A concrete pouring height self-adaptive monitoring method and system

Abstract

The present application relates to the technical field of concrete height measurement, and provides a concrete pouring height self-adaptive monitoring method and system, which controls a motor drive cloud platform to drive a laser ranging module to automatically scan a monitoring area and determine an effective monitoring point through an edge computing terminal, and sequentially performs automatic measurement, thereby improving monitoring real-time performance and reducing labor costs. During the monitoring process, when the ranging value suddenly changes and the echo intensity meets a preset condition, the cloud platform is controlled to swing and the maximum ranging value in the swinging process is taken as an effective value to actively avoid shielding and obtain a real concrete liquid surface distance. The number of consecutive invalid points is accumulated to automatically eliminate the invalid points, and new points are obtained by supplementally scanning near the eliminated points when the points are insufficient, thereby realizing automatic updating of the monitoring point set. The inclination of the device is obtained in real time through an inclination sensor, and the ranging value is accurately converted into pouring height in combination with the absolute installation height, thereby eliminating the device inclination error. The present application has low implementation cost and is convenient to deploy.

Description

Technical Field

[0001] This invention relates to the field of concrete height measurement technology, and in particular to an adaptive monitoring method and system for concrete pouring height. Background Technology

[0002] The height and rising speed of concrete pours during construction are crucial monitoring indicators, and their data acquisition plays a vital role in assessing construction quality. In hydropower or pumped-storage power station construction projects, monitoring the installation process of large, high-precision equipment such as turbine housings is essential. Taking the turbine housing as an example, it is a pre-installed steel structure, and to secure it, a large volume of concrete needs to be poured around it. Construction specifications require that the concrete rising speed and pouring height in all areas around the housing be kept within the same range; otherwise, uneven stress on the housing can lead to tilting or irreversible deformation, affecting the subsequent normal operation and service life of the turbine.

[0003] Currently, construction sites commonly use manual, timed measurements to monitor concrete height. The process involves workers inserting a long ruler into the poured concrete surface approximately every half hour, estimating the current height of the concrete by observing the length of the ruler submerged, and further calculating the average rate of rise during that time period. This method has several significant problems: First, it is labor-intensive and inefficient, requiring dedicated personnel for timed measurements and recording, which is particularly inconvenient during continuous nighttime construction. Second, it lacks real-time monitoring; the long intervals between measurements make it difficult to detect asynchronous pouring in different areas, localized pipe blockages, or material supply interruptions, often missing the optimal adjustment window. Third, measurement accuracy is greatly affected by human factors; the ruler's insertion position, the angle of the reading line, and whether the ruler is inserted vertically all introduce errors. Fourth, it poses safety hazards; workers frequently need to approach the edge of the pouring ring, facing the risk of falls from heights and injuries from falling objects.

[0004] Furthermore, the turbine casing ring is surrounded by a dense steel mesh, and the construction site presents complex environmental factors such as frequent personnel movement and the drift of slurry and foam on the concrete surface. While using conventional fixed laser ranging equipment to replace manual measurement could increase the sampling frequency, it faces the following technical challenges: the laser spot may cause false stops and misjudgments due to landing on the steel reinforcement surface; it may experience instantaneous abnormal jumps due to personnel movement; and it may lead to measurement deviations due to slurry and foam coverage. Additionally, if the fixed monitoring point fails due to environmental changes, it cannot automatically adjust and recover, requiring manual climbing for recalibration, thus failing to achieve true unmanned operation.

[0005] Therefore, it is necessary to propose an adaptive monitoring method and system for concrete pouring height to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0006] The main objective of this invention is to provide an adaptive monitoring method and system for concrete pouring height, in order to solve the technical problems of low measurement efficiency, poor real-time performance, and easy influence of human factors on measurement accuracy in the existing technology that uses manual timed measurement.

[0007] To achieve the above objectives, this invention provides an adaptive monitoring method for concrete pouring height, applied to a monitoring device including a laser ranging module, a motor-driven pan-tilt unit, and an edge computing terminal, comprising the following steps: S1, the edge computing terminal controls the motor-driven gimbal to drive the laser ranging module to scan the monitoring area, obtains the ranging value and echo signal intensity value collected by the laser ranging module during the scanning process, and determines at least one effective monitoring point and the corresponding motor deflection angle; S2, control the motor to drive the gimbal to rotate and point the laser ranging module to the effective monitoring point, and collect the current ranging value and the current echo signal strength value; S3, when the change in the current ranging value relative to the previous valid ranging value exceeds a preset change threshold and the current echo signal strength value meets a preset condition, the motor drives the gimbal to swing, and the maximum value among the multiple ranging values ​​collected during the swing is taken as the current valid ranging value; otherwise, the current ranging value is taken as the current valid ranging value. S4. If a valid monitoring point fails to acquire a valid ranging value multiple times in a row, the valid monitoring point is eliminated. If the number of valid monitoring points is less than the preset number, the motor-driven gimbal is controlled to perform supplementary scanning near the motor deflection angle corresponding to the eliminated point in order to acquire new valid monitoring points. S5, based on the effective distance values ​​of all current effective monitoring points, calculate the pouring height and concrete rising speed of the monitoring area.

[0008] Preferably, step S1 includes the following steps: S11, obtain the ranging value of the laser ranging module at the current scanning point and the preset spatial scanning step length, and calculate the deflection angle step length of the motor-driven gimbal based on the ranging value and the preset spatial scanning step length. S12, control the motor to drive the gimbal to rotate point by point according to the deflection angle step size, so that the spatial distance between the laser spots of adjacent scanning points on the concrete liquid surface is the preset spatial scanning step size; S13, each time the rotation reaches a scanning point, the ranging value and echo signal intensity value of that scanning point are collected; S14, the scanning points whose distance measurement value is within the preset effective range and whose echo signal intensity value is within the preset concrete reflection intensity range during the scanning process are determined as candidate points; S15, select at least one from the candidate points as the effective monitoring point, and record the motor horizontal deflection angle and motor vertical deflection angle corresponding to the effective monitoring point.

[0009] Preferably, step S3 includes the following steps: Calculate the absolute value of the difference between the current ranging value and the previous valid ranging value; When the absolute value of the difference exceeds the preset change threshold and the current echo signal intensity value is higher than the preset metal high reflectivity threshold, it is determined that the laser rangefinder module's spot falls on the steel reinforcement surface, and the following operations are performed: Obtain the typical spacing of the reinforcing bars, determine the swing space amplitude based on the typical spacing, and make the swing space amplitude equal to the sum of the typical spacing and the preset margin; Based on the current ranging value, the swing space amplitude is converted into the motor deflection angle swing amplitude, and the motor-driven gimbal is controlled to swing horizontally back and forth with the motor deflection angle swing amplitude as the center, with the motor horizontal deflection angle and the motor vertical deflection angle corresponding to the effective monitoring point as the center. During the swing process, the laser ranging module continuously collects multiple ranging values, and selects the one with the largest value from the multiple ranging values ​​as the current valid ranging value. When the absolute value of the difference does not exceed the preset change threshold, or when the current echo signal intensity value is not higher than the preset metal high reflectivity threshold, the current ranging value is taken as the current effective ranging value.

