Intelligent concrete vibrating system and method

Abstract

The invention relates to the technical field of concrete vibration, in particular to an intelligent concrete vibration system and method. The intelligent concrete vibrating system comprises a planning module used for selecting a current vibrating area from a to-be-vibrated range according to construction parameters of the to-be-vibrated range; the multi-dimensional sensor is used for collecting multi-dimensional parameters of the vibrating equipment during vibrating in the current vibrating area; the multi-dimensional parameters comprise vibration frequency, vibration pressure and concrete temperature; the decision module is used for determining a current vibration strategy required by the current vibration area according to multi-dimensional parameters during vibration in the current vibration area, and determining a next vibration area corresponding to the current vibration area in each to-be-vibrated area in the to-be-vibrated range; and the control module is used for controlling the vibrating equipment to perform vibrating operation in the current vibrating area according to the current vibrating strategy, and controlling the vibrating equipment to perform vibrating on the next vibrating area after the vibrating operation of the current vibrating area is executed.

Description

Technical Field

[0001] The present application relates to the technical field of concrete vibration, and in particular to an intelligent concrete vibration system and method. Background Art

[0002] Concrete vibration is a key process in concrete construction. During the concrete pouring process, voids remain after mixing cement, sand, gravel, and other materials. Vibration uses vibrations generated by vibrating equipment (such as insert vibrators and flat vibrators) to compact the concrete mixture through the combined effects of gravity and vibration.

[0003] Currently, in the concrete construction process, the vibration step is completed through manual operation.

[0004] However, the effect of manual vibration is highly dependent on the experience of construction workers. Operations by construction workers with different experience levels may lead to uneven vibration quality, so improvement is urgently needed. Summary of the Invention

[0005] Based on this, it is necessary to provide a concrete intelligent vibration system and method that can improve the quality of concrete vibration in response to the above technical problems.

[0006] In a first aspect, the present application provides a concrete intelligent vibration system, which includes:

[0007] The planning module is used to select the current vibration area from the range to be vibrated according to the construction parameters of the range to be vibrated;

[0008] Multi-dimensional sensor, used to collect multi-dimensional parameters of the vibrating equipment when vibrating in the current vibrating area; multi-dimensional parameters include vibration frequency, vibration pressure and concrete temperature;

[0009] A decision module is used to determine the multi-dimensional parameters of the vibration in the current vibration area, the current vibration strategy required for the current vibration area, and the next vibration area corresponding to the current vibration area among the areas to be vibrated within the range to be vibrated;

[0010] The control module is used to control the vibrating equipment to perform vibrating operations in the current vibrating area according to the current vibrating strategy, and after the vibrating operation in the current vibrating area is completed, control the vibrating equipment to vibrate the next vibrating area.

[0011] In one embodiment, the planning module includes:

[0012] The first planning submodule is used to divide the range to be vibrated into multiple areas to be vibrated according to the area parameters and shape parameters of the range to be vibrated;

[0013] The second planning submodule is used to select candidate vibration areas from each area to be vibrated according to the concrete pouring plan parameters of each area to be vibrated;

[0014] The third planning submodule is used to select a current vibration area from the candidate vibration areas according to the steel bar distribution density parameters of the candidate vibration areas.

[0015] In one embodiment, the second planning submodule, when selecting a candidate vibration area from each area to be vibrated based on the concrete pouring plan parameters of each area to be vibrated, is further configured to:

[0016] Determine the estimated pouring time for each area to be vibrated based on the concrete pouring plan parameters for each area to be vibrated;

[0017] Selecting a to-be-vibrated area corresponding to an estimated pouring time whose current time difference is less than a preset time difference as at least one to-be-selected vibration area;

[0018] A candidate vibration area is selected from each to-be-selected vibration area according to the area position information of each to-be-selected vibration area and the current position information of the vibration equipment.

[0019] In one embodiment, the third planning submodule, when selecting the current vibration area from the candidate vibration areas based on the steel bar distribution density parameter of the candidate vibration areas, is further configured to:

[0020] According to the steel bar distribution density parameter of the candidate vibration area, the candidate vibration area selects a priority vibration area whose steel bar distribution density parameter is greater than the preset distribution density;

[0021] If the number of priority vibration areas is at least two, determining the vibration complexity of each priority vibration area according to the area parameter and shape parameter of each priority vibration area;

[0022] The priority vibration area with the smallest vibration complexity among the priority vibration areas is used as the current vibration area;

[0023] The current distance between the position of the current vibration area and the current position information of the vibration equipment satisfies the set distance value.

[0024] In one embodiment, the decision module includes:

[0025] The first decision submodule is used to determine the fluidity parameter of concrete in the current vibration area according to the vibration frequency during the vibration in the current vibration area;

[0026] The second decision submodule is used to determine the target vibration time required for the current vibration area based on the fluidity parameters and concrete temperature of the concrete in the current vibration area;

[0027] The third decision submodule is used to determine the target vibration frequency required for the current vibration area according to the vibration pressure and concrete temperature during vibration in the current vibration area;

[0028] The fourth decision submodule is used to determine the target vibration pressure required for the current vibration area according to the fluidity parameter of the concrete in the current vibration area;

[0029] The fifth decision submodule is used to determine the current vibration strategy required for the current vibration area according to the target vibration time, target vibration time vibration frequency and target vibration time vibration pressure required for the current vibration area.

[0030] In one embodiment, the fifth decision submodule, when determining the current vibration strategy required for the current vibration area based on the vibration time required for the current vibration area, the vibration frequency required for the vibration time, and the vibration pressure required for the vibration time, is further configured to:

[0031] Obtain the thickness and structural form of concrete components in the current vibration area;

[0032] Determine the foundation vibration depth corresponding to the current vibration area based on the thickness and structural form of the concrete components in the current vibration area;

[0033] According to the concrete temperature during vibration in the current vibration area and the concrete surface image corresponding to the current vibration area, the foundation vibration depth is adjusted to obtain the target vibration depth required for the current vibration area;

[0034] The current vibration strategy required for the current vibration area is determined according to the target vibration time, target vibration time vibration frequency, target vibration time vibration pressure and target vibration depth required for the current vibration area.

