CN113756820B - 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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- CN113756820B CN113756820B CN202111190915.XA CN202111190915A CN113756820B CN 113756820 B CN113756820 B CN 113756820B CN 202111190915 A CN202111190915 A CN 202111190915A CN 113756820 B CN113756820 B CN 113756820B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Lining And Supports For Tunnels (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The embodiment of the application discloses a method and a device for acquiring a swing angle of construction equipment in tunnel construction, wherein the method comprises the following steps: the free end of the rocker arm is respectively moved to a first contact line and a second contact line, so that a corresponding first contact point and a corresponding second contact point are obtained; 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 utilizing a plurality of basic angles, and calculating a transformation linear distance between the first contact point and the second contact point corresponding to each basic angle; and taking the basic angle which is the same as the initial linear distance in the converted linear distances of all the basic 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, quick and accurate mode, errors generated in tunnel construction are reduced, and tunnel construction quality is guaranteed.
Description
Technical Field
The application relates to the field of tunnel construction, in particular to a method and a device for acquiring a swinging angle of construction equipment in tunnel construction.
Background
The development of science and technology greatly facilitates the life of people, relates to the field of ground traffic, and forms a traffic network for all directions, such as highways, trains, high-speed rails and the like, and greatly shortens the travel time of passengers.
However, in the construction process of ground traffic such as highway, railway and other infrastructure, many problems need to be overcome, wherein the tunnel construction in the Chong mountain and the drastic mountain is particularly important, and the smooth construction of the tunnel can shorten the passing time and ensure the passing safety. The construction equipment can be parked in the tunnel at random in the automatic process of tunnel construction, the distance between the construction equipment and the left and right outlines is affected, the swing angle of the construction equipment is directly changed, the swing angle cannot be rapidly and accurately measured, uncontrollable errors are generated in automatic construction, the tunnel construction quality is seriously affected, and the passing safety of passengers in the tunnel cannot be guaranteed. At present, a total station can be used for measuring the swing angle of construction equipment, but the cost of tunnel construction is increased intangibly, and higher requirements are put on machine operation requirements and removal of obstacles in a tunnel.
Disclosure of Invention
Accordingly, one of the purposes of the present application is to provide a method and a device for obtaining the swing angle of the construction equipment in the tunnel construction, which can quickly and accurately measure the swing angle of the construction equipment in the tunnel construction with low cost, so as to reduce the error generated in the tunnel construction and ensure the quality of the 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, where the arm support includes a turntable fixed on a working surface and a rocker arm hinged with the turntable, and is applied to a construction tunnel including a tunnel arch, where two sides of the tunnel arch respectively intersect with the working surface to form a first contact line and a second contact line; the method comprises the following steps:
the free end of the rocker arm is respectively moved to the first contact line and the second contact line, so that a corresponding first contact point and a corresponding second contact point are obtained;
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 utilizing a plurality of basic angles, and calculating a transformation linear distance between the first contact point and the second contact point corresponding to each basic angle;
and taking the basic angle which is the same as the initial linear distance in the transformation linear distances of all the basic angles as the swing angle of the construction equipment.
In one 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 one 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 linear distance between the first contact point and the second contact point corresponding to each basic angle, and taking a basic angle identical to the initial linear distance in the transformation linear distances of all the basic angles as the swing angle of the boom includes:
gradually adjusting in a first preset adjusting range according to a first adjusting precision to obtain a plurality of basic angles and calculating corresponding transformation linear distances until the basic angles which are equal to the initial linear distances are obtained;
and if the basic angles equal to the initial straight line distance are not obtained, gradually adjusting in a second preset adjusting range according to second adjusting precision to obtain a plurality of basic angles, wherein the first adjusting precision is larger than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
In one possible implementation manner, the turntable is used as a coordinate origin to establish a space rectangular coordinate system, and a transverse axis of the space 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 ordinate of the first contact point is equal to the ordinate of the second contact point;
and if the ordinate in the first coordinate data and the ordinate in 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:
X 1 ＝y 1 *sinθ+x 1 *cosθ；
X 2 ＝y 2 *sinθ+x 2 *cosθ；
acquiring an initial linear distance L between the first contact point and the second contact point, wherein the initial linear distance L meets the following conditions:
|X 1 |+|X 2 |＝L；
wherein θ is the base angle, x 1 And y 1 X is the abscissa and the ordinate, x, respectively, before the first contact point is transformed 2 And y 2 The abscissa and the ordinate of the second contact point, respectively;
X 1 x is the abscissa after transformation of the first contact point 2 And the abscissa after transformation of the second contact point.