[0010] Preferably, the step of obtaining the typical spacing of the reinforcing bars specifically includes the following steps: Obtain the ranging value, echo signal strength value, motor horizontal deflection angle, and motor vertical deflection angle of each scanning point generated during the scanning process in step S1; Scanning points with echo signal strength values ​​higher than the preset metal high reflectivity threshold are marked as rebar points; Based on the motor's horizontal deflection angle, vertical deflection angle, and distance measurement value corresponding to each rebar point, the rebar point is converted into two-dimensional coordinates on the concrete liquid surface projection plane. Calculate the spatial distance between the two-dimensional coordinates of any two rebar points, statistically analyze the distribution of all spatial distances, and take the spatial distance with the highest frequency as the typical spacing of the rebars; If the most frequently occurring spatial distance cannot be identified, the preset default spacing value is used as the typical spacing of the reinforcing bars.

[0011] Preferably, step S4 includes the following steps: S41, count the cumulative number of times each valid monitoring point fails to obtain a valid distance measurement value consecutively, and eliminate the valid monitoring point when the cumulative number reaches the preset elimination threshold; S42, when the number of remaining valid monitoring points after elimination is less than the preset number, obtain the motor horizontal deflection angle and motor vertical deflection angle corresponding to the eliminated valid monitoring points, calculate the current average distance value based on the distance measurement values ​​corresponding to all current valid monitoring points, and convert the current average distance value and the preset spatial search radius to obtain the angle search range. S43, control the motor to drive the gimbal, and scan within the angle search range with the horizontal and vertical deflection angles of the motor corresponding to the eliminated valid monitoring point as the center. The first scanning point whose ranging value is within the preset effective range and whose echo signal intensity value is within the preset concrete reflection intensity range is taken as the new valid monitoring point. S44, record the horizontal deflection angle and vertical deflection angle of the motor corresponding to the new valid monitoring point, and add the new valid monitoring point to the current valid monitoring points.

[0012] Preferably, step S5 includes the following steps: S51, obtain the effective distance values ​​corresponding to all current effective monitoring points, as well as the absolute installation height of the monitoring equipment and the static tilt angle of the monitoring equipment relative to the horizontal direction, and convert each effective distance value into the pouring height of each effective monitoring point. S52, calculate the median of the pouring height of all points, remove the pouring height of points whose absolute difference from the median exceeds a preset deviation threshold, and take the arithmetic mean of the remaining pouring heights as the pouring height of the monitoring area. S53, record the pouring height sequence of the monitoring area within the preset time window, perform linear fitting on the pouring height sequence, and use the slope of the fitted straight line as the concrete rising speed.

[0013] Preferably, step S51 includes the following steps: For each valid monitoring point, obtain the valid distance value h, the absolute installation height L of the monitoring device, and the static tilt angle α of the monitoring device relative to the horizontal direction. Using the formula A=Lh The pouring height A corresponding to the effective monitoring point is calculated using cos(90°-α).

[0014] Preferably, step S3 further includes the following steps: When the change in the current ranging value relative to the previous valid ranging value exceeds the preset change threshold and the current echo signal strength value falls within the preset personnel reflection intensity range, it is determined that personnel movement is causing obstruction. The current ranging value is then discarded, and the previous valid ranging value is used as the current valid ranging value.

[0015] Preferably, step S2 further includes the following steps: When the current echo signal intensity value is lower than the preset low reflection threshold, it is determined that the laser ranging module's spot falls on the surface of the floating foam, the current ranging value is discarded, and the measurement of this valid monitoring point is marked as invalid.

[0016] The present invention also provides a concrete pouring height adaptive monitoring system, including a monitoring device, the monitoring device including a laser ranging module, a motor-driven pan-tilt unit, and an edge computing terminal, the edge computing terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the steps of the concrete pouring height adaptive monitoring method as described above.

[0017] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention uses an edge computing terminal to control a motor-driven gimbal to automatically scan the monitoring area and determine effective monitoring points, and to automatically measure each monitoring point in sequence. This replaces the existing manual measurement method of inserting a ruler at regular intervals, significantly improving the real-time performance of monitoring while reducing labor costs. By screening candidate points based on both distance measurement value and echo signal intensity value, undesirable points where the light spot falls on the surface of steel bars, foam, or human body are eliminated, ensuring the high quality of the initial monitoring points from the source and eliminating the reliance on experience for manual point selection.

[0018] (2) In the monitoring process, when the change in the current ranging value relative to the previous effective ranging value exceeds a preset change threshold and the current echo signal strength value meets the preset conditions, the invention controls the motor to drive the pan-tilt unit to swing. The maximum value among the multiple ranging values ​​collected during the swing is taken as the current effective ranging value, thereby actively avoiding obstructions when the laser spot is blocked to obtain the actual distance to the concrete liquid surface; otherwise, the current ranging value is taken as the current effective ranging value, ensuring measurement efficiency under normal conditions. By accumulating the number of times each effective monitoring point fails to obtain an effective ranging value consecutively, and eliminating the point when the conditions are met, and by performing supplementary scanning near the eliminated point to obtain new effective monitoring points when the number of effective monitoring points is less than the preset number, the monitoring equipment can autonomously discover and eliminate failed points and supplement high-quality new points nearby during long-term operation, realizing the automatic updating of the monitoring point set.

[0019] (3) The present invention can obtain the static tilt angle value of the monitoring equipment relative to the horizontal direction in real time through the tilt sensor, and accurately convert each effective distance measurement value into the pouring height of the point by combining the absolute installation height of the equipment, thus eliminating the geometric error of distance measurement caused by the non-level installation of the equipment or the shaking of the scaffold; at the same time, the global pouring height and concrete rising speed of the monitoring area are calculated based on the effective distance measurement values ​​of all current effective monitoring points.