[0035] In one embodiment, the fifth decision submodule, when determining the current vibration strategy required for the current vibration area based on the target vibration time, target vibration time vibration frequency, target vibration time vibration pressure, and target vibration depth required for the current vibration area, is further configured to:

[0036] Determine the number of foundation vibrations corresponding to the current vibration area based on the complexity of the construction structure in the current vibration area;

[0037] Determining the concrete density of the concrete in the current vibration area according to the vibration pressure during the vibration in the current vibration area;

[0038] According to the concrete density of the concrete in the current vibration area, the number of foundation vibrations is adjusted to obtain the target number of vibrations required for the current vibration area;

[0039] The target vibration time, target vibration time vibration frequency, target vibration time vibration pressure, target vibration depth and target vibration times required for the current vibration area are used as the current vibration strategy required for the current vibration area.

[0040] In one embodiment, the decision module further includes:

[0041] A planning submodule is configured to select at least one adjacent vibration area from each area to be vibrated based on the location information of each area to be vibrated and the regional distance information between the current vibration area and the spatial connectivity between each area to be vibrated and the current vibration area;

[0042] The selection planning submodule is used to select the next vibration area corresponding to the current vibration area from the adjacent vibration areas corresponding to the estimated pouring time whose current time difference is less than the preset time difference.

[0043] In one embodiment, the selection planning submodule is further configured to, when selecting a next vibration zone corresponding to a current vibration zone from adjacent vibration zones corresponding to an estimated pouring time whose time difference from the current time is less than a preset time difference,:

[0044] According to the concrete mix ratio and steel structure complexity in each adjacent vibration area, the next vibration area corresponding to the current vibration area is selected from the adjacent vibration areas corresponding to the estimated pouring time whose current time difference is less than the preset time difference.

[0045] In an exemplary embodiment, the intelligent concrete vibration system also includes an image acquisition sensor and a verification module. The image acquisition sensor is arranged above the current vibration area and is used to acquire the concrete surface image of the current vibration area. The verification module is used to: determine the accuracy impact factor of the vibration interference error in the range to be vibrated on the image acquisition sensor based on the Kalman filter; determine the acquisition state of the image acquisition sensor based on the accuracy impact factor; the acquisition state includes the acquisition position and acquisition posture.

[0046] In the intelligent concrete vibration system and method described above, the planning module selects the current vibration zone based on construction parameters within the vibrating area (such as concrete pour thickness, structural complexity, and rebar density). This scientific division of the vibration zones avoids the subjectivity and arbitrariness of manual divisions, ensures an orderly and comprehensive vibration operation, and reduces the possibility of missed or duplicated vibrations. Multi-dimensional sensors collect real-time parameters such as vibration frequency, vibration pressure, and concrete temperature within the current vibration zone, eliminating the subjectivity and reliance on experience inherent in manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A schematic diagram of an intelligent concrete vibration system according to an embodiment;

[0049] Figure 2 is a schematic diagram of a planning module in one embodiment;

[0050] Figure 3 is a schematic diagram of a decision module in one embodiment;

[0051] Figure 4 is a schematic diagram of a decision module in another embodiment;

[0052] Figure 5 Schematic diagram of the process of intelligent concrete vibration method in another embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0054] In an exemplary embodiment, Figure 1 As shown, a concrete intelligent vibration system is provided, which includes a planning module 1, a multi-dimensional sensor 2, a decision module 3 and a control module 4; wherein:

[0055] The planning module 1 is used to select a current vibration area from the range to be vibrated according to the construction parameters of the range to be vibrated.

[0056] Among them, the construction parameters include the area, shape, concrete pouring sequence, steel bar distribution density and other information of the area to be vibrated.

[0057] Optionally, after obtaining these parameters by connecting with architectural design drawing data, measuring with laser ranging equipment, and analyzing with image recognition technology, the planning module uses a preset area selection algorithm to select the area that is currently most suitable for vibration from the range to be vibrated.

[0058] For example, according to the pouring order, priority is given to areas where concrete pouring is about to be completed to ensure that vibration can keep up in time to avoid the initial setting of concrete affecting the vibration effect; for areas with dense distribution of steel bars, since vibration is difficult, they will also be given priority as the current vibration area to ensure the density of concrete in complex structures.

[0059] The multi-dimensional sensor 2 is used to collect multi-dimensional parameters of the vibration equipment when it is vibrating in the current vibration area.

[0060] Among them, the multidimensional parameters include vibration frequency, vibration pressure and concrete temperature.

[0061] Optionally, the multi-dimensional sensor 2 integrates an accelerometer, a pressure sensor, and a temperature probe, which are respectively used to accurately collect the vibration frequency, vibration pressure, and concrete temperature of the vibrating equipment when it is working in the current vibration area.

[0062] As you can understand, accelerometers measure vibration frequency with high precision, helping to determine the operating status of vibrating equipment and the propagation of vibration within the concrete. Pressure sensors detect pressure changes to reflect the density of concrete. Temperature probes monitor concrete temperature in real time to prevent concrete quality problems caused by abnormal temperatures.

[0063] Decision module 3 is used for multi-dimensional parameters when vibrating in the current vibration area, determining the current vibration strategy required for the current vibration area, and determining the next vibration area corresponding to the current vibration area in each area to be vibrated within the range to be vibrated.

[0064] Optionally, the decision module 3 determines the optimal vibration strategy required for the current vibration area based on parameters such as vibration frequency, vibration pressure and concrete temperature collected by multi-dimensional sensors, combined with an internal preset vibration strategy database, through machine learning algorithms, data mining and pattern recognition technology, including specific parameters such as vibration time, vibration frequency, vibration pressure, vibration depth and number of vibrations.

[0065] Furthermore, when determining the next vibration zone corresponding to the current one, the decision-making module comprehensively considers factors such as spatial location, construction progress, and special circumstances. It constructs a three-dimensional spatial model to analyze spatial relationships, communicates with the concrete pouring plan management system to obtain construction progress information, and implements special treatment for areas with special construction requirements or quality risks. Finally, a comprehensive evaluation model is used to score each area to be vibrated, and the area with the highest score is selected as the next vibration zone.

[0066] The control module 4 is used to control the vibrating device to perform a vibrating operation in a current vibrating area according to the current vibrating strategy, and after the vibrating operation in the current vibrating area is completed, control the vibrating device to vibrate the next vibrating area.

