High / ultra-high performance concrete full-automatic injection pump truck and construction method

Abstract

The invention discloses a high / ultra-high performance concrete full-automatic injection pump truck and a construction method, the high / ultra-high performance concrete full-automatic injection pump truck comprises a walking system, an efficient pumping and precise injection system, a hydraulic and intelligent central control system, a pre-injection pre-scanning system, a spraying-while-detecting system and a post-injection quality evaluation system, and the walking system is used for achieving movement and in-place of a pump truck; the efficient pumping and accurate spraying system is used for conveying and spraying concrete; the hydraulic and intelligent central control system is used for controlling the operation of the whole pump truck; the pre-spraying pre-scanning system is used for acquiring the three-dimensional form and defect information of a construction surface before construction; the spraying-while-detecting system is used for monitoring the concrete flow state and construction parameters in the spraying process in real time; the post-spraying quality evaluation system is used for carrying out nondestructive testing on the quality of a spraying layer after construction; according to the invention, full-process intelligent closed-loop control from construction surface scanning, path planning, real-time spraying adjustment to final quality evaluation is realized, and high quality, high efficiency and intelligence of concrete spraying construction are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of concrete construction equipment, and in particular to a full-automatic high / super high performance concrete jetting pump truck and a construction method. BACKGROUND

[0002] In modern tunnel, slope support, underground engineering and other construction, concrete jetting (guniting) operation is a crucial process. At present, this field mainly relies on the combination of traditional guniting equipment and manual operation, which has the following technical defects that need to be solved urgently: Construction quality is highly dependent on manual experience and is uneven: key quality indicators such as jetting thickness, uniformity, and compactness are mainly judged by the experience of the operator. This leads to large fluctuations in the quality of the sprayed layer, and problems such as uneven thickness, high rebound rate, and internal cavities are prone to occur, which poses a hidden danger to the safety of the engineering structure.

[0003] Low production efficiency: manual operation of the nozzle cannot achieve continuous, uniform, and optimal path movement, and there are repeated spraying and missed spraying phenomena, and frequent stoppage for refilling is required, making it difficult to meet the progress requirements of large-scale engineering in terms of overall construction efficiency.

[0004] Poor working environment and high safety and health risks: the spraying site is filled with dust and has loud noise, and the operator is exposed to this environment for a long time, facing serious occupational health threats such as silicosis and hearing loss, and the risk of safety accidents is also high.

[0005] Lack of full-process quality control: traditional construction only has final appearance inspection or destructive core sampling detection, and cannot perform full-process, quantifiable data collection and evaluation on the pre-construction base surface condition, key parameters during construction, and internal quality after construction. Quality traceability and improvement lack data support.

[0006] In recent years, although some automated guniting mechanical arms have appeared, their intelligent level is limited, and most of them are only "blind spraying", and cannot adaptively plan the path according to the base surface morphology, cannot monitor the quality in real time and adjust the parameters during the spraying process, and cannot perform quantitative evaluation after spraying, and have not fundamentally solved the above problems.

[0007] Therefore, there is an urgent need in the art for a full-automatic jetting pump truck that integrates intelligent perception, real-time decision-making, precise execution, and quality evaluation to realize the complete intelligent upgrading of concrete jetting operations. SUMMARY

[0008] To solve the above problems, the application provides a high / super high performance concrete full-automatic spraying pump truck and a construction method, realizes intelligent closed-loop control of the whole process from construction surface scanning, path planning, real-time spraying adjustment to final quality evaluation, solves the problems of traditional spraying construction relying on manual work, large quality fluctuation and low efficiency, and realizes high quality, high efficiency, high automation and intelligence of concrete spraying construction. The technical solution is as follows: The first aspect of the application provides a high / super high performance concrete full-automatic spraying pump truck, which comprises a walking system, an efficient pumping and accurate spraying system, a hydraulic and intelligent central control system, a pre-spraying scanning system, a spraying and detecting system and a post-spraying quality evaluation system. The walking system is used to realize the movement and positioning of the pump truck. The efficient pumping and accurate spraying system is used to transport and spray concrete. The hydraulic and intelligent central control system is used to control the operation of the whole pump truck. The pre-spraying scanning system is arranged at the front end of the boom of the pump truck and is used to obtain the three-dimensional shape and defect information of the construction surface before construction. The spraying and detecting system is integrated near the nozzle of the efficient pumping and accurate spraying system and is used to monitor the flow state and construction parameters of concrete in the spraying process in real time. The post-spraying quality evaluation system is arranged at the tail of the pump truck and is used to non-destructively detect the quality of the sprayed layer after construction. The hydraulic and intelligent central control system is respectively connected with the pre-spraying scanning system, the spraying and detecting system and the post-spraying quality evaluation system in signal connection, is used to receive and process the data of each system, and generates control instructions to adjust the spraying operation in real time.