[0020] (4) The monitoring equipment of the present invention does not require personnel to be on duty, is safe and reliable to use, has high measurement efficiency, and the data can be automatically uploaded to the cloud platform, and the construction progress can be viewed remotely in real time; it relies on the laser module for monitoring, which has no impact on the existing construction operation process, and the equipment installation area requirements are low; the equipment is small in size, has low energy consumption, is easy to use, and is easy to promote and deploy in existing water conservancy and hydropower projects. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic flowchart of one embodiment of the present invention; Figure 2 This is a flowchart illustrating the steps S1 in one embodiment of the present invention. Figure 3 This is a schematic diagram illustrating the principle of calculating the pouring height at a specific location in one embodiment of the present invention; Figure 4 This is a measurement diagram showing the effective monitoring points as described in one embodiment of the present invention, where there are four points. Figure 5 This is a plan view of four monitoring areas selected around the turbine housing ring volute in one embodiment of the present invention; Figure 6 This is a schematic diagram of a monitoring device installed on a pole for measurement in one embodiment of the present invention; Figure 7 This is a schematic diagram showing the overall monitoring overview during a certain on-site turbine seat ring volute pouring process, as described in one embodiment of the present invention. Figure 8 for Figure 7 An illustration showing the monitoring data in a list format; Figure 9 This is a schematic diagram of the final valid data obtained after removing abnormal data during the monitoring period in one embodiment of the present invention. Figure 10This is a schematic diagram showing the height information of the first monitoring point, the second monitoring point, and the third monitoring point at a certain time node in one embodiment of the present invention.

[0023] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0024] Explanation of icon numbers: 10. Monitoring equipment; 11. First monitoring point; 12. Second monitoring point; 13. Third monitoring point; 14. Fourth monitoring point; 21. First monitoring area; 22. Second monitoring area; 23. Third monitoring area; 24. Fourth monitoring area; 30. Turbine seat ring volute; 40. Mounting bracket; 50. Erecting pole. Detailed Implementation

[0025] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0028] Please refer to Figures 1 to 10 This invention provides an adaptive monitoring method for concrete pouring height, applied to a monitoring device including a laser ranging module, a motor-driven pan-tilt unit, and an edge computing terminal, comprising the following steps: S1, the edge computing terminal controls the motor-driven gimbal to drive the laser ranging module to scan the monitoring area, acquires the ranging value and echo signal intensity value collected by the laser ranging module during the scanning process, and determines at least one valid monitoring point and the corresponding motor deflection angle; such as Figure 5 As shown, taking the installation of the turbine base ring volute as an example, according to the actual construction process on site, the upper left is selected as the first monitoring area, the upper right as the second monitoring area, the lower left as the third monitoring area, and the lower right as the fourth monitoring area. Each monitoring area can be monitored by a separate monitoring device, and each monitoring device monitors within its corresponding monitoring area.

[0029] S2, control the motor to drive the gimbal to rotate and point the laser ranging module to the effective monitoring point, and collect the current ranging value and the current echo signal strength value; S3, when the change in the current ranging value relative to the previous valid ranging value exceeds a preset change threshold and the current echo signal strength value meets a preset condition, the motor drives the gimbal to swing, and the maximum value among the multiple ranging values ​​collected during the swing is taken as the current valid ranging value; otherwise, the current ranging value is taken as the current valid ranging value. S4. If a valid monitoring point fails to acquire a valid ranging value multiple times in a row, the valid monitoring point is eliminated. If the number of valid monitoring points is less than the preset number, the motor-driven gimbal is controlled to perform supplementary scanning near the motor deflection angle corresponding to the eliminated point in order to acquire new valid monitoring points. S5, based on the effective distance values ​​of all current effective monitoring points, calculate the pouring height and concrete rising speed of the monitoring area.

[0030] (1) This invention uses an edge computing terminal to control a motor-driven gimbal to automatically scan the monitoring area and determine effective monitoring points, and to automatically measure each monitoring point in sequence. This replaces the existing manual measurement method of inserting a ruler at regular intervals, significantly improving the real-time performance of monitoring while reducing labor costs. By screening candidate points based on both distance measurement value and echo signal intensity value, undesirable points where the light spot falls on the surface of steel bars, foam, or human body are eliminated, ensuring the high quality of the initial monitoring points from the source and eliminating the reliance on experience for manual point selection.

[0031] (2) In the monitoring process, when the change in the current ranging value relative to the previous effective ranging value exceeds a preset change threshold and the current echo signal strength value meets the preset conditions, the invention controls the motor to drive the pan-tilt unit to swing. The maximum value among the multiple ranging values ​​collected during the swing is taken as the current effective ranging value, thereby actively avoiding obstructions when the laser spot is blocked to obtain the actual distance to the concrete liquid surface; otherwise, the current ranging value is taken as the current effective ranging value, ensuring measurement efficiency under normal conditions. By accumulating the number of times each effective monitoring point fails to obtain an effective ranging value consecutively, and eliminating the point when the conditions are met, and by performing supplementary scanning near the eliminated point to obtain new effective monitoring points when the number of effective monitoring points is less than the preset number, the monitoring equipment can autonomously discover and eliminate failed points and supplement high-quality new points nearby during long-term operation, realizing the automatic updating of the monitoring point set.

[0032] (3) The present invention can obtain the static tilt angle value of the monitoring equipment relative to the horizontal direction in real time through the tilt sensor, and accurately convert each effective distance measurement value into the pouring height of the point by combining the absolute installation height of the equipment, thus eliminating the geometric error of distance measurement caused by the non-level installation of the equipment or the shaking of the scaffold; at the same time, the global pouring height and concrete rising speed of the monitoring area are calculated based on the effective distance measurement values ​​of all current effective monitoring points.

[0033] (4) The monitoring equipment of the present invention does not require personnel to be on duty, is safe and reliable to use, has high measurement efficiency, and the data can be automatically uploaded to the cloud platform, and the construction progress can be viewed remotely in real time; it relies on the laser module for monitoring, which has no impact on the existing construction operation process, and the equipment installation area requirements are low; the equipment is small in size, has low energy consumption, is easy to use, and is easy to promote and deploy in existing water conservancy and hydropower projects.

[0034] Furthermore, after calculating the pouring height and concrete rising speed of the monitored area, the edge computing terminal can upload the data to the cloud server in real time via a 4G communication module. The cloud server stores and processes the received data, generates a visual monitoring interface, and pushes it to the mobile terminal of construction management personnel or the large screen of the monitoring center for real-time display, such as... Figures 7 to 9 As shown.