[0067] Optionally, control module 4 receives the current vibration strategy and next vibration zone information determined by decision module 3 and sends precise control instructions to the vibration equipment via wired or wireless communication. These instructions include parameters such as vibration start and stop control, vibration frequency adjustment, vibration duration setting, vibration depth control, and movement path planning.

[0068] Furthermore, after the vibration operation in the current vibration area is completed, the control module can quickly control the vibration equipment to move to the next vibration area and continue the vibration work to ensure the continuity of the entire vibration process.

[0069] In an exemplary embodiment, Figure 2 As shown, the planning module 2 includes a first planning submodule 21, a second planning submodule 22 and a third planning submodule 23; wherein:

[0070] The first planning submodule 21 is configured to divide the range to be vibrated into a plurality of areas to be vibrated according to area parameters and shape parameters of the range to be vibrated.

[0071] Among them, the area parameters can be obtained by connecting with the architectural design drawing data and directly reading the precise value; or a laser ranging device can be used to scan and measure around the range to be vibrated, and then calculated using geometric algorithms such as trigonometric functions.

[0072] Shape parameters are determined by capturing and identifying the vibrated area using image recognition technology, then matching and analyzing the area against a pre-set library of shape templates (including common shapes such as rectangles, circles, and polygons). If the vibrated area is irregular in shape, the coordinates of the boundary points are collected and a curve fitting algorithm is used to determine the shape characteristics.

[0073] Optionally, based on the above parameters, the first planning submodule uses a region partitioning algorithm to divide the area to be vibrated into multiple regularly shaped areas. For example, a large irregular area to be vibrated can be divided into multiple small rectangular or polygonal areas to facilitate more precise planning of the vibration sequence and operation.

[0074] The second planning submodule 22 is configured to select candidate vibration areas from among the areas to be vibrated according to the concrete pouring plan parameters of the areas to be vibrated.

[0075] Among them, the concrete pouring plan parameters include the planned pouring time of each area to be vibrated, the sequence number in the entire pouring process, etc.

[0076] Optionally, the second planning submodule 22, when selecting candidate vibration areas from each area to be vibrated according to the concrete pouring plan parameters of each area to be vibrated, is further used to: determine the estimated pouring time of each area to be vibrated according to the concrete pouring plan parameters of each area to be vibrated; select the area to be vibrated corresponding to the estimated pouring time whose difference from the current time is less than a preset time difference as at least one area to be vibrated; and select the candidate vibration area from each area to be vibrated according to the area location information of each area to be vibrated and the current location information of the vibrating equipment.

[0077] Optionally, the filter follows the principle of "prioritizing those about to enter the pouring process." If filtering based on the planned pouring time, a time threshold is set to filter out the areas to be vibrated that are closest to the current time and have a planned pouring time after the current time as candidate vibration areas.

[0078] Furthermore, after obtaining at least one vibrating area to be selected, the second planning submodule 22 further considers the location of these areas. It obtains the regional location information of each vibrating area to be selected, and also knows the current location information of the vibrating equipment. By calculating the distance between each vibrating area to be selected and the current location of the vibrating equipment, or analyzing the spatial path relationship between them, the area with a closer distance and a smoother path is selected from each vibrating area to be selected as a candidate vibrating area. The purpose of this is to reduce the time and energy consumed by the vibrating equipment to move between different areas, thereby improving construction efficiency.

[0079] For example, if there are three vibration areas A, B, and C to be selected, and area A is closest to the current position of the vibration equipment and there are no obstacles in between, then area A will be preferentially selected as the candidate vibration area.

[0080] The third planning submodule 23 is configured to select a current vibration area from the candidate vibration areas according to the steel bar distribution density parameters of the candidate vibration areas.

[0081] Among them, electromagnetic induction detection equipment is used to conduct a comprehensive scan of the area to be vibrated. This equipment emits an electromagnetic signal of a specific frequency. When the signal encounters rebar, it is reflected and scattered due to the different electromagnetic properties of the rebar and the surrounding concrete. This causes the intensity and frequency of the electromagnetic signal to change. The third planning submodule receives these changed signals and analyzes and processes the signals using a pre-established mathematical model that relates electromagnetic signal changes to rebar distribution, thereby calculating the rebar distribution density parameters. For example, the more dramatic the change in electromagnetic signal intensity and the more obvious the change in frequency, the denser the distribution of rebar in the area. The corresponding rebar distribution density value can be obtained through model calculation.

[0082] Alternatively, rebar layout data can be directly extracted from the building structural design model. This data details the specifications, quantity, and location of the rebar within each area to be vibrated. The third planning submodule then converts this data into rebar density parameters using a specific algorithm. For example, by counting the number of rebars per unit volume and combining this with other data such as the rebar's cross-sectional area, the rebar density for that area can be calculated.

[0083] Optionally, the third planning submodule 23, when selecting the current vibration area from the candidate vibration areas according to the steel bar distribution density parameters of the candidate vibration areas, is also used to: select a priority vibration area whose steel bar distribution density parameter is greater than a preset distribution density according to the steel bar distribution density parameters of the candidate vibration areas; if the number of priority vibration areas is at least two, determine the vibration complexity of each priority vibration area according to the area parameters and shape parameters of each priority vibration area; and use the priority vibration area with the smallest vibration complexity among the priority vibration areas as the current vibration area.

[0084] The current distance between the position of the current vibration area and the current position information of the vibration equipment satisfies the set distance value.

[0085] Optionally, the third planning submodule 23 compares the obtained steel bar distribution density parameters for each candidate vibration area with a preset distribution density. The preset distribution density is a standard value set based on engineering experience and concrete vibration requirements. It is used to determine which areas have dense steel bars, are more difficult to vibrate, and require priority vibration. Candidate vibration areas with steel bar distribution density parameters greater than the preset distribution density are selected as priority vibration areas. This is because if densely reinforced areas are not prioritized for vibration, concrete may not fully fill the gaps between the steel bars, resulting in quality issues such as voids and looseness within the concrete.