In a second aspect, an embodiment of the present application provides an apparatus for acquiring a swing angle of construction equipment in tunnel construction, where the arm support includes a turntable fixed on a working surface and a swing arm hinged to the turntable, and is applied to a construction tunnel including a tunnel arch, and two sides of the tunnel arch respectively intersect with the working surface to form a first contact line and a second contact line, where 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 acquires 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 linear distance between the first contact point and the second contact point corresponding to each basic angle;
and the detection module takes the basic angle which is the same as the initial linear distance in the transformation linear distances of all the basic angles as the swing angle of the construction equipment.
In one 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 to obtain a plurality of base angles according to a first adjustment precision within a first preset adjustment range, and calculate a corresponding transformation linear distance until a base angle equal to the initial linear distance is obtained;
and if the basic angles equal to the initial straight line distance are not obtained, gradually adjusting in a second preset adjusting range according to second adjusting precision to obtain a plurality of basic angles, wherein the first adjusting precision is larger 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 when the computer program is executed by the processor, the method for obtaining a swing angle of a construction device in tunnel construction provided in the first aspect is implemented.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where 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 a construction device 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 free end of the rocker arm is respectively intersected with the working face on two sides of the tunnel arch to form a first contact point on a first contact line and a second contact point on a second contact line, a 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 rapidly and accurately measure the swing angle of the construction arm support in tunnel construction with low cost, so that errors generated in tunnel construction are reduced, and the tunnel construction quality is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of the present application. Like elements are numbered alike in the various figures.
FIG. 1 is a schematic diagram of a computer device according to an embodiment of the present application;
fig. 2 shows a flowchart of a method for obtaining a swing angle of construction equipment in tunnel construction according to an embodiment of the present application;
fig. 3 shows a schematic diagram of a tunnel arch related to a method for acquiring a swing angle of construction equipment in tunnel construction according to an embodiment of the present application;
fig. 4 is a schematic functional block diagram of an apparatus for acquiring a swing angle of construction equipment in tunnel construction according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application 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 application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present application, and are not intended to first exclude the presence of or increase the likelihood of 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 merely to distinguish between descriptions and should not 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 application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a computer device according to an embodiment of the present application, where the computer device may be a computer device with data processing capability, for example, a personal computer, a server, etc. The memory 120 and the processor 130 are electrically connected directly or indirectly to each other to realize 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 that may be stored in the memory 120 in the form of software or Firmware (Firmware) or cured in an Operating System (OS) of the computer device 100. The processor 130 is configured to execute executable modules stored in the memory 120, for example, a software function module and a computer program included in the apparatus 110 for acquiring a swing angle of a construction device in the tunnel construction.
The Memory 120 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 120 is configured to store a program, and the processor 130 executes the program after receiving an execution instruction.
The processor 130 may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Process, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks 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 each step included in the method will be described in detail below.
And S210, 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.
In this embodiment, the tunnel arch is as shown in fig. 3, which is essential in tunnel construction, and fully ensures the safety of tunnel construction, the bottoms of the two sides of the tunnel arch are generally arch feet, and the two sides of the tunnel arch in this embodiment respectively intersect with the working surface to form a first contact line and a second contact line, that is, the two arch feet of the tunnel arch respectively intersect with the working surface to form the first contact line and the second contact line, where the first contact line and the second contact line are both located on the working surface, so that smooth operation of construction equipment can be ensured.
S220, 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.
Specifically, after the first contact point on the first contact line and the second contact point on the second contact line are obtained, coordinate data corresponding to the two contact points need to be acquired, and the swing angle of the construction equipment in tunnel construction can be further calculated through the acquired coordinate data. For example, referring to fig. 3, point a may be used as a first contact point, and correspondingly point B may be used as a second contact point, coordinate data of two points A, B may be determined according to the established three-dimensional rectangular coordinate system, and 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.
S230, based on a preset coordinate transformation rule, performing synchronous coordinate transformation on the first contact point and the second contact point by utilizing a plurality of basic angles, and calculating a transformation linear distance between the first contact point and the second contact point corresponding to each basic angle.
In this embodiment, the base angle may coordinate-transform the obtained first contact point and second contact point in accordance with a preset coordinate transformation rule, specifically, after each base angle is selected to perform synchronous coordinate transformation on two contact points, the linear distance between the two contact points after coordinate transformation needs to be calculated, so as to confirm the swing angle of the construction equipment, and specific construction equipment such as an engineering truck and the like.