[0035] In a preferred embodiment, step S1 includes the following steps: S11, obtain the ranging value of the laser ranging module at the current scanning point and the preset spatial scanning step length, and calculate the deflection angle step length of the motor-driven gimbal based on the ranging value and the preset spatial scanning step length. The preset spatial scanning step size is obtained from pre-stored data. This preset step size is the planar distance between the laser spots of two adjacent scanning points on the horizontal projection plane of the concrete liquid surface. The setting is based on typical engineering characteristics of the concrete liquid surface at the construction site. Specifically, after normal vibration, the height difference in a local area of ​​the concrete liquid surface typically does not exceed 1 to 2 cm, forming a local flat area with a diameter of approximately 15 to 30 cm. Simultaneously, the typical spacing of the reinforcing steel mesh around the seat ring is 15 to 25 cm, and the diameter of the laitance / foam accumulation area is approximately 10 to 20 cm. To ensure that each potentially suitable local flat area for monitoring is covered by at least one scanning point, while also considering scanning efficiency, the preset spatial scanning step size is preferably set to 5 to 10 cm. For example, when the reinforcing steel arrangement in the monitoring area is dense or the concrete flowability is poor, a smaller value (e.g., 5 cm) can be selected; when the reinforcing steel arrangement is sparse or higher scanning efficiency is required, a larger value (e.g., 10 cm) can be selected.

[0036] In another embodiment, the preset spatial scanning step size can also be appropriately adjusted by the construction personnel during equipment installation based on the density of the reinforcing bars and the fluidity of the concrete on site.

[0037] After scanning begins, the motor-driven gimbal is controlled to point the laser ranging module at the corresponding horizontal and vertical deflection angles of the motor at the current scanning point. Once the motor-driven gimbal stabilizes, the current ranging value collected by the laser ranging module is acquired. The current ranging value is the straight-line distance from the laser ranging module's transmitter to the measured surface (such as a concrete liquid surface).

[0038] The preset spatial scanning step size ΔS (distance value) is then converted into the deflection angle step size (angle value) of the motor-driven gimbal. The geometric principle of the conversion is as follows: when the distance between the laser ranging module and the concrete liquid surface is H, when the motor-driven gimbal deflects by a small angle Δθ, the arc length of the laser spot moving on the concrete liquid surface is approximately equal to H. Δθ (where Δθ is in radians). To ensure that the distance the laser spot moves on the concrete surface is equal to the preset spatial scanning step size ΔS, the deflection angle step size Δθ should satisfy: Δθ = arctan(ΔS / H); The deflection angle step Δθ obtained through the above conversion is then converted from radians to degrees to obtain a deflection angle step value that can be directly used for motor control commands.

[0039] S12, control the motor to drive the gimbal to rotate point by point according to the deflection angle step size, so that the spatial distance between the laser spots of adjacent scanning points on the concrete liquid surface is the preset spatial scanning step size; After calculating the deflection angle step size Δθ, a point-by-point scanning cycle begins. Taking horizontal scanning as an example, firstly, the motor-driven gimbal is controlled to point the laser ranging module to the starting angle position of the monitoring area (e.g., the left boundary of the horizontal deflection angle range and the upper boundary of the vertical deflection angle range). After data acquisition is completed at the starting position, a relative rotation command is sent to the motor-driven gimbal, controlling it to rotate the deflection angle step size Δθ to the right in the horizontal direction to reach the next scanning point. After the motor-driven gimbal stabilizes, data is acquired again. This cycle repeats, rotating Δθ to the right after each acquisition until the entire horizontal deflection angle range is covered, completing one line of scanning. After completing one line of scanning, the motor-driven gimbal is controlled to rotate the deflection angle step size Δθ downwards in the vertical direction to enter the next line. Subsequently, the horizontal direction is scanned point-by-point in the opposite direction with the same deflection angle step size Δθ. This process is repeated line by line in a zigzag pattern until the current vertical deflection angle reaches the lower boundary of the preset vertical deflection angle range, covering the entire preset monitoring angle range (including the horizontal deflection angle range and the vertical deflection angle range).

[0040] S13, each time the rotation reaches a scanning point, the ranging value and echo signal intensity value of that scanning point are collected; The signal processing circuit inside the laser ranging module counts the number of photons received by the single-photon avalanche diode array and converts them into echo signal intensity values. The conversion process is a well-known and mature technology. The ranging value and the echo signal intensity value are associated and stored to form a scanning record.

[0041] S14, the scanning points whose distance measurement value is within the preset effective range and whose echo signal intensity value is within the preset concrete reflection intensity range during the scanning process are determined as candidate points; The system obtains the lower and upper limits of the preset effective range. The preset effective range can be calculated based on the absolute installation elevation of the monitoring equipment, the elevation of the concrete pouring bottom surface, and the design top surface elevation. The lower limit is the theoretical distance value corresponding to the concrete bottom surface elevation minus the preset margin, and the upper limit is the theoretical distance value corresponding to the concrete top surface elevation plus the preset margin. If the distance value of the current scanning point is within the preset effective range, the distance value is considered valid; otherwise, the scanning point is considered invalid (it may have hit an obstacle at a very close distance, or a distant background beyond the monitoring range, or no echo was received at all).

[0042] The preset concrete reflection intensity range is obtained through on-site calibration after equipment installation: the laser spot can be pointed at a location known as a normal concrete liquid surface or a wet concrete test block by manually controlling the motor to drive the pan-tilt unit. The echo signal intensity value at this point is obtained as a reference value, and a preset fluctuation range of the reference value is taken as the preset concrete reflection intensity range. If the echo signal intensity value of the current scanning point falls within this range, it is determined that the laser spot falls on a normal concrete liquid surface; if the echo signal intensity value is higher than the upper limit of the range, it is determined that the laser spot falls on a metal surface such as steel bars; if the echo signal intensity value is lower than the lower limit of the range, it is determined that the laser spot falls on a laitance foam or water surface.

[0043] S15, select at least one from the candidate points as the effective monitoring point, and record the motor horizontal deflection angle and motor vertical deflection angle corresponding to the effective monitoring point.

[0044] Select a preset number (e.g., 4) of scan points from the candidate points as the final valid monitoring points, such as... Figure 4 As shown, the four selected valid monitoring points, from left to right, are the first monitoring point, the second monitoring point, the third monitoring point, and the fourth monitoring point.

[0045] In a preferred embodiment, step S3 includes the following steps: Calculate the absolute value of the difference between the current ranging value and the previous valid ranging value; It is worth noting that during normal pouring, the rate of rise of the concrete level typically does not exceed 10 cm / hour, and the normal rise within adjacent sampling intervals (e.g., 15 seconds) is less than 0.1 cm. The preset change threshold can be obtained through static observation calibration after equipment installation: before pouring begins, the laser ranging module is controlled to point at a fixed target, multiple ranging values ​​are continuously collected, and the standard deviation is calculated. The standard deviation is multiplied by a preset safety factor (e.g., 5 to 10 times) to obtain the preset change threshold. As a preferred example, the preset change threshold is set to 4 cm. Therefore, when the absolute value of the difference between the current ranging value and the previous valid ranging value exceeds the preset change threshold, it is determined to be an abnormal event.