[0086] Furthermore, when the number of priority vibration areas is at least two, it is impossible to determine the only current vibration area based solely on the steel bar distribution density. At this time, it is necessary to further consider the area parameters and shape parameters of each priority vibration area. By calculating the area parameters, the size of each area can be understood. Areas with larger areas usually require more vibration time and energy; while the shape parameters reflect the complexity of the area. For example, for areas with irregular shapes, the operation path planning of the vibration equipment will be more difficult, and the vibration difficulty will be relatively greater. Through a specific algorithm, the area parameters and shape parameters are comprehensively analyzed to determine the vibration complexity of each priority vibration area. For example, for areas with complex shapes, a higher complexity weight is assigned; for areas with larger areas, their complexity scores are also increased accordingly. Finally, the priority vibration area with the smallest vibration complexity is selected as the current vibration area. This can improve the vibration efficiency and ensure the vibration quality.

[0087] In addition, to ensure that the vibrating equipment can work efficiently, the current distance between the selected current vibration area and the current location information of the vibrating equipment must meet the set distance value. The set distance value is determined based on a combination of factors such as the movement speed of the vibrating equipment, work efficiency, and the actual conditions of the construction site. If the current vibration area is too far from the vibrating equipment, it will take a lot of time and energy to move the equipment to that area, reducing construction efficiency; if the distance is too close, it may cause the equipment to move frequently in a local area, affecting the overall construction progress. Therefore, only when the distance between the current vibration area and the vibrating equipment is within the set distance value range can the smooth and efficient completion of the vibration work be guaranteed.

[0088] For example, if the distance value is set to 50 meters, the area meets the requirements only when the current vibration area is within 50 meters from the current position of the vibration equipment. If it exceeds this distance, it is necessary to re-evaluate and select other suitable areas.

[0089] In an exemplary embodiment, Figure 3 As shown, the decision module 3 includes a first decision submodule 31, a second decision submodule 32, a third decision submodule 33, a fourth decision submodule 34, and a fifth decision submodule 35:

[0090] The first decision submodule 31 is configured to determine the fluidity parameter of concrete in the current vibration area according to the vibration frequency during vibration in the current vibration area.

[0091] It's understandable that vibration frequency is closely related to concrete's fluidity. Changing the vibration frequency alters the motion of the concrete particles, affecting their fluidity. Generally speaking, higher vibration frequencies increase the vibration of concrete particles, reducing friction between particles and improving fluidity. Conversely, lower vibration frequencies can result in poor concrete fluidity.

[0092] Optionally, the first decision-making submodule pre-establishes a mapping model between vibration frequency and concrete fluidity parameters. This model can be a mathematical model based on a large amount of experimental data and engineering practice experience. After receiving the current vibration frequency data collected by the multi-dimensional sensor, it is input into the model, and the model calculates the fluidity parameters of the concrete in the current vibration area. For example, if the model indicates that the concrete fluidity parameter corresponds to "good" at a specific vibration frequency, it can be determined that the concrete in that area is in a good state of fluidity.

[0093] The second decision submodule 32 is configured to determine a target vibration time required for the current vibration area according to the fluidity parameters and temperature of the concrete in the current vibration area.

[0094] Understandably, both the fluidity and temperature of concrete affect the time required for vibration. Concrete with good fluidity is easier to achieve density during vibration, requiring a relatively short vibration time. Concrete with poor fluidity, on the other hand, requires longer vibrations to evenly distribute the concrete and expel any air trapped within. Concrete temperature also affects its performance. Higher temperatures accelerate the hydration reaction and shorten the setting time, necessitating a shorter vibration time. Lower temperatures increase the viscosity of concrete and reduce its fluidity, necessitating a longer vibration time.

[0095] Optionally, the second decision-making submodule stores a table or calculation formula for target vibration times corresponding to different combinations of fluidity parameters and concrete temperatures. Based on the concrete fluidity parameters provided by the first decision-making submodule and the concrete temperature data collected by the multi-dimensional sensor, the target vibration time required for the current vibration zone is calculated by searching the table or using a formula. For example, when the concrete fluidity is "medium" and the temperature is moderate, a table query indicates that the target vibration time is 30 seconds.

[0096] The third decision submodule 33 is used to determine the target vibration frequency required for the current vibration area according to the vibration pressure and concrete temperature during vibration in the current vibration area.

[0097] Understandably, vibration pressure and concrete temperature affect the density and particle movement within the concrete, which in turn influences the required vibration frequency. Higher vibration pressures improve compaction, but mismatched vibration frequencies can lead to stratification or segregation. Higher temperatures reduce concrete viscosity, necessitating a higher vibration frequency to ensure effective results. Lower temperatures increase viscosity, necessitating adjustments to overcome interparticle resistance.

[0098] Optionally, similar to the second decision-making submodule, the third decision-making submodule also has a pre-set correspondence between vibration pressure, concrete temperature, and target vibration frequency. Based on the vibration pressure and concrete temperature data collected by the multi-dimensional sensor, the target vibration frequency required for the current vibration area is determined by querying a correspondence table or using a calculation formula. For example, when the vibration pressure is within a certain range and the concrete temperature is low, the calculated target vibration frequency is 50Hz.

[0099] The fourth decision submodule 34 is configured to determine a target vibration pressure required for the current vibration area according to the fluidity parameter of the concrete in the current vibration area.

[0100] It's understandable that the fluidity of concrete determines its ability to resist deformation and flow during vibration, thus affecting the required vibration pressure. Concrete with good fluidity can achieve good vibration results with lower vibration pressures, while concrete with poor fluidity requires higher vibration pressures to overcome inter-particle friction and achieve full compaction.

[0101] Optionally, the fourth decision-making submodule establishes a correlation model between concrete fluidity parameters and target vibration pressure. The concrete fluidity parameters obtained by the first decision-making submodule are input into this model to calculate the target vibration pressure required for the current vibration zone. For example, if the concrete fluidity is "poor," the model calculates that the target vibration pressure needs to be increased to a higher value.

[0102] The fifth decision submodule 35 is used to determine the current vibration strategy required for the current vibration area according to the target vibration time, target vibration frequency and target vibration pressure required for the current vibration area.

