A multi-source positioning intelligent vibrating device and positioning method

Abstract

A multi-source positioning intelligent vibrating device and positioning method, the device includes an intelligent controller and a vibrating rod, the intelligent controller is connected to the vibrating rod through a vibrating rod cable, the intelligent controller is provided with an intelligent electricity meter, a 5G positioning reference module, a Beidou positioning reference module, a timing module and a communication module, the vibrating rod cable is provided with a conductive and heat-conductive rubber sleeve, the cavity between the conductive and heat-conductive rubber sleeve and the vibrating rod cable is a vibrating rod cable sensing layer, the vibrating rod cable sensing layer is provided with a series of sensing rings, the sensing rings are provided with a pressure sensor, an inclination sensor, a gyroscope and a humidity sensor I, the vibrating rod is provided with a humidity sensor II, an acceleration sensor, a 5G positioning module, a Beidou positioning module and a vibration sensor. The present invention also includes a positioning method for accurately positioning the vibrating rod for multi-source parameters. By using the present invention, the defects existing in the existing vibration process can be solved.

Description

Technical Field

[0001] The invention relates to a vibrating device, and in particular to a multi-source positioning intelligent vibrating device and a positioning method. Background Art

[0002] When pouring concrete components with concrete mixers, bubbles must be removed and tamped to make the concrete dense and compact, and eliminate honeycomb and other phenomena on the concrete surface, so as to improve its strength and ensure the quality of concrete components. The process of removing bubbles and tamping concrete is called concrete vibration. At present, electric or internal combustion vibrators are generally used for concrete vibration, which has the following problems:

[0003] 1. The vibrator is pulled out too quickly, leaving gaps in the concrete;

[0004] 2. The interval between the vibrating rods is too large, resulting in insufficient vibration;

[0005] 3. The vibration depth of the vibrator is too deep, resulting in insufficient amplitude of the vibrator;

[0006] 4. Due to the unskilled or careless operation of the operator, the vibration points of the vibrating rod are unevenly distributed in the casting body, resulting in partial concrete vibration leakage;

[0007] 5. The vibration time of the vibrating rod at each vibration position is too long or too short; if it is too short, the concrete will not be compacted, and if it is too long, the concrete will segregate. Generally, the vibration time is 20-30s, and the shortest is not allowed to be less than 10s;

[0008] 6. The vibrating rod hits the formwork, steel bars or embedded parts during vibration, and is not discovered and removed in time, resulting in the loosening of the formwork, steel bars or embedded parts under high-frequency vibration, or the vibration wave is transmitted far away and affects the concrete that has already set;

[0009] 7. The movement trajectory of the vibrating rod during concrete vibration cannot be recorded, and there is a lack of basis for quality inspection of the vibration process;

[0010] 8. The existing technology for monitoring the position and trajectory of the vibrator cannot simultaneously identify whether the vibrator at that position is working at that time;

[0011] In addition to the above problems, insufficient concrete grade is difficult to monitor in real time, which is also a major problem in construction. Concrete of different grades has different water-cement ratios, viscosities and fluidities, which leads to different resistances encountered by the vibrating rod during the vibration process. Summary of the invention

[0012] The technical problem to be solved by the present invention is to provide a multi-source positioning intelligent vibrating device and a positioning method which can avoid the defects existing in the above-mentioned prior art.

[0013] The technical solution adopted by the present invention to solve its technical problem is:

[0014] A multi-source positioning intelligent vibrating device comprises an intelligent controller and a vibrating rod, wherein the intelligent controller is connected to the vibrating rod through a vibrating rod cable, wherein an intelligent electric meter, a 5G positioning reference module, a Beidou positioning reference module, a timing module and a communication module are arranged in the intelligent controller, wherein a conductive and heat-conductive rubber sleeve is arranged outside the vibrating rod cable, wherein a cavity between the conductive and heat-conductive rubber sleeve and the vibrating rod cable is a vibrating rod cable sensing layer, wherein a series of sensing rings are arranged in the vibrating rod cable sensing layer, wherein a sensing ring is arranged at the connection between the vibrating rod and the vibrating rod cable, wherein the sensing ring A pressure sensor, an inclination sensor, a gyroscope and a humidity sensor I are arranged in the ring; the cavity in the sensing layer of the vibrating rod cable except the sensing ring is filled with a flexible insulating filler; the vibrating rod is provided with a humidity sensor II, an acceleration sensor, a 5G positioning module, a Beidou positioning module and a vibration sensor; the pressure sensor, inclination sensor, gyroscope, humidity sensor I, humidity sensor II, acceleration sensor and vibration sensor are connected to the intelligent controller; the 5G positioning reference module is connected to the 5G positioning module; and the Beidou positioning reference module is connected to the Beidou positioning module.

[0015] Preferably, the gyroscope is a micro gyroscope. The micro gyroscope can measure the three-dimensional rotation angle and spatial posture of the section of the vibrating rod cable. The intelligent controller can determine the spatial posture of the section of the vibrating rod cable by using the micro gyroscope signal and the tilt sensor signal.

[0016] Preferably, a current sensor is further provided in the sensing collar, and the current sensor is connected to the intelligent controller. The current sensor is a micro-current sensor. Two poles of the micro-current sensor are provided on both sides of the sensing collar. When the sensing collar is immersed in concrete, the moisture in the concrete connects the two poles of the micro-current sensor to generate a micro-current, which is then transmitted to the intelligent controller to assist the signal of the pressure sensor, and further determine that the sensing collar has been immersed in the concrete.

[0017] Preferably, a temperature sensor I is also provided in the sensing collar, and the temperature sensor I is connected to the intelligent controller. The reaction between cement and water in concrete will generate hydration heat, and part of the energy in the vibration process will also be converted into heat energy. Therefore, when the temperature sensor I of the sensing collar measures a temperature rise, it indicates that the sensing collar has been immersed in the concrete.

[0018] Preferably, the vibrating rod is provided with a temperature sensor II, which is connected to the intelligent controller. The temperature sensor II of the vibrating rod can measure the temperature rise caused by the hydration heat of the concrete, and then assist the humidity sensor and vibration sensor of the vibrating rod to determine whether the vibrating rod has been immersed in the concrete.

[0019] Preferably, two or more 5G positioning reference modules and Beidou positioning reference modules can be set on a plane, which can be turned on at the same time and correct each other to achieve more accurate positioning and form a reference plane or reference point.

[0020] Preferably, the intelligent controller is connected to the cloud platform via a communication module to upload or download instructions and data. Through the cloud platform, the intelligent controller can be remotely controlled using a mobile phone, PAD or computer.

[0021] Preferably, the humidity sensor II of the vibrating rod is provided with more than two groups, which is suitable for the case where the vibrating rod is partially immersed in concrete; correspondingly, the temperature sensor II is also provided with more than two groups, which is suitable for the case where the vibrating rod is partially immersed in concrete.

[0022] Positioning method implemented by using the multi-source positioning intelligent vibrating device:

[0023] Positioning method 1: spatial position curve method

[0024] According to the parameters of each sensor, the three-dimensional spatial position fitting curve of the vibrating rod cable and its sensing layer, sensing ring, and vibrating rod is virtually drawn in the intelligent controller with the position point of the intelligent controller as the reference point (referred to as the three-dimensional spatial position curve of the vibrating system). The length of the vibrating rod cable is a favorable condition for sizing, and then the position of the vibrating rod at each time point is fitted, calculated, and recorded, including the following contents:

[0025] (1) Starting position of the intelligent controller (reference point and reference plane of the spatial position curve intelligent controller): Prepare the vibrator rod, place the intelligent controller and the vibrator rod at the starting position of the work, record the position of the starting position on the construction site, accurately determine the position of the intelligent controller through the 5G positioning reference module and the Beidou positioning reference module, form the starting position parameters of the intelligent controller (reference point and reference plane of the spatial position curve intelligent controller), and form the reference plane or reference point;

[0026] (2) Starting position of the vibrating rod: Keep the position of the intelligent controller unchanged and insert the vibrating rod into the concrete to be