[0046] When the absolute value of the difference exceeds the preset change threshold and the current echo signal intensity value is higher than the preset metal high reflectivity threshold, it is determined that the laser ranging module's spot falls on the rebar surface, and the following operations are performed: After detecting a sudden change in the ranging value, the current echo signal intensity value is compared with the preset metal high reflectivity threshold. The preset metal high reflectivity threshold can be obtained through on-site calibration after equipment installation: the motor is manually controlled to drive the pan-tilt unit to point the laser spot at a known exposed rebar surface, and the echo signal intensity value at this time is obtained as the metal reflection reference value. This embodiment utilizes the high reflectivity of the metal surface to laser (the echo intensity is significantly higher than that of wet concrete) and uses the echo signal intensity as an objective criterion to distinguish rebar obstruction from other anomalies (such as personnel passing by or mortar covering), thus achieving accurate identification of the type of obstruction.

[0047] Obtain the typical spacing of the reinforcing bars, determine the swing space amplitude based on the typical spacing, and make the swing space amplitude equal to the sum of the typical spacing and the preset margin; The swing amplitude in this step is dynamically determined based on the actual rebar mesh spacing identified by on-site scanning, rather than a fixed empirical value. When the rebar spacing varies across different construction sites (e.g., from 10 cm to 25 cm), this application can automatically adapt to ensure that the swing amplitude is sufficient to move the laser spot from the obstructed rebar position to the adjacent mesh gap. Increasing the preset margin further covers the construction errors of rebar tying and the influence of the laser spot's own size, improving the success rate of the anti-obstruction action.

[0048] Based on the current ranging value, the swing space amplitude is converted into the motor deflection angle swing amplitude, and the motor-driven gimbal is controlled to swing horizontally back and forth with the motor deflection angle swing amplitude as the center, with the motor horizontal deflection angle and the motor vertical deflection angle corresponding to the effective monitoring point as the center. The swing space amplitude is converted into the motor deflection angle swing amplitude based on the current ranging value. The geometric principle of the conversion is the same as that of converting the motor-driven gimbal deflection angle step length into the preset spatial scanning step length in step S11: for example, if the current ranging value is hc The swing amplitude w, the motor deflection angle swing amplitude Δθ w Then Δθ w =arctan(w / h c ).

[0049] Control the motor to drive the pan-tilt unit, using the horizontal and vertical deflection angles of the motor corresponding to the effective monitoring point as the center, and move it horizontally according to ±(Δθ). w / 2) Perform reciprocating swing. The swing direction is chosen to be horizontal because the main direction of the reinforcing mesh around the seat ring is usually vertical, and horizontal swing can most effectively cross the reinforcing mesh.

[0050] During the swing process, the laser ranging module continuously collects multiple ranging values, and selects the one with the largest value from the multiple ranging values ​​as the current valid ranging value. During the horizontal reciprocating swing of the motor-driven gimbal, the laser ranging module is controlled to continuously measure distances at relatively high sampling intervals. The value with the largest value is selected as the current effective ranging value for that effective monitoring point in the current cycle. This cleverly utilizes the physical fact that there is a fixed geometric height difference between the reinforcing steel and the concrete surface (considering obstruction, the closer the reinforcing steel is to the device, the smaller the ranging value; the farther the concrete surface is from the device, the larger the ranging value). During the swing, the laser spot passes through a gap in the grid at a certain moment; the ranging value at that moment is the actual distance to the liquid surface, and therefore the maximum value among all ranging values ​​within the swing cycle. This implementation ensures stable acquisition of accurate concrete surface data even in environments with strong obstruction, effectively solving the technical problem of monitoring interruption caused by continuous obstruction of the laser spot by the reinforcing steel.

[0051] When the absolute value of the difference does not exceed the preset change threshold, or the current echo signal strength value is not higher than the preset metal high reflectivity threshold, the current ranging value is taken as the current valid ranging value. This indicates that there is no rebar obstruction, and the current ranging value is stored and used for subsequent height calculations.

[0052] As a preferred embodiment, the step of obtaining the typical spacing of the reinforcing bars specifically includes the following steps: Obtain the ranging value, echo signal strength value, motor horizontal deflection angle, and motor vertical deflection angle of each scanning point generated during the scanning process in step S1; Scanning points with echo signal intensity values ​​higher than the preset metal high reflectivity threshold are marked as rebar points; by utilizing the high reflectivity of metal to laser, the rebar points are identified without the need for manual visual interpretation or manual marking of the rebar position.

[0053] Based on the motor's horizontal deflection angle, vertical deflection angle, and distance measurement value corresponding to each rebar point, the rebar point is converted into two-dimensional coordinates on the concrete liquid surface projection plane. Since the rebar points are scanned at different motor deflection angles and the distance measurements are different, directly comparing angles or distances cannot reflect the true spatial spacing between the rebars. Therefore, it is necessary to uniformly convert all rebar points to the same reference plane. Taking the rotation center of the motor-driven gimbal as the origin and the horizontal plane where the concrete surface is located as the projection plane, the two-dimensional coordinates (x, y) of the rebar point on the projection plane are calculated according to the conversion relationship from spherical coordinates to rectangular coordinates. The specific conversion formula is: m = h cosφ;x=m sinγ;y=m cosγ; where γ is the horizontal deflection angle of the motor corresponding to the rebar point, φ is the vertical deflection angle of the motor, h is the measured distance, and m is the projected distance of the measured distance on the horizontal plane. The relative positional relationship on the two-dimensional plane after projection can truly reflect the density in the horizontal direction, unaffected by height differences.

[0054] Calculate the spatial distance between the two-dimensional coordinates of any two rebar points, statistically analyze the distribution of all spatial distances, and take the spatial distance with the highest frequency as the typical spacing of the rebars; perform statistical analysis on the calculated set of distance values, and take the spatial distance with the highest frequency as the typical spacing of the rebars.

[0055] If the most frequently occurring spatial distance cannot be identified, the preset default spacing value is used as the typical spacing of the reinforcing bars.

[0056] In rare cases, the statistical distance distribution may fail to identify significant peaks. For example, the number of rebar points within the monitoring area may be too small, or the rebar points may be too scattered, with no obvious clustering of spacing values, or the laser ranging module may experience severe interference during scanning, resulting in poor data quality. In such cases, a preset default spacing value is used as the typical spacing of the rebar mesh. This preset default spacing value can be determined in any of the following ways: based on the design spacing in the rebar design drawings around the seat ring (e.g., 15 cm); based on the commonly used rebar spacing specified in the hydraulic concrete structure design code; or determined by construction personnel based on actual on-site measurements during equipment installation. As a preferred example, the preset default spacing value is set to 15 cm.