[0103] It's understandable that target vibration time, target vibration frequency, and target vibration pressure are key parameters in a vibration strategy. They are interrelated and mutually influential, collectively determining the concrete's vibration performance. Only by properly combining these parameters can we develop the most appropriate vibration strategy for the specific area being vibrated, ensuring that the concrete achieves the desired density and quality.

[0104] Optionally, the fifth decision-making submodule integrates the target vibration time, target vibration frequency, and target vibration pressure determined by the second, third, and fourth submodules to form a complete current vibration strategy. For example, a target vibration time of 35 seconds, a target vibration frequency of 55 Hz, and a target vibration pressure of 0.6 MPa constitute the current vibration strategy for the current vibration area. This strategy is then sent to the control module, which controls the vibration equipment to perform the vibration operation according to this strategy.

[0105] In an exemplary embodiment, the fifth decision submodule, when determining the current vibration strategy required for the current vibration area based on the vibration time required for the current vibration area, the required vibration time-vibration frequency, and the required vibration time-vibration pressure, is further used to: obtain the thickness and structural form of the concrete components in the current vibration area; determine the basic vibration depth corresponding to the current vibration area based on the thickness and structural form of the concrete components in the current vibration area; adjust the basic vibration depth based on the concrete temperature during vibration in the current vibration area and the concrete surface image corresponding to the current vibration area to obtain the target vibration depth required for the current vibration area; determine the current vibration strategy required for the current vibration area based on the target vibration time, target vibration time-vibration frequency, target vibration time-vibration pressure, and target vibration depth required for the current vibration area.

[0106] It's understandable that data on concrete component thickness and structural form can be obtained from architectural design drawings, BIM (Building Information Modeling), and other sources. These data detail the specific dimensions and structural characteristics of the concrete components in each vibration zone. Different concrete component thicknesses and structural forms require different vibration depths. For example, thicker concrete components may require a deeper vibration depth to ensure internal concrete density. Certain structural forms (such as beam-column joints and thin-walled structures) also require specific vibration depths to ensure effective vibration.

[0107] In this embodiment, the decision-making submodule pre-stores a table or calculation model that maps different concrete component thicknesses and structural types to foundation vibration depths. By substituting the acquired concrete component thickness and structural type data into these mappings or models, the foundation vibration depth corresponding to the current vibration area can be calculated.

[0108] For example, for an ordinary floor structure with a thickness of 500mm, the foundation vibration depth may be determined to be 300mm according to the corresponding table; while for complex structural parts such as beam-column joints, it may be necessary to use a specific calculation model, combined with factors such as its size and reinforcement conditions, to calculate the appropriate foundation vibration depth.

[0109] Optionally, concrete temperature affects its fluidity and setting speed. When concrete temperature is high, its fluidity increases, potentially achieving better results with a shallower vibration depth. In this case, the vibration depth can be appropriately reduced. Conversely, when concrete temperature is low, its viscosity increases and its fluidity deteriorates. The vibration depth may need to be increased to ensure sufficient compaction of the concrete interior. The decision-making submodule calculates the temperature-dependent vibration depth adjustment based on a pre-established model of the relationship between concrete temperature and the vibration depth adjustment coefficient, combined with real-time concrete temperature data.

[0110] Image recognition technology is used to capture an image of the concrete surface in the current vibration area and analyze its surface condition, such as the presence of bubbles, bleeding, and cracks. If a large number of bubbles are present, the vibration depth may be insufficient and should be increased appropriately. If bleeding occurs, the vibration may be excessive or at an inappropriate depth, requiring adjustment. The decision-making submodule uses an image recognition algorithm to analyze the concrete surface image and determine the appropriate vibration depth adjustment based on the surface condition.

[0111] Finally, the adjustment amount, derived from the concrete temperature and concrete surface image, is combined with the foundation vibration depth to determine the target vibration depth for the current vibration area. For example, if the foundation vibration depth is 300mm, the concrete temperature calculation indicates a 20mm increase in the vibration depth, and the concrete surface image analysis indicates an additional 10mm, then the target vibration depth is 330mm.

[0112] Furthermore, the fifth decision submodule, when determining the current vibration strategy required for the current vibration area based on the target vibration time, target vibration time vibration frequency, target vibration time vibration pressure and target vibration depth required for the current vibration area, is also used to: determine the number of foundation vibrations corresponding to the current vibration area based on the complexity of the construction structure in the current vibration area; determine the concrete density of the concrete in the current vibration area based on the vibration pressure during vibration in the current vibration area; adjust the number of foundation vibrations based on the concrete density of the concrete in the current vibration area to obtain the target number of vibrations required for the current vibration area; and use the target vibration time, target vibration time vibration frequency, target vibration time vibration pressure, target vibration depth and target number of vibrations required for the current vibration area as the current vibration strategy required for the current vibration area.

[0113] Optionally, construction structure complexity refers to the complexity of the concrete structure within the current vibration zone, such as the presence of numerous intersecting rebars, complex shapes (such as special-shaped columns and irregular beams), and the presence of embedded components. These factors can affect the flow and filling of concrete, and thus the difficulty of vibration. A quantitative assessment of construction structure complexity can be conducted by analyzing architectural design drawings, BIM models, and other data, combined with construction experience, to categorize it into three levels: simple, medium, and complex.

[0114] The fifth decision-making submodule stores the relationship between construction structure complexity and foundation vibration frequency. Based on the assessment of the construction structure complexity of the current vibration area, the corresponding foundation vibration frequency is found from this relationship. For example, for an area with a "simple" construction structure complexity, the foundation vibration frequency might be set to 2 times; for an area with a "medium" complexity, the foundation vibration frequency might be set to 3 times; and for an area with a "complex" complexity, the foundation vibration frequency might be set to 4 times.

[0115] It's no secret that vibration pressure is a key factor influencing concrete density. During the vibration process, appropriate vibration pressure can rearrange concrete particles, filling pores and improving concrete density. Generally speaking, higher vibration pressure tends to increase concrete density, but exceeding a certain pressure range can lead to problems such as segregation.

[0116] The fifth decision-making submodule pre-establishes a mathematical model for the relationship between vibration pressure and concrete density. This model can be based on extensive experimental data and engineering practice. By collecting real-time vibration pressure data within the current vibration zone and inputting it into the model, the current concrete density can be calculated. For example, the model calculates that the concrete density is 90% under the current vibration pressure.