[0009] For example, in the high / super high performance concrete full-automatic spraying pump truck provided in an embodiment, the pre-spraying scanning system comprises a 3D laser scanner and a high-definition image acquisition device. The 3D laser scanner is used to perform high-speed laser scanning on the construction surface to obtain high-precision three-dimensional point cloud data. The high-definition image acquisition device is used to acquire the surface image of the construction surface. The hydraulic and intelligent central control system is internally provided with an image recognition algorithm and is used to recognize the cracks and void defects of the construction surface based on the surface image.

[0010] For example, in the high / super high performance concrete full-automatic spraying pump truck provided in an embodiment, the spraying and detecting system comprises a pressure sensor, a flow sensor and a high-speed camera. The pressure sensor is arranged on the concrete conveying pipeline and is used to monitor the pumping pressure in real time. The flow sensor is arranged on the concrete conveying pipeline and is used to monitor the concrete flow in real time. The high-speed camera is aimed at the nozzle outlet area and is used to capture the spraying shape of the concrete flow. The hydraulic and intelligent central control system is configured to dynamically adjust the working parameters of the efficient pumping and accurate spraying system and the motion trajectory of the boom in real time based on the pressure and flow data and the image analysis results of the spraying shape.

[0011] For example, in an embodiment of the high / ultra high performance concrete full-automatic spraying pump truck, the image analysis of the spraying form by the hydraulic and intelligent central control system includes judging the spraying angle of the concrete flow, the diffusion range, and whether segregation or flow interruption occurs.

[0012] For example, in an embodiment of the high / ultra high performance concrete full-automatic spraying pump truck, the post-spraying quality evaluation system includes at least one non-destructive testing device: an ultrasonic detector for detecting the internal density and defects of the sprayed concrete layer; a radar detector for detecting the thickness of the sprayed concrete layer and the bonding condition with the construction surface; a second 3D laser scanner for obtaining the flatness data of the sprayed surface.

[0013] For example, in an embodiment of the high / ultra high performance concrete full-automatic spraying pump truck, the hydraulic and intelligent central control system is configured to automatically plan the optimal motion path and coverage strategy of the spray head based on the data obtained by the pre-spraying scanning system; and automatically generate a quality evaluation report containing construction parameters, quality indicators, and defect location information after completing spraying and quality evaluation.

[0014] For example, in an embodiment of the high / ultra high performance concrete full-automatic spraying pump truck, the high-efficiency pumping and precise spraying system includes a large-displacement hydraulic drive pump for providing stable concrete conveying pressure, and a multi-section high-strength lightweight arm support with a spray head installed at the end.

[0015] For example, in an embodiment of the high / ultra high performance concrete full-automatic spraying pump truck, the hydraulic and intelligent central control system is further configured with a data communication module for uploading construction process data and quality evaluation reports to a cloud server to realize remote monitoring and data traceability.

[0016] The second aspect of the present application provides a concrete spraying construction method using the above-mentioned high / ultra high performance concrete full-automatic spraying pump truck, including the following steps: S1: scanning the construction surface by the pre-spraying scanning system and sending the data to the hydraulic and intelligent central control system; S2: the hydraulic and intelligent central control system automatically plans the spraying path and initial parameters based on the scanning data and controls the high-efficiency pumping and precise spraying system and the arm support to start spraying operation; S3: during the spraying process, the real-time monitoring data is obtained by the side-spraying and side-detecting system, and the hydraulic and intelligent central control system performs real-time feedback adjustment; S4: after completing spraying, the sprayed layer is detected by the post-spraying quality evaluation system to generate a quality report; and S5: based on the quality report, the unqualified areas are marked or the automatic re-spraying program is started.

[0017] The high / performance concrete full-automatic spraying pump vehicle and construction method provided by some embodiments of the application have the following beneficial effects: the pre-spraying scanning system, the spraying and detecting system and the post-spraying quality evaluation system are integrated to form a hardware basis for full-process intelligent closed-loop control, the central control system receives and processes system data to realize full-process intelligent closed-loop control from construction surface scanning, path planning, real-time spraying adjustment to final quality evaluation, solve the problems of traditional spraying construction, such as dependence on manual operation, large quality fluctuation and low efficiency, and realize high quality, high efficiency, high automation and intelligentization of concrete spraying construction, specifically: improve construction quality: accurate construction data are obtained through pre-spraying scanning to provide accurate planning basis for spraying operation, spraying and detecting are used to adjust spraying parameters in real time to ensure uniformity and compactness of concrete spraying, and post-spraying quality evaluation is used to find quality problems in time to provide guidance for subsequent repair, thereby comprehensively improving the quality of concrete spraying construction.

[0018] improve construction efficiency: the automatic spraying operation process reduces manual operation links and greatly improves construction speed, and the intelligent system can quickly respond to and adjust construction parameters to avoid construction interruption caused by unreasonable parameters, thereby further improving construction efficiency.

[0019] reduce labor intensity: the operator only needs to monitor and operate the equipment in the remote control room without high-intensity physical labor in a harsh construction environment, thereby effectively reducing labor intensity and protecting the health of workers.

[0020] improve construction environment: manual operation is reduced to reduce dust, noise and other pollution in the construction site, improve the construction environment and meet the requirements of green construction.

[0021] data traceability and management: the report generated by the post-spraying quality evaluation system and the data in the entire construction process can be stored and analyzed to facilitate construction units to trace and manage engineering quality and provide data support for subsequent engineering optimization. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 The figure is a schematic diagram of the overall structure of the high / performance concrete full-automatic spraying pump vehicle of the present application. DETAILED DESCRIPTION

[0024] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0025] The first aspect of the present application provides a high / ultra-high performance concrete fully automatic jet pump truck, such as Figure 1 As shown, it includes a walking system 6, an efficient pumping and precise spraying system 4, a hydraulic and intelligent central control system 5, a pre-spraying pre-scanning system 1, a spraying and detection system 2 and a post-spraying quality assessment system 3. The walking system 6 is used to realize the movement and positioning of the pump truck; the efficient pumping and precise spraying system 4 is used to transport and spray concrete; the hydraulic and intelligent central control system 5 is used to control the operation of the entire pump truck; the pre-spraying pre-scanning system 1 is arranged at the front end of the pump truck boom, and is used to obtain the three-dimensional shape and defect information of the construction surface before construction; the spraying and detection system 2 is integrated near the nozzle of the efficient pumping and precise spraying system 4, and is used to monitor the concrete flow state and construction parameters during the spraying process in real time; the post-spraying quality assessment system 3 is arranged at the rear of the pump truck, and is used to perform non-destructive testing on the quality of the sprayed layer after construction; wherein, the hydraulic and intelligent central control system 5 is respectively connected to the pre-spraying pre-scanning system 1, the spraying and detection system 2, and the post-spraying quality assessment system 3 for receiving and processing data from each system, and generating control instructions to adjust the spraying operation in real time.

[0026] The high / ultra-high performance concrete fully automatic injection pump truck of this application accurately identifies the base surface condition through the pre-spraying pre-scanning system, and the central control system generates the optimal injection path and parameters based on this. The spraying detection system monitors and adjusts the injection flow state and parameters in real time and feedback to ensure the quality of concrete spraying; the post-spraying quality assessment system performs quality assessment to provide a reliable basis for subsequent construction, forming a precise intelligent closed-loop control, ensuring the uniformity, density and high fit of concrete spraying, thereby improving construction efficiency and quality, reducing labor intensity, improving the construction environment, and fundamentally eliminating common quality problems such as voids and segregation.

[0027] For example, in the high / ultra-high performance concrete fully automatic injection pump truck provided in one embodiment, the pre-spraying scanning system 1 includes a 3D laser scanner and a high-definition image acquisition device. The 3D laser scanner is used to perform high-speed laser scanning on the construction surface to obtain high-precision three-dimensional point cloud data and accurately measure the shape, size, flatness and other information of the construction surface; the high-definition image acquisition device is used to collect surface images of the construction surface; wherein, the hydraulic and intelligent central control system has a built-in image recognition algorithm for identifying cracks and cavity defects on the construction surface based on the surface image.

[0028] According to the above-mentioned embodiments, the 3D laser scanning and high-definition image acquisition and recognition provide the central control system with accurate and quantifiable digital models of the construction surface and defect atlas, so that the automatic planning has reliable decision basis and the problem of "blind spraying" is solved.

[0029] For example, in the high / super high performance concrete full-automatic spraying pump truck provided in an embodiment, the side-spraying and side-detecting system 2 includes a pressure sensor, a flow sensor and a high-speed camera. The pressure sensor is arranged on the concrete conveying pipeline to monitor the pumping pressure in real time, so as to ensure that the pressure is stable within a suitable range and avoid problems such as pipe blockage. The flow sensor is arranged on the concrete conveying pipeline to monitor the concrete flow in real time, so as to adjust the pumping speed in a timely manner according to the construction requirements. The high-speed camera is aimed at the outlet area of the spray head to capture the spraying form of the concrete flow and determine the spraying effect of the concrete, such as whether the spraying angle is accurate and whether the spraying range is comprehensive, through image analysis technology. The hydraulic and intelligent central control system is configured to dynamically adjust the working parameters of the high-efficiency pumping and accurate spraying system and the movement trajectory of the boom based on the pressure and flow data and the image analysis result of the spraying form in real time, so as to ensure the stability and quality of the spraying process.

[0030] According to the above-mentioned embodiments, the pressure / flow sensor and high-speed camera are used for real-time monitoring, so that the system is given "eyes" and "nerves", can perceive the spraying state in real time, provides data input for dynamic adjustment, and is the key to realizing high-quality spraying.

[0031] For example, in the high / super high performance concrete full-automatic spraying pump truck provided in an embodiment, the image analysis of the spraying form by the hydraulic and intelligent central control system includes judging the spraying angle, diffusion range and whether there is segregation or flow interruption of the concrete flow.

[0032] According to the above-mentioned embodiments, the central system analyzes the image of the spraying form, converts the visual information into understandable process parameters (such as angle, range and segregation), and upgrades the control strategy from simple parameter maintenance to complex quality control.

[0033] For example, in an embodiment of the high / super high performance concrete full-automatic spraying pump truck, the post-spraying quality evaluation system includes at least one non-destructive testing device: an ultrasonic detector for detecting the internal density and defects of the sprayed concrete layer; a radar detector for detecting the thickness of the sprayed concrete layer and its bonding condition with the construction surface; and a second 3D laser scanner for obtaining the flatness data of the sprayed surface. The data of the quality detection of the sprayed concrete is also transmitted to the central control system, which evaluates the spraying quality according to the preset quality standard and generates a detailed quality evaluation report. The report content includes whether the various quality indicators of the concrete meet the standard, the location and degree of defects, and other information, providing intuitive construction quality feedback for construction personnel and facilitating timely repair and improvement According to the above embodiment, by integrating ultrasonic / radar and other non-destructive testing in the equipment, the construction quality is quantifiable, internalized and real-time evaluated, changing the traditional lagging mode of post-damage detection and forming a quality closed loop.

[0034] For example, in an embodiment of the high / super high performance concrete full-automatic spraying pump truck, the hydraulic and intelligent central control system is configured to automatically plan the optimal motion path and coverage strategy of the spray head based on the data obtained by the pre-spraying scanning system; and generate a quality evaluation report containing construction parameters, quality indicators and defect location information automatically after completing spraying and quality evaluation.

[0035] The hydraulic and intelligent central control system is the core of the entire spraying pump truck. The central control system uses high-performance industrial computers and advanced control algorithms. It integrates the data of the pre-spraying scanning system, the spraying and detecting system, and the post-spraying quality evaluation system, and realizes intelligent control of the entire spraying operation process. After receiving the data of the pre-spraying scanning system, the central control system automatically plans the optimal spraying path and calculates reasonable spraying parameters such as pumping pressure, flow rate, and spray head moving speed based on construction requirements and a preset spraying model. During spraying, the system analyzes the data fed back by the spraying and detecting system in real time and dynamically adjusts the spraying parameters. After spraying is completed, the system generates a quality evaluation report based on the detection results of the post-spraying quality evaluation system, and can upload the data to the cloud to realize remote storage and sharing of the data, making it convenient for construction managers to check and analyze at any time.

[0036] According to the above embodiment, by automatically planning the path and generating the quality report, the system embodies the decision-making and brain functions of the system, converting the collected data into executable instructions and manageable knowledge, which is a concentrated embodiment of intelligence.

[0037] For example, in an embodiment provided in the high / ultra-high performance concrete full-automatic spraying pump truck, the high-efficiency pumping and precise spraying system includes a large-displacement hydraulic drive pump and a multi-section high-strength lightweight arm frame. The large-displacement hydraulic drive pump is used to provide stable concrete conveying pressure, adopts advanced hydraulic drive technology, is equipped with a large-displacement, high-pressure concrete pump, and can stably convey concrete to meet the needs of different construction scenes. The multi-section high-strength lightweight arm frame is made of high-strength lightweight materials, has good flexibility and stability, can realize flexible stretching in multiple angles and a large range, and ensures that the spray head can accurately reach each position of the construction area. The end of the arm frame is provided with a spray head. The spray head is designed to have a special nozzle structure and spraying angle, which can uniformly and efficiently spray concrete onto the construction surface, effectively reduce the rebound amount of concrete, and improve the material utilization rate.

[0038] According to the above embodiment, the large-displacement pump, lightweight arm frame, and spray head provide stable, powerful, and precise execution capability, which is a physical guarantee for high-quality spraying.

[0039] For example, in an embodiment provided in the high / ultra-high performance concrete full-automatic spraying pump truck, the hydraulic and intelligent central control system is further provided with a data communication module for uploading construction process data and quality evaluation reports to a cloud server to realize remote monitoring and data traceability.

[0040] According to the above embodiment, through data communication and cloud uploading, remote, networked, and traceable construction data are realized, which provides a channel for digital management of group companies and multiple project departments. The operator can monitor the entire system in a remote control room, completely avoiding the harsh front-end operation environment with high dust and high noise. The occupational health hazards are completely eliminated, the "unmanned" construction is realized, and the safety guarantee level is essentially improved.

[0041] In actual construction of the high / ultra-high performance concrete full-automatic spraying pump truck, first, the concrete full-automatic spraying pump truck is driven to a suitable position near the construction area, and the pre-spraying scanning system is started. The 3D laser scanner and image acquisition device start working, fully scan and image collect the construction area, and rapidly transmit data to the central control system. The central control system automatically plans the best spraying path and calculates the corresponding spraying parameters according to these data and in combination with construction requirements.

[0042] Then, the pumping system and the boom system are started, the spray head is moved to the designated position, and the concrete spraying operation is started. During the spraying process, the various sensors and high-speed cameras of the real-time monitoring system monitor the spraying state in real time, and the data are continuously fed back to the central control system. Once a deviation in the spraying parameters or an unsatisfactory spraying effect is found, the central control system immediately issues an instruction to automatically adjust the working state of the pumping system, the boom system, and the spray head, ensuring the stability and quality of the spraying process.

[0043] After the spraying operation is completed, the post-spraying quality evaluation system is started. The non-destructive testing device comprehensively detects the sprayed concrete, and the detection data are transmitted to the central control system to generate a quality evaluation report. The construction personnel timely repair and improve the areas with quality problems according to the report content.

[0044] Through the above specific embodiments, the concrete full-automatic spraying pump truck of the application can efficiently and accurately complete the concrete spraying construction task, realize an intelligent and automated construction process, and bring significant economic and social benefits to the construction industry.

[0045] The second aspect of the application provides a concrete spraying construction method, which uses the high / super-high performance concrete full-automatic spraying pump truck described above, and includes the following steps: S1: scanning the construction surface through the pre-spraying scanning system and sending the data to the hydraulic and intelligent central control system; S2: the hydraulic and intelligent central control system automatically plans the spraying path and initial parameters based on the scanning data, and controls the high-efficiency pumping and precise spraying system and the boom to start the spraying operation; S3: during the spraying process, the real-time monitoring data are obtained through the spraying-while-monitoring system, and the hydraulic and intelligent central control system performs real-time feedback adjustment; S4: after the spraying is completed, the sprayed layer is detected through the post-spraying quality evaluation system to generate a quality report; S5: based on the quality report, the unqualified areas are marked or an automatic re-spraying program is started.

[0046] The concrete spraying construction method of the application replaces manual operation with full-automatic operation, avoids repetition and omission through automatic path planning, reduces downtime caused by improper parameters through real-time feedback adjustment, and provides a continuous and stable material flow through the high-efficiency pumping system. The 24-hour uninterrupted and efficient construction is realized, the comprehensive efficiency is improved by more than 200% compared with manual operation, and the engineering cycle is greatly shortened. The finished product is non-destructively detected through the post-spraying quality evaluation system, and an electronic report is generated together with the pre-spraying and spraying data and uploaded to the cloud. The whole life cycle quality data management from “base surface-process-finished product” is realized, the quality is traceable, analyzable, and optimizable, and a solid foundation is laid for the digital transformation of construction.

[0047] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the technical solution of the present application. Any modification, change, and equivalent modification of the above embodiments, which is made according to the technical essence of the present application, without departing from the technical solution of the present application, still belongs to the scope of the technical solution of the present application.

Claims

1. A high / ultra-high performance concrete fully automatic jet pump truck, characterized in that: include: Travel system, used to realize the movement and positioning of the pump truck; High-efficiency pumping and precise spraying systems for conveying and spraying concrete; Hydraulic and intelligent central control system, used to control the operation of the entire pump truck; The pre-spray scanning system is installed at the front end of the pump truck boom to obtain the three-dimensional shape and defect information of the construction surface before construction; A spray-while-detection system, integrated near the nozzle of the efficient pumping and precise spraying system, is used to monitor the concrete flow state and construction parameters in real time during the spraying process; The post-spraying quality assessment system is installed at the rear of the pump truck and is used to perform non-destructive testing on the quality of the sprayed layer after construction; Among them, the hydraulic and intelligent central control system is respectively connected to the pre-spraying scanning system, the spraying detection system, and the post-spraying quality assessment system for receiving and processing the data of each system and generating control instructions to adjust the spraying operation in real time.

2. The high / ultra-high performance concrete fully automatic jet pump truck according to claim 1, characterized in that: The pre-spray scanning system includes: 3D laser scanner, used for high-speed laser scanning of the construction surface to obtain high-precision three-dimensional point cloud data; High-definition image acquisition device, used to acquire surface images of the construction surface; Among them, the hydraulic and intelligent central control system has a built-in image recognition algorithm for identifying cracks and cavity defects on the construction surface based on the surface image.

3. The high / ultra-high performance concrete fully automatic jet pump truck according to claim 1, characterized in that: The spray-while-detection system comprises: Pressure sensor, installed on the concrete delivery pipeline, used to monitor the pumping pressure in real time; A flow sensor is installed on the concrete delivery pipeline to monitor the concrete flow in real time; A high-speed camera, aimed at the nozzle outlet area, is used to capture the spraying pattern of the concrete flow; Among them, the hydraulic and intelligent central control system is configured to: based on the pressure, flow data and image analysis results of the injection morphology, dynamically adjust the working parameters of the efficient pumping and precise injection system and the movement trajectory of the arm in real time.

4. The high / ultra-high performance concrete fully automatic jet pump truck according to claim 3 is characterized in that: The hydraulic and intelligent central control system analyzes the image of the spraying form, including: judging the spraying angle and diffusion range of the concrete flow and whether segregation or interruption occurs.

5. The high / ultra-high performance concrete fully automatic jet pump truck according to claim 1, characterized in that: The post-spray quality assessment system includes at least one of the following non-destructive testing devices: Ultrasonic testing equipment for detecting the internal density and defects of the shotcrete layer; Radar detector, used to detect the thickness of the shotcrete layer and its bonding condition with the construction surface; The second 3D laser scanner is used to obtain the flatness data of the surface after spraying.

6. The high / ultra-high performance concrete fully automatic jet pump truck according to claim 1, characterized in that: The hydraulic and intelligent central control system is configured as follows: Automatically plan the optimal movement path and coverage strategy of the nozzle based on the data obtained by the pre-spray scanning system; After the spraying and quality assessment are completed, a quality assessment report containing construction parameters, quality indicators and defect location information is automatically generated.

7. The high / ultra-high performance concrete fully automatic jet pump truck according to claim 1, characterized in that: The efficient pumping and precise injection system includes: Large displacement hydraulic drive pump to provide stable concrete delivery pressure; Multi-section high-strength lightweight boom with a nozzle installed at the end.

8. The high / ultra-high performance concrete fully automatic jet pump truck according to claim 1, characterized in that: The hydraulic and intelligent central control system is also equipped with a data communication module for uploading construction process data and quality assessment reports to a cloud server to achieve remote monitoring and data tracing.

9. A concrete spraying construction method, using the high / ultra-high performance concrete fully automatic jet pump truck according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: Scan the construction surface through the pre-spraying scanning system and send the data to the hydraulic and intelligent central control system; S2: The hydraulic and intelligent central control system automatically plans the spraying path and initial parameters based on the scan data, and controls the efficient pumping and precise spraying system and the boom to start the spraying operation; S3: During the spraying process, the spraying and detecting system monitors data in real time, and the hydraulic and intelligent central control system performs real-time feedback adjustment; S4: After the spraying is completed, the sprayed layer is inspected by the post-spraying quality evaluation system to generate a quality report; S5: Based on the quality report, mark the unqualified areas or start the automatic re-spraying program.

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