[0057] In a preferred embodiment, step S4 includes the following steps: S41, count the cumulative number of times each valid monitoring point fails to obtain a valid distance measurement value consecutively, and eliminate the valid monitoring point when the cumulative number reaches a preset elimination threshold; wherein, the preset elimination threshold is set based on engineering experience, for example, 3 times.

[0058] S42, when the number of remaining valid monitoring points after elimination is less than the preset number, obtain the motor horizontal deflection angle and motor vertical deflection angle corresponding to the eliminated valid monitoring points, calculate the current average distance value based on the distance measurement values ​​corresponding to all current valid monitoring points, and convert the current average distance value and the preset spatial search radius to obtain the angle search range. It is important to note that an excessively large search range results in prolonged scanning time and low efficiency; conversely, a search range that is too small may fail to escape localized defective areas (such as laitance accumulation zones) that caused the original monitoring points to fail. This step employs an adaptive search range based on the current liquid level height: by acquiring the distance values ​​corresponding to all currently valid monitoring points, the arithmetic mean is calculated as the current average distance value. A preset spatial search radius is then obtained. This preset spatial search radius is set according to the size of typical localized defective areas (such as laitance accumulation zones) on the concrete surface, ensuring that the search range is sufficient to escape these defective areas. In this embodiment, the preset spatial search radius is set to 15 centimeters.

[0059] The angle search range is calculated based on the current average ranging value and the preset spatial search radius. The geometric principle of the conversion is as follows: when the spatial distance the laser spot moves on the liquid surface is the preset spatial search radius, and the current distance is the current average ranging value, the corresponding deflection angle amplitude is the angle search range.

[0060] Satisfy: Δθ s =arctan(R / h a ); where Δθ s R is the angular search range, R is the preset spatial search radius, and h is the search radius. a This is the current average distance measurement value.

[0061] S43, control the motor to drive the gimbal, and scan within the angle search range with the horizontal and vertical deflection angles of the motor corresponding to the eliminated valid monitoring point as the center. The first scanning point whose ranging value is within the preset effective range and whose echo signal intensity value is within the preset concrete reflection intensity range is taken as the new valid monitoring point. After determining the search center angle and the angle search range, control the motor-driven gimbal, centering on the horizontal and vertical deflection angles of the motor corresponding to the elimination point, and within ±Δθ in the horizontal and vertical directions. s Perform local scanning within the angular range, and the scanning method can be line-by-line scanning.

[0062] At each scanning point, the laser ranging module is controlled to perform a ranging measurement to obtain the current ranging value and the echo signal intensity value, and to determine whether the ranging value is within the preset effective range and whether the echo signal intensity value is within the preset concrete reflection intensity range.

[0063] To improve supplementation efficiency, this step adopts a stop-first-meets-the-first approach: once the first scan point that simultaneously meets both of the above screening conditions is encountered during the scanning process, the scanning is immediately stopped, and the scan point is identified as a new valid monitoring point, and the remaining area is no longer scanned.

[0064] If no matching scan point is found within the entire angle search range, the original angle of the eliminated point can be temporarily retained, and a replacement attempt can be made in subsequent monitoring cycles. Alternatively, a replacement failure message can be sent to the cloud platform for manual intervention.

[0065] S44, record the horizontal deflection angle and vertical deflection angle of the motor corresponding to the new valid monitoring point, and add the new valid monitoring point to the current valid monitoring points.

[0066] The new valid monitoring point is added to the current valid monitoring points, and the number of valid monitoring points is restored to the preset number.

[0067] Further, step S5 includes the following steps: S51, obtain the effective distance values ​​corresponding to all current effective monitoring points, as well as the absolute installation height of the monitoring equipment and the static tilt angle of the monitoring equipment relative to the horizontal direction, and convert each effective distance value into the pouring height of each effective monitoring point. Further, step S51 includes the following steps: For each valid monitoring point, obtain the corresponding valid distance value h, the absolute installation height L of the monitoring equipment, and the static tilt angle α of the monitoring equipment relative to the horizontal direction; use the formula A=Lh The pouring height A corresponding to the effective monitoring point is calculated using cos(90°-α).

[0068] like Figure 3 As shown, the absolute installation height L can be measured by construction personnel using a total station during the equipment installation phase. The static tilt angle value of the monitoring equipment relative to the horizontal direction at the current moment is obtained through the tilt sensor. The tilt sensor is installed inside the monitoring equipment, and the reference benchmark for the static tilt angle value is the horizontal direction. The tilt sensor outputs the angle α between the current optical axis and the horizontal direction, and the angle between the current optical axis and the vertical direction is 90°-α.

[0069] S52, calculate the median of the pouring height at all points, remove the pouring heights at points whose absolute difference from the median exceeds a preset deviation threshold, and take the arithmetic mean of the remaining pouring heights as the pouring height of the monitored area; calculate the median of the pouring height at all points, the median is the value in the middle after sorting the data by size, the advantage is that it is not affected by extreme outliers. Calculate the absolute value of the difference between the pouring height at each point and the median, and compare it with the preset deviation threshold. The preset deviation threshold is set according to the construction accuracy requirements, and must be greater than the normal local height difference of the liquid level (usually 1-2 cm) and less than the abnormal deviation that requires warning. In this embodiment, the preset deviation threshold is set to 5 cm.

[0070] Finally, the arithmetic mean of the remaining pouring heights is taken as the pouring height of the monitored area.

[0071] S53, record the pouring height sequence of the monitoring area within the preset time window, perform linear fitting on the pouring height sequence, and use the slope of the fitted straight line as the concrete rising speed.

[0072] The length of the preset time window can be set according to the typical speed of concrete pouring and the real-time monitoring requirements. If the preset time window is too short, the speed curve is easily affected by high-frequency noise; if the preset time window is too long, the speed response will be lagging. In this embodiment, the preset time window is set to 5 minutes.

[0073] A least-squares linear fit is performed on the pouring height sequence within a preset time window to find the best-fitting straight line that minimizes the sum of the squared vertical distances from each data point to this line. The slope of the fitted straight line represents the average rise rate of the concrete within the preset time window.

[0074] Figure 7 This is a schematic diagram showing the overall monitoring overview during the pouring of the turbine bearing ring volute at a certain site. The concrete pouring time was approximately 23:40 on September 24, 2025, and approximately 7:00 on September 25, 2025. The horizontal axis in the diagram represents the sampling time corresponding to the data points (due to the dense sampling, it cannot be displayed in full; therefore, the horizontal axis is represented by the text information "time"). The vertical axis represents the current concrete height, in centimeters. The "spikes" in the diagram represent abnormal data captured by the monitoring equipment when workers were working on the work surface during the pouring period, which need to be removed using the method of this invention.