[0117] Furthermore, if the calculated concrete density is lower than the density standard required by the design, it means that the current vibration effect may not be ideal, and the number of vibrations needs to be increased to further improve the density; conversely, if the concrete density has reached or exceeded the design standard, and continued vibration may have an adverse effect on the concrete structure (such as surface slurry caused by over-vibration, internal structure damage, etc.), the number of vibrations can be appropriately reduced.

[0118] The fifth decision-making submodule internally defines adjustment coefficients for the number of vibrations corresponding to different density ranges. Based on the calculated concrete density, the density range is determined, and the corresponding adjustment coefficient is then found. The target number of vibrations is calculated by multiplying the base vibration count by the adjustment coefficient. For example, if the base vibration count is 3, and the calculated concrete density falls within the range requiring increased vibration count, the corresponding adjustment coefficient is 1.2. The target number of vibrations is 3 × 1.2 = 3.6. In practice, this can be rounded up to 4 depending on the specific situation.

[0119] Finally, the five key parameters determined previously, namely, target vibration time, target vibration frequency, target vibration pressure, target vibration depth, and target vibration number, are integrated together to form a complete current vibration strategy.

[0120] In this embodiment, the current vibration strategy comprehensively covers important aspects such as time, frequency, pressure, depth and number of times in the vibration process, and can accurately guide the vibration equipment to perform vibration operations in the current vibration area.

[0121] In an exemplary embodiment, Figure 4 As shown, the decision module 4 further includes a planning submodule 41 and a selection planning submodule 42:

[0122] The planning submodule 41 is used to select at least one adjacent vibration area from each area to be vibrated based on the location information of each area to be vibrated and the area distance information between the current vibration area and the spatial connectivity between each area to be vibrated and the current vibration area.

[0123] It is understood that the location information of each area to be vibrated can be obtained through a geographic information system (GIS), architectural design drawings, or positioning equipment. The planning submodule calculates the distance between each area to be vibrated and the current vibrating area. The distance here can be a straight-line distance or the actual travel distance after considering the actual terrain and obstacles at the construction site.

[0124] Generally speaking, areas closer to the current vibration area are more likely to be selected as adjacent vibration areas, because this can reduce the time and cost of moving the vibration equipment between different areas and improve construction efficiency.

[0125] Among them, spatial connectivity refers to whether there are physical connection channels between each area to be vibrated and the current vibrating area, and whether these channels are convenient for the vibration equipment to pass through.

[0126] For example, obstacles (such as buildings and machinery) may prevent the vibrating equipment from moving from the current vibrating area to another area to be vibrated. The planning submodule analyzes the spatial relationship between each vibrating area and the current vibrating area, prioritizing areas with good spatial connectivity with the current vibrating area as adjacent vibrating areas. If two vibrating areas are close to the current vibrating area, but one area has a clear path to the current vibrating area, while the other area requires navigating around numerous obstacles to reach, the former area is more likely to be selected as the adjacent vibrating area.

[0127] The selection planning submodule 42 is configured to select a next vibration zone corresponding to the current vibration zone from adjacent vibration zones corresponding to the estimated pouring time whose current time difference is less than a preset time difference.

[0128] Optionally, a planning submodule is selected, and when selecting the next vibration area corresponding to the current vibration area from the adjacent vibration areas corresponding to the expected pouring time whose difference with the current time is less than a preset time difference, it is also used to: select the next vibration area corresponding to the current vibration area from the adjacent vibration areas corresponding to the expected pouring time whose difference with the current time is less than a preset time difference according to the concrete mix ratio and steel structure complexity in each adjacent vibration area.

[0129] Among them, the preset time difference is a time range set in advance according to the construction progress and efficiency requirements.

[0130] Optionally, each area to be vibrated has its estimated pouring time. Selecting the planning submodule will compare the estimated pouring time of adjacent vibrated areas with the current time, and filter out areas where the difference between the estimated pouring time and the current time is less than a preset time difference.

[0131] The purpose of doing this is to ensure that the next vibration area is about to enter the pouring process, to ensure the close connection between the vibration work and the concrete pouring work, and to avoid problems such as initial setting of the concrete if it is not vibrated in time.

[0132] Furthermore, based on the above preliminary selection, the selection planning submodule can also make more detailed selections based on the concrete mix ratio and steel structure complexity in each adjacent vibration zone.

[0133] It's understandable that different concrete mixes affect concrete properties like fluidity and setting time. For example, some mixes have poor fluidity and require more vibrating to achieve compaction, while others have a shorter setting time and require more rapid vibrating. The selection planning submodule prioritizes adjacent vibrating areas with concrete mixes that better suit the current construction schedule and vibration requirements as the next vibrating area.

[0134] Furthermore, reinforcement complexity refers to the density and intersection of reinforcement within adjacent vibration zones. The more complex the reinforcement structure, the more challenging the vibration process, requiring more time and effort to ensure concrete fully fills the gaps between the reinforcement bars. The selection planning submodule comprehensively considers the reinforcement complexity of each adjacent vibration zone, prioritizing areas with relatively simple reinforcement structures as the next vibration zone to improve vibration efficiency and quality.

[0135] In an exemplary embodiment, the intelligent concrete vibration system further includes an image acquisition sensor and an image analysis module. The image acquisition sensor is disposed above the current vibration area and is used to acquire an image of the concrete surface in the current vibration area.

[0136] Optionally, the image analysis module is specifically configured to perform the following analysis process:

[0137] First, the collected concrete surface images are preprocessed, including grayscale conversion, noise reduction (such as using Gaussian filtering), and other operations to improve the quality of the concrete surface images.

[0138] Then, edge detection algorithms (such as Canny edge detection) are used to identify features such as cracks and bubble contours on the concrete surface.

[0139] For cracks, straight line segments can be detected through Hough transform. If a set of continuous straight line segments of a certain length and width is detected and the change of their grayscale values conforms to the crack characteristics, it is determined that a crack exists and the crack parameters such as length, width and direction are calculated.

[0140] For bubbles, the region growing algorithm is used to merge adjacent pixels with similar grayscale values into one region based on the grayscale value difference. If the area and shape of the region meet the bubble characteristics, it is identified as a bubble, and the number and size distribution of bubbles are counted.