Optionally, the preset transformation rule is:
X 1 ＝y 1 *sinθ+x 1 *cosθ (1)
X 2 ＝y 2 *sinθ+x 2 *cosθ (2)
wherein x is 1 And y 1 X is the abscissa and the ordinate, x, respectively, before the first contact point is transformed 2 And y 2 The abscissa and the ordinate of the second contact point, respectively; x is X 1 X is the abscissa after transformation of the first contact point 2 And the abscissa after transformation 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 transverse 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 transverse axis, the second contact point may be subjected to clockwise coordinate transformation, and it is apparent that in this embodiment, the first contact point is located in the negative direction of the transverse axis, and the second contact point is located in the positive direction of the transverse axis. 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 basic angle which is the same as the initial linear distance in the converted linear distances of all the basic angles as the swing angle of the construction equipment.
In this embodiment, the initial linear distance is the 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 can be identified by a computer device or measured manually, and the specific measurement mode can be selected according to needs. And after the foundation angles corresponding to the initial linear distance are determined among the foundation angles, the determined foundation angles are used as the swing angles of the construction equipment.
Wherein the initial linear distance L satisfies:
|X 1 |+|X 2 |＝L。
according to the method for acquiring the swing angle of the construction equipment in tunnel construction, the free end of the rocker arm is intersected with the working face on two sides of the tunnel arch respectively to form a first contact point on a first contact line and a second contact point on a second contact line, a preset coordinate transformation rule is adopted, and then the swing angle of the construction equipment is acquired according to the distance between the two contact points and the coordinate data. The method can rapidly and accurately measure the swing angle of the construction equipment in tunnel construction with low cost, so that errors generated in tunnel construction are reduced, and the tunnel construction quality is ensured.
In one 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 linear distance between the first contact point and the second contact point corresponding to each basic angle, and taking a basic angle identical to the initial linear distance in the transformation linear distances of all basic angles as a swinging angle of the construction equipment includes:
gradually adjusting in a first preset adjusting range according to a first adjusting precision to obtain a plurality of basic angles and calculating corresponding transformation linear distances until the basic angles which are equal to the initial linear distances are obtained;
and if the basic angles equal to the initial straight line distance are not obtained, gradually adjusting in a second preset adjusting range according to second adjusting precision to obtain a plurality of basic angles, wherein the first adjusting precision is larger 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 areas for the selected base angle, and the adjustment accuracy can further adjust the base angle to determine the precise swing angle of the construction equipment.
For example, if the base angle selected at this time is 1 degree, the first preset adjustment range is (-20, 20), and the first preset adjustment accuracy is 0.1, the 1 degree may be increased to 20 degrees in a forward direction with an accuracy of 0.1 degrees, or decreased to negative 20 degrees in a reverse direction. If the basic angle meeting the initial linear distance cannot be obtained, the preset adjustment range can be enlarged and the preset adjustment precision can be reduced, 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 a forward direction with the precision of 0.01 degree or decreased to minus 30 degrees in a reverse direction. The specific preset adjusting range and the preset adjusting precision can be modified according to requirements.
Before selecting a plurality of basic angles, judging whether the vertical coordinates of the current two contact points are equal, and in a possible implementation manner, establishing a space rectangular coordinate system by taking the rotary table as a coordinate origin, wherein the horizontal 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 ordinate of the first contact point is equal to the ordinate of the second contact point;
and if the ordinate in the first coordinate data and the ordinate in the second coordinate data are not equal, randomly generating a plurality of basic angles.
If the ordinate of the first contact point is equal to the ordinate of the second contact point, 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 randomly generated or can be generated according to a preset numerical interval.
In summary, according to the application, through the two contact points on the arch leg of the tunnel arch frame, which are contacted with the working surface, the swing angle of the construction equipment is obtained according to the preset coordinate transformation rule and then according to the distance between the two contact points and the coordinate data, so that the measurement of the swing angle of the construction equipment in tunnel construction is realized in a low-cost, rapid and accurate manner, errors generated in tunnel construction are reduced, and the tunnel construction quality is ensured.
Corresponding to the embodiment of the method, 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 schematic functional block diagram of an apparatus for obtaining a swing angle of a construction device in tunnel construction according to an embodiment of the present application, where the apparatus 400 for obtaining a swing angle of a construction device 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, so as 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 and 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 430 performs synchronous coordinate transformation on the first contact point and the second contact point by using a plurality of basic angles, and calculates a transformation linear distance between the first contact point and the second contact point corresponding to each basic angle;
the detection module 440 uses the same basic angle as the initial linear distance as the swing angle of the construction equipment, among the converted linear distances of all basic angles.