[0075] Figure 8 for Figure 7 This diagram displays the monitoring data in a list format, showing detailed information on the height of the poured concrete at each moment. The left side represents the time, and the right side represents the height of the poured concrete, in centimeters.

[0076] Figure 9 This is a schematic diagram of the final valid data obtained after removing abnormal data during the monitoring period using the method of the present invention. The horizontal axis represents time, and the vertical axis represents the current height of the concrete that has been poured, in centimeters.

[0077] Figure 10 This is a schematic diagram showing the height information of the first, second, and third monitoring points at a certain time point, in centimeters.

[0078] In another preferred embodiment, step S3 further includes the following steps: When the change in the current ranging value relative to the previous valid ranging value exceeds the preset change threshold and the current echo signal strength value falls within the preset personnel reflection intensity range, it is determined that personnel movement is causing obstruction. The current ranging value is then discarded, and the previous valid ranging value is used as the current valid ranging value.

[0079] After detecting a sudden change in the ranging value, the current echo signal intensity value is further acquired. The echo signal intensity value reflects the strength of the measured surface's ability to reflect infrared laser light, and its value is closely related to factors such as surface material, color, and roughness. The current echo signal intensity value is compared with a preset personnel reflection intensity range. The preset personnel reflection intensity range is obtained through on-site calibration after equipment installation: during the equipment debugging phase, a construction worker walks normally within the monitoring area, allowing their body to pass through the laser beam path, and the echo signal intensity value at this time is recorded. After multiple consecutive acquisitions (e.g., 10 times), a reasonable range is taken as the preset personnel reflection intensity range. By judging the range of echo signal intensity values, different types of obstruction are classified. When it is determined that personnel movement is causing obstruction, the current ranging value acquired this time is directly discarded and not included in the subsequent calculation of the point pouring height; at the same time, the previous valid ranging value is used as the current valid ranging value for this valid monitoring point in this cycle.

[0080] In another preferred embodiment, step S2 further includes the following steps: When the current echo signal intensity value is lower than the preset low reflection threshold, it is determined that the laser ranging module's spot falls on the surface of the floating foam, the current ranging value is discarded, and the measurement of this valid monitoring point is marked as invalid.

[0081] The preset low reflection threshold is obtained through on-site calibration after equipment installation: During the equipment commissioning phase, the motor-driven pan-tilt unit can be manually controlled to point the laser spot at a known surface of laitance foam (usually visible laitance on the liquid surface during the initial pouring stage or after vibration). The echo signal intensity value at this time is recorded. After multiple consecutive acquisitions, the average value is taken as the laitance reference value, and then multiplied by a preset coefficient (e.g., 1.2 to 1.5) to obtain the preset low reflection threshold. Alternatively, a simpler method can be used: using the calibrated concrete reflection reference value, a preset proportion (e.g., 30% to 40%) is taken as the preset low reflection threshold.

[0082] The present invention also provides a concrete pouring height adaptive monitoring system, including a monitoring device, the monitoring device including a laser ranging module, a motor-driven pan-tilt unit, and an edge computing terminal, the edge computing terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the steps of the concrete pouring height adaptive monitoring method as described above.

[0083] It is understood that the motor-driven gimbal in this application can be a commercially available two-axis gimbal product, the laser ranging module can be a ToF laser ranging sensor that supports output ranging values ​​and echo signal intensity values, and the edge computing terminal can be an embedded processor or industrial computer capable of running the adaptive monitoring method for concrete pouring height described in this invention. The tilt sensor can also be a mature product; those skilled in the art can flexibly select commercially available mature hardware for integration based on actual engineering needs and cost budgets.

[0084] As a preferred embodiment, such as Figure 6 As shown, the monitoring equipment of this application can be installed on a pole next to the concrete pouring area using a mounting bracket, and the pole is fixedly installed on the ground. It is worth noting that after the equipment is installed and before executing step S1, the initial attitude of the motor-driven gimbal is determined first, and the angle position corresponding to this attitude is recorded as the zero reference. The initial attitude is calibrated manually or automatically by the edge computing terminal. All subsequent measurements, recordings, and controls of the motor deflection angles are based on this zero reference, thereby ensuring the spatial consistency of the angle data.

[0085] Specifically, in one embodiment, the edge computing terminal sends a zeroing command to the motor-driven gimbal, causing the gimbal to automatically return to a preset reference zero position and use this reference zero position as the initial posture. The preset reference zero position can be the mechanical zero position corresponding to the limit switch built into the gimbal, or it can be the electrical zero position calibrated at the factory and stored in the firmware of the gimbal. Alternatively, in another embodiment, the construction personnel manually operate the gimbal to adjust the optical axis of the laser ranging module to a preset initial pointing posture that is easy to observe and calibrate, for example, so that the laser spot illuminates the approximate geometric center of the monitoring area.

[0086] When the motor-driven gimbal is in the preset initial pointing posture, it responds to the zero-position confirmation command to obtain the real-time angular position of the motor-driven gimbal in the horizontal and vertical directions, and records the obtained horizontal deflection angle value as the zero-position horizontal deflection angle and the obtained vertical deflection angle value as the zero-position vertical deflection angle. This set of angle values ​​serves as the zero-position reference for this monitoring task.

[0087] In subsequent steps S1 to S4, all target deflection angle commands sent by the edge computing terminal to the motor-driven gimbal, and all real-time deflection angle values ​​acquired and recorded from the motor-driven gimbal, are relative deflection amounts relative to the zero-position reference. After initialization, the system enters a running monitoring mode, polling each valid monitoring point according to a preset sampling period, calculating and uploading the pouring height and rising speed in real time until the current pouring task is completed.

[0088] The above are merely preferred embodiments of the present invention and do not limit the scope of protection of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention’s specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. An adaptive monitoring method for concrete pouring height, applied to a monitoring device including a laser ranging module, a motor-driven pan-tilt unit, and an edge computing terminal, characterized in that, Includes the following steps: S1, the edge computing terminal controls the motor-driven gimbal to drive the laser ranging module to scan the monitoring area, obtains the ranging value and echo signal intensity value collected by the laser ranging module during the scanning process, and determines at least one effective monitoring point and the corresponding motor deflection angle; S2, control the motor to drive the gimbal to rotate and point the laser ranging module to the effective monitoring point, and collect the current ranging value and the current echo signal strength value; S3, when the change in the current ranging value relative to the previous valid ranging value exceeds a preset change threshold and the current echo signal strength value meets a preset condition, the motor drives the gimbal to swing, and the maximum value among the multiple ranging values ​​collected during the swing is taken as the current valid ranging value; otherwise, the current ranging value is taken as the current valid ranging value. S4. If a valid monitoring point fails to acquire a valid ranging value multiple times in a row, the valid monitoring point is eliminated. If the number of valid monitoring points is less than the preset number, the motor-driven gimbal is controlled to perform supplementary scanning near the motor deflection angle corresponding to the eliminated point in order to acquire new valid monitoring points. S5, based on the effective distance values ​​of all current effective monitoring points, calculate the pouring height and concrete rising speed of the monitoring area.