[0141] The concrete surface is also analyzed for bleeding. By analyzing the color and texture characteristics of the concrete surface image, if a region with a darker color and smoother texture is found, significantly different from the surrounding normal concrete areas, combined with the grayscale histogram information of the concrete surface image, it is determined that this region may be bleeding, and the area and extent of the bleeding area are estimated.

[0142] When a large number of cracks or crack widths are detected, the decision module appropriately increases the vibration time and pressure to ensure that the concrete in the cracks is fully filled and compacted. For example, an adjustment factor is set based on the width and number of cracks. If the crack width exceeds a certain threshold and the number is large, the vibration time is increased by 10%-20% and the vibration pressure is increased by 5%-10%.

[0143] If there are a large number of bubbles or the bubbles are large, it indicates that the vibration may not be sufficient. The vibration frequency should be increased and the vibration time should be extended to promote the expulsion of bubbles. Specifically, the vibration frequency can be increased by 5Hz-10Hz and the vibration time can be extended by 5-10 seconds based on the size and distribution of bubbles.

[0144] For areas with bleeding, reduce the vibration frequency and pressure to avoid excessive vibration that worsens bleeding. Also, shorten the vibration time appropriately to prevent concrete segregation. For example, reduce the vibration frequency by 3Hz to 5Hz, the vibration pressure by 3% to 5%, and the vibration time by 3 to 5 seconds.

[0145] It is understandable that in the intelligent concrete vibration system, the vibration operation will generate interference factors such as vibration, noise, and dust. These factors will affect the accuracy of the image acquisition sensor, resulting in deviations in the collected concrete surface images, such as blurring and deformation, and thus affecting the subsequent accurate identification of the concrete surface conditions (such as bubbles, cracks, water seepage, etc.).

[0146] The Kalman filter is an optimal algorithm for estimating the state of a system. It can perform recursive operations on the system's state equation and observation equation, combine prior information and current observations, and make the best estimate of the system's true state. It can also effectively handle noise and uncertainty in the system.

[0147] Furthermore, the intelligent concrete vibration system also includes a verification module, which is used to: determine the accuracy impact factor of the vibration interference error within the vibration range on the image acquisition sensor based on the Kalman filter; determine the acquisition state of the image acquisition sensor based on the accuracy impact factor; the acquisition state includes the acquisition position and acquisition posture.

[0148] Optionally, the Kalman filter is used as follows:

[0149] (1) Define state variables and parameters: State variables: state vector x k Contains the collection location (x k ,yk,z k ) and the collected posture (such as the rotation angle (θ xk ,θ yk ,θ zk ) and its rate of change. Specifically expressed as:

[0150]

[0151] Where Δt represents the time interval between two samples.

[0152] Noise covariance matrix: Q k is the process noise covariance matrix, reflecting uncertainties such as vibration interference error; R k is the observation noise covariance matrix, which reflects the sensor measurement error.

[0153] State equation: describes the evolution of the state vector over time, assuming that the state changes follow a linear dynamic model:

[0154]

[0155] Among them, A k is the state transition matrix, w k is the process noise vector, which obeys the zero-mean Gaussian distribution and has a covariance of Qk Under the assumption of simple uniform motion, A k It can be expressed as:

[0156]

[0157] Among them, I 6×6 is the 6×6 identity matrix, 0 6×6 is a 6×6 zero matrix.

[0158] The observation equation then relates the state vector to the actual observations:

[0159]

[0160] Among them, z k is the observation vector, H k is the observation matrix, v k is the observation noise vector, which obeys the zero-mean Gaussian distribution and has a covariance of RkRk. If the position and attitude are measured directly, then H k It can be:

[0161]

[0162] Among them, I 6×6 is the 6×6 identity matrix, 0 6×6 is a 6×6 zero matrix.

[0163] Furthermore, the Kalman filter is initialized, including: initial state estimation: x0 is estimated based on the initial installation information of the sensor. The initial error covariance matrix: P0 reflects the uncertainty of the initial state estimation and is usually initialized to a large value.

[0164] Specifically, the Kalman filter iterative process includes:

[0165] (1) Prediction step, using the following formula:

[0166] Prediction status:

[0167] Forecast error covariance:

[0168] (2) Update step, using the following formula:

[0169] Calculate the Kalman gain:

[0170] Update the state estimate:

[0171] Update error covariance:

[0172] Furthermore, the accuracy influencing factor can be obtained through the error covariance matrix For example, the average value of the diagonal elements of the error covariance matrix can be taken as the accuracy influencing factor :

[0173]

[0174] Where n is the dimension of the state vector, yes The i-th diagonal element of .

[0175] According to the precision impact factor The comparison result with the preset threshold τ determines whether the acquisition state needs to be adjusted: If ≤τ, indicating that the acquisition status is normal and no adjustment is required; if >τ, indicating that the acquisition state is greatly affected and needs to be estimated based on the updated state Adjust the collection position and collection posture.

[0176] In an exemplary embodiment, Figure 5 As shown, a concrete intelligent vibration method is applied to the above-mentioned concrete intelligent vibration system, and the method includes:

[0177] S501, selecting a current vibration area from the range to be vibrated according to the construction parameters of the range to be vibrated.

[0178] S502, collecting multi-dimensional parameters of the vibration equipment when vibrating in the current vibration area.

[0179] Among them, the multidimensional parameters include vibration frequency, vibration pressure and concrete temperature.

[0180] S503, determining the current vibration strategy required for the current vibration area based on the multi-dimensional parameters during vibration in the current vibration area, and determining the next vibration area corresponding to the current vibration area among the areas to be vibrated within the range to be vibrated.

[0181] S504: Control the vibration device to perform a vibration operation in the current vibration area according to the current vibration strategy, and after the vibration operation in the current vibration area is completed, control the vibration device to vibrate the next vibration area.

