the second contact line respectively to obtain a corresponding first contact point and a corresponding second contact point;
a second obtaining module 420, configured to obtain first coordinate data of the first contact point, second coordinate data of the second contact point, and an initial linear distance between the first contact point and the second contact point;
a coordinate transformation module 430, configured to perform synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of basic angles, and calculate a transformation straight-line distance between the first contact point and the second contact point corresponding to each basic angle;
and the detection module 440 determines a base angle, which is the same as the initial straight-line distance, among the transformed straight-line distances of all the base angles as the swing angle of the construction equipment.
In a possible implementation manner, a first coordinate sensor is arranged on the rotary table, a second coordinate sensor is arranged at the free end of the rocker arm, and the first coordinate data and the second coordinate data are acquired through the first coordinate sensor and the second coordinate sensor.
Optionally, the detection module is further configured to gradually adjust within a first preset adjustment range according to a first adjustment precision to obtain a plurality of the basic angles and calculate corresponding transformation linear distances until a basic angle equal to the initial linear distance is obtained;
and if the basic angle equal to the initial straight line distance is not obtained, gradually adjusting according to a second adjusting precision within a second preset adjusting range to obtain a plurality of basic angles, wherein the first adjusting precision is greater than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
According to the method, the device, the computer equipment and the computer readable storage medium for acquiring the swing angle of the construction equipment in tunnel construction, the swing angle of the construction equipment is obtained according to the distance between two contact points and coordinate data through two contact points which are in contact with a working surface on the arch springing of a tunnel arch according to a preset coordinate transformation rule, the swing angle of the construction equipment in tunnel construction is measured in a low-cost, quick and accurate mode, errors generated in tunnel construction are reduced, and the tunnel construction quality is guaranteed.
The specific implementation process of the apparatus for acquiring a swing angle of construction equipment in tunnel construction, the computer equipment, and the computer-readable storage medium provided in this embodiment may refer to the specific implementation process of the method for acquiring a swing angle of construction equipment in tunnel construction, and is not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. The method for acquiring the swing angle of the construction equipment in tunnel construction is characterized in that the construction equipment comprises an arm support, the arm support comprises a rotary table fixed on a working surface and a rocker arm hinged with the rotary table, the arm support is applied to a construction tunnel comprising a tunnel arch, and two sides of the tunnel arch are respectively intersected with the working surface to form a first contact line and a second contact line; the method comprises the following steps:
moving the free end of the rocker arm to the first contact line and the second contact line respectively to obtain a corresponding first contact point and a corresponding second contact point;
acquiring first coordinate data of the first contact point, second coordinate data of the second contact point and an initial linear distance between the first contact point and the second contact point;
based on a preset coordinate transformation rule, performing synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of basic angles, and calculating a transformation straight-line distance between the first contact point and the second contact point corresponding to each basic angle;
and taking the foundation angle which is the same as the initial straight line distance in the transformation straight line distances of all the foundation angles as the swing angle of the construction equipment.
2. The method for acquiring the swing angle of the construction equipment in tunnel construction according to claim 1, wherein a first coordinate sensor is provided on the turntable, a second coordinate sensor is provided at a free end of the rocker arm, and the first coordinate data and the second coordinate data are acquired by the first coordinate sensor and the second coordinate sensor.
3. The method according to claim 1, wherein the step of performing synchronous coordinate transformation on the first contact point and the second contact point using a plurality of base angles, calculating a transformation straight-line distance between the first contact point and the second contact point corresponding to each of the base angles, and setting a base angle that is the same as the initial straight-line distance among the transformation straight-line distances of all the base angles as the swing angle of the construction equipment comprises:
gradually adjusting within a first preset adjusting range according to first adjusting precision to obtain a plurality of basic angles and calculating corresponding transformation linear distances until basic angles equal to the initial linear distances are obtained;
and if the basic angle equal to the initial straight line distance is not obtained, gradually adjusting according to a second adjusting precision within a second preset adjusting range to obtain a plurality of basic angles, wherein the first adjusting precision is greater than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
4. The method for acquiring the swing angle of the construction equipment in tunnel construction according to claim 1, wherein a spatial rectangular coordinate system is established with the turntable as an origin of coordinates, and a transverse axis of the spatial rectangular coordinate system is perpendicular to a central axis of the tunnel and parallel to the working surface;
the step of determining a plurality of said base angles comprises:
judging whether the vertical coordinates of the first contact point and the second contact point are equal or not;
and if the vertical coordinates in the first coordinate data and the second coordinate data are not equal, randomly generating a plurality of basic angles.
5. The method for acquiring the swing angle of construction equipment in tunnel construction according to claim 4, wherein the preset coordinate transformation rule includes:
X1＝y1*sinθ+x1*cosθ；
X2＝y2*sinθ+x2*cosθ；
acquiring an initial linear distance L between the first contact point and the second contact point, wherein the initial linear distance L satisfies the following conditions:
|X1|+|X2|＝L；
wherein θ is the base angle, x1And y1Respectively the abscissa and ordinate, x, before transformation of the first contact point2And y2Respectively the abscissa and the ordinate of the second contact point;
X1for the abscissa, X, after transformation of the first contact point2The transformed abscissa of the second contact point.
6. The utility model provides an acquisition device of construction equipment swing angle in tunnel construction which characterized in that, construction equipment includes the cantilever crane, the cantilever crane includes the revolving platform that is fixed in the working face and with the rocking arm of revolving platform articulated, is applied to the construction tunnel including the tunnel bow member, the both sides of tunnel bow member respectively with the working face is crossing forms first contact line and second contact line, the device includes:
the first acquisition module is used for respectively moving the free end of the rocker arm to the first contact line and the second contact line to obtain a corresponding first contact point and a corresponding second contact point;
the second acquisition module is used for acquiring first coordinate data of the first contact point, second coordinate data of the second contact point and an initial linear distance between the first contact point and the second contact point;
the coordinate transformation module is used for carrying out synchronous coordinate transformation on the first contact point and the second contact point by utilizing a plurality of basic angles based on a preset coordinate transformation rule and calculating a transformation straight line distance between the first contact point and the second contact point corresponding to each basic angle;
and the detection module is used for taking the foundation angle which is the same as the initial straight line distance in the conversion straight line distances of all the foundation angles as the swing angle of the construction equipment.
7. The device for acquiring the swing angle of the construction equipment in tunnel construction according to claim 6, wherein a first coordinate sensor is arranged on the turntable, a second coordinate sensor is arranged at a free end of the rocker arm, and the first coordinate data and the second coordinate data are acquired by the first coordinate sensor and the second coordinate sensor.
8. The device for acquiring the swing angle of the construction equipment in the tunnel construction according to claim 6, wherein the detection module is further configured to gradually adjust the plurality of basic angles within a first preset adjustment range according to a first adjustment precision and calculate corresponding transformation linear distances until a basic angle equal to the initial linear distance is obtained;
and if the basic angle equal to the initial straight line distance is not obtained, gradually adjusting according to a second adjusting precision within a second preset adjusting range to obtain a plurality of basic angles, wherein the first adjusting precision is greater than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
9. A computer device, characterized in that the computer device comprises a computer-readable storage medium and a processor, the computer-readable storage medium having stored thereon a computer program which, when executed by the processor, implements the method for obtaining a swing angle of construction equipment in tunnel construction according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by one or more processors, implements the method for acquiring a swing angle of construction equipment in tunnel construction according to any one of claims 1 to 7.
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