In one 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 the base angles according to a first adjustment precision within a first preset adjustment range to obtain a plurality of base angles and calculate corresponding transformation linear distances until a base angle equal to the initial linear distance is obtained;
and if the basic angles equal to the initial straight line distance are not obtained, gradually adjusting in a second preset adjusting range according to second adjusting precision to obtain a plurality of basic angles, wherein the first adjusting precision is larger 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, provided by the embodiment, the swing angle of the construction equipment is acquired according to the preset coordinate transformation rule and the distance between the two contact points and the coordinate data through the two contact points contacted with the working surface on the arch leg of the tunnel arch, so that the measurement of the swing angle of the construction equipment in tunnel construction is realized in a low-cost, rapid and accurate manner, errors generated in tunnel construction are reduced, and the tunnel construction quality is ensured.
The specific implementation process of the device, the computer device and the computer readable storage medium for obtaining the swing angle of the construction device in the tunnel construction provided in this embodiment may refer to the specific implementation process of the method for obtaining the swing angle of the construction device in the tunnel construction, which are not described in detail herein.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. 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, functional modules or units in various embodiments of the application may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single 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 application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.
Claims (10)
1. The method is characterized in that the construction equipment comprises an arm support, wherein 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 respectively intersect with the working surface to form a first contact line and a second contact line; the method comprises the following steps:
the free end of the rocker arm is respectively moved to the first contact line and the second contact line, so that a corresponding first contact point and a corresponding second contact point are obtained;
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 utilizing a plurality of basic angles, and calculating a transformation linear distance between the first contact point and the second contact point corresponding to each basic angle;
and taking the basic angle which is the same as the initial linear distance in the transformation linear distances of all the basic 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 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.
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 basic angles, calculating transformed straight line distances between the first contact point and the second contact point corresponding to each of the basic angles, and taking, as the swing angle of the construction equipment, a basic angle identical to the initial straight line distance among the transformed straight line distances of all the basic angles, comprises:
gradually adjusting in a first preset adjusting range according to a first adjusting precision to obtain a plurality of basic angles and calculating corresponding transformation linear distances until the basic angles which are equal to the initial linear distances are obtained;
and if the basic angles equal to the initial straight line distance are not obtained, gradually adjusting in a second preset adjusting range according to second adjusting precision to obtain a plurality of basic angles, wherein the first adjusting precision is larger 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 the turntable is used as a coordinate origin to establish a space rectangular coordinate system, and a transverse axis of the space 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 ordinate of the first contact point is equal to the ordinate of the second contact point;
and if the ordinate in the first coordinate data and the ordinate in the second coordinate data are not equal, randomly generating a plurality of basic angles.
5. The method for obtaining a swing angle of construction equipment in tunnel construction according to claim 4, wherein the preset coordinate transformation rule includes:
X 1 ＝y 1 *sinθ+x 1 *cosθ；
X 2 ＝y 2 *sinθ+x 2 *cosθ；
acquiring an initial linear distance L between the first contact point and the second contact point, wherein the initial linear distance L meets the following conditions:
|X 1 |+|X 2 |＝L；
wherein θ is the base angle, x 1 And y 1 X is the abscissa and the ordinate, x, respectively, before the first contact point is transformed 2 And y 2 The abscissa and the ordinate of the second contact point, respectively;
X 1 x is the abscissa after transformation of the first contact point 2 And the abscissa after transformation of the second contact point.
6. The utility model provides an acquisition device of construction equipment swing angle in tunnel construction, its characterized in that, construction equipment includes the cantilever crane, the cantilever crane include be fixed in the revolving platform of working face and with the articulated rocking arm of revolving platform 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 and is formed 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 acquires 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 linear distance between the first contact point and the second contact point corresponding to each basic angle;
and the detection module takes the basic angle which is the same as the initial linear distance in the transformation linear distances of all the basic 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 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.
8. The device for obtaining the swing angle of the construction equipment in tunnel construction according to claim 6, wherein the detection module is further configured to gradually adjust the plurality of base angles according to a first adjustment precision within a first preset adjustment range and calculate corresponding transformed straight line distances until a base angle equal to the initial straight line distance is obtained;
and if the basic angles equal to the initial straight line distance are not obtained, gradually adjusting in a second preset adjusting range according to second adjusting precision to obtain a plurality of basic angles, wherein the first adjusting precision is larger than the second adjusting precision, and the first preset adjusting range is smaller than the second preset adjusting range.
9. A computer device comprising 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 of obtaining a construction equipment swing angle in tunnel construction of any one of claims 1-5.
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 of acquiring a construction equipment swing angle in tunnel construction according to any one of claims 1-5.
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