[0182] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0183] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A concrete intelligent vibration system, characterized in that: The intelligent concrete vibrating system comprises: A planning module, configured to select a current vibration area from the range to be vibrated according to construction parameters of the range to be vibrated; A multi-dimensional sensor for collecting multi-dimensional parameters of the vibrating equipment when vibrating in the current vibrating area; the multi-dimensional parameters include vibration frequency, vibration pressure and concrete temperature; A decision module, for determining the multi-dimensional parameters when vibrating in the current vibration area, the current vibration strategy required for the current vibration area, and the next vibration area corresponding to the current vibration area among the areas to be vibrated within the range to be vibrated; The control module is used to control the vibration equipment to perform the vibration operation in the current vibration area according to the current vibration strategy, and after the vibration operation in the current vibration area is completed, control the vibration equipment to vibrate the next vibration area.

2. The intelligent concrete vibrating system according to claim 1, characterized in that: The planning module includes: A first planning submodule is configured to divide the range to be vibrated into a plurality of areas to be vibrated according to area parameters and shape parameters of the range to be vibrated; The second planning submodule is used to select candidate vibration areas from each area to be vibrated according to the concrete pouring plan parameters of each area to be vibrated; The third planning submodule is configured to select a current vibration area from the candidate vibration areas according to the steel bar distribution density parameters of the candidate vibration areas.

3. The intelligent concrete vibrating system according to claim 2, characterized in that: The second planning submodule is further configured to: when selecting candidate vibration areas from each area to be vibrated according to the concrete pouring plan parameters of each area to be vibrated, Determine the estimated pouring time for each area to be vibrated based on the concrete pouring plan parameters for each area to be vibrated; Selecting a to-be-vibrated area corresponding to an estimated pouring time whose current time difference is less than a preset time difference as at least one to-be-selected vibration area; A candidate vibration area is selected from each to-be-selected vibration area according to the area position information of each to-be-selected vibration area and the current position information of the vibration equipment.

4. The intelligent concrete vibrating system according to claim 3, characterized in that: The third planning submodule is further configured to, when selecting a current vibration area from the candidate vibration areas based on the steel bar distribution density parameter of the candidate vibration areas: According to the steel bar distribution density parameter of the candidate vibration area, the candidate vibration area selects a priority vibration area whose steel bar distribution density parameter is greater than a preset distribution density; If the number of the priority vibration areas is at least two, determining the vibration complexity of each priority vibration area according to the area parameter and shape parameter of each priority vibration area; The priority vibration area with the smallest vibration complexity among the priority vibration areas is used as the current vibration area; Wherein, the current distance between the position of the current vibration area and the current position information of the vibration equipment meets the set distance value.

5. The intelligent concrete vibrating system according to claim 1, characterized in that: The decision module includes: A first decision submodule is configured to determine a fluidity parameter of concrete in the current vibration area according to a vibration frequency during vibration in the current vibration area; A second decision submodule is configured to determine a target vibration time required for the current vibration area according to the fluidity parameter and temperature of the concrete in the current vibration area; A third decision submodule is configured to determine a target vibration frequency required for the current vibration area according to the vibration pressure and concrete temperature during vibration in the current vibration area; A fourth decision submodule is configured to determine a target vibration pressure required for the current vibration area according to the fluidity parameter of the concrete in the current vibration area; The fifth decision submodule is used to determine the current vibration strategy required for the current vibration area according to the target vibration time, target vibration time vibration frequency and target vibration time vibration pressure required for the current vibration area.

6. The intelligent concrete vibrating system according to claim 5, characterized in that: The fifth decision submodule, when determining the current vibration strategy required for the current vibration area based on the vibration time required for the current vibration area, the required vibration time vibration frequency, and the required vibration time vibration pressure, is further configured to: Obtaining the thickness and structural form of the concrete components within the current vibration area; Determining the foundation vibration depth corresponding to the current vibration area according to the thickness and structural form of the concrete components in the current vibration area; Adjusting the foundation vibration depth according to the concrete temperature during vibration in the current vibration area and the concrete surface image corresponding to the current vibration area to obtain a target vibration depth required for the current vibration area; The current vibration strategy required for the current vibration area is determined according to the target vibration time, target vibration time vibration frequency, target vibration time vibration pressure and target vibration depth required for the current vibration area.

7. The intelligent concrete vibrating system according to claim 5, characterized in that: The fifth decision submodule, when determining the current vibration strategy required for the current vibration area based on the target vibration time, target vibration time vibration frequency, target vibration time vibration pressure, and target vibration depth required for the current vibration area, is further configured to: Determining the number of foundation vibrations corresponding to the current vibration area according to the complexity of the construction structure in the current vibration area; determining the concrete density of the concrete in the current vibration area according to the vibration pressure during vibration in the current vibration area; Adjusting the foundation vibration times according to the concrete density of the concrete in the current vibration area to obtain a target vibration times required for the current vibration area; The target vibration time, target vibration time vibration frequency, target vibration time vibration pressure, target vibration depth and target vibration times required for the current vibration area are used as the current vibration strategy required for the current vibration area.

8. The intelligent concrete vibrating system according to claim 1, characterized in that: The decision module further includes: a planning submodule for selecting at least one adjacent vibration area from each area to be vibrated based on the location information of each area to be vibrated and the area distance information between the current vibration area and the spatial connectivity between each area to be vibrated and the current vibration area; The selection planning submodule is used to select the next vibration area corresponding to the current vibration area from the adjacent vibration areas corresponding to the estimated pouring time whose current time difference is less than the preset time difference.

9. The intelligent concrete vibrating system according to claim 8, characterized in that: The selection planning submodule is further configured to, when selecting a next vibration area corresponding to a current vibration area from adjacent vibration areas corresponding to an estimated pouring time whose time difference with the current time is less than a preset time difference,: According to the concrete mix ratio and steel structure complexity in each adjacent vibration area, the next vibration area corresponding to the current vibration area is selected from the adjacent vibration areas corresponding to the estimated pouring time whose current time difference is less than the preset time difference.

10. The intelligent concrete vibrating system according to claim 1, characterized in that: The intelligent concrete vibration system also includes an image acquisition sensor and a verification module. The image acquisition sensor is arranged above the current vibration area and is used to acquire the concrete surface image of the current vibration area. The verification module is used to: determine the accuracy impact factor of the vibration interference error in the range to be vibrated on the image acquisition sensor based on the Kalman filter; determine the acquisition state of the image acquisition sensor based on the accuracy impact factor; the acquisition state includes the acquisition position and acquisition posture.

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