2. The adaptive monitoring method for concrete pouring height according to claim 1, characterized in that, Step S1 includes the following steps: S11, obtain the ranging value of the laser ranging module at the current scanning point and the preset spatial scanning step length, and calculate the deflection angle step length of the motor-driven gimbal based on the ranging value and the preset spatial scanning step length. S12, control the motor to drive the gimbal to rotate point by point according to the deflection angle step size, so that the spatial distance between the laser spots of adjacent scanning points on the concrete liquid surface is the preset spatial scanning step size; S13, each time the rotation reaches a scanning point, the ranging value and echo signal intensity value of that scanning point are collected; S14, the scanning points whose distance measurement value is within the preset effective range and whose echo signal intensity value is within the preset concrete reflection intensity range during the scanning process are determined as candidate points; S15, select at least one from the candidate points as the effective monitoring point, and record the motor horizontal deflection angle and motor vertical deflection angle corresponding to the effective monitoring point.

3. The adaptive monitoring method for concrete pouring height according to claim 2, characterized in that, Step S3 includes the following steps: Calculate the absolute value of the difference between the current ranging value and the previous valid ranging value; When the absolute value of the difference exceeds the preset change threshold and the current echo signal intensity value is higher than the preset metal high reflectivity threshold, it is determined that the laser rangefinder module's spot falls on the steel reinforcement surface, and the following operations are performed: Obtain the typical spacing of the reinforcing bars, determine the swing space amplitude based on the typical spacing, and make the swing space amplitude equal to the sum of the typical spacing and the preset margin; Based on the current ranging value, the swing space amplitude is converted into the motor deflection angle swing amplitude, and the motor-driven gimbal is controlled to swing horizontally back and forth with the motor deflection angle swing amplitude as the center, with the motor horizontal deflection angle and the motor vertical deflection angle corresponding to the effective monitoring point as the center. During the swing process, the laser ranging module continuously collects multiple ranging values, and selects the one with the largest value from the multiple ranging values ​​as the current valid ranging value. When the absolute value of the difference does not exceed the preset change threshold, or when the current echo signal intensity value is not higher than the preset metal high reflectivity threshold, the current ranging value is taken as the current effective ranging value.

4. The adaptive monitoring method for concrete pouring height according to claim 3, characterized in that, The steps to obtain the typical spacing of the reinforcing bars include the following: Obtain the ranging value, echo signal strength value, motor horizontal deflection angle, and motor vertical deflection angle of each scanning point generated during the scanning process in step S1; Scanning points with echo signal strength values ​​higher than the preset metal high reflectivity threshold are marked as rebar points; Based on the motor's horizontal deflection angle, vertical deflection angle, and distance measurement value corresponding to each rebar point, the rebar point is converted into two-dimensional coordinates on the concrete liquid surface projection plane. Calculate the spatial distance between the two-dimensional coordinates of any two rebar points, statistically analyze the distribution of all spatial distances, and take the spatial distance with the highest frequency as the typical spacing of the rebars; If the most frequently occurring spatial distance cannot be identified, the preset default spacing value is used as the typical spacing of the reinforcing bars.

5. The adaptive monitoring method for concrete pouring height according to claim 1, characterized in that, Step S4 includes the following steps: S41, count the cumulative number of times each valid monitoring point fails to obtain a valid distance measurement value consecutively, and eliminate the valid monitoring point when the cumulative number reaches the preset elimination threshold; S42, when the number of remaining valid monitoring points after elimination is less than the preset number, obtain the motor horizontal deflection angle and motor vertical deflection angle corresponding to the eliminated valid monitoring points, calculate the current average distance value based on the distance measurement values ​​corresponding to all current valid monitoring points, and convert the current average distance value and the preset spatial search radius to obtain the angle search range. S43, control the motor to drive the gimbal, and scan within the angle search range with the horizontal and vertical deflection angles of the motor corresponding to the eliminated valid monitoring point as the center. The first scanning point whose ranging value is within the preset effective range and whose echo signal intensity value is within the preset concrete reflection intensity range is taken as the new valid monitoring point. S44, record the horizontal deflection angle and vertical deflection angle of the motor corresponding to the new valid monitoring point, and add the new valid monitoring point to the current valid monitoring points.

6. The adaptive monitoring method for concrete pouring height according to claim 1, characterized in that, Step S5 includes the following steps: S51, obtain the effective distance values ​​corresponding to all current effective monitoring points, as well as the absolute installation height of the monitoring equipment and the static tilt angle of the monitoring equipment relative to the horizontal direction, and convert each effective distance value into the pouring height of each effective monitoring point. S52, calculate the median of the pouring height of all points, remove the pouring height of points whose absolute difference from the median exceeds a preset deviation threshold, and take the arithmetic mean of the remaining pouring heights as the pouring height of the monitoring area. S53, record the pouring height sequence of the monitoring area within the preset time window, perform linear fitting on the pouring height sequence, and use the slope of the fitted straight line as the concrete rising speed.

7. The adaptive monitoring method for concrete pouring height according to claim 6, characterized in that, Step S51 includes the following steps: For each valid monitoring point, obtain the valid distance value h, the absolute installation height L of the monitoring device, and the static tilt angle α of the monitoring device relative to the horizontal direction. Using the formula A=Lh The pouring height A corresponding to the effective monitoring point is calculated using cos(90°-α).

8. The adaptive monitoring method for concrete pouring height according to claim 1, characterized in that, Step S3 further includes the following steps: When the change in the current ranging value relative to the previous valid ranging value exceeds the preset change threshold and the current echo signal strength value falls within the preset personnel reflection intensity range, it is determined that personnel movement is causing obstruction. The current ranging value is then discarded, and the previous valid ranging value is used as the current valid ranging value.

9. The adaptive monitoring method for concrete pouring height according to claim 1, characterized in that, Step S2 further includes the following steps: When the current echo signal intensity value is lower than the preset low reflection threshold, it is determined that the laser ranging module's spot falls on the surface of the floating foam, the current ranging value is discarded, and the measurement of this valid monitoring point is marked as invalid.

10. A self-adaptive monitoring system for concrete pouring height, characterized in that, The method includes a monitoring device, which includes a laser ranging module, a motor-driven pan-tilt unit, and an edge computing terminal. The edge computing terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the adaptive monitoring method for concrete pouring height as described in any one of claims 1 to 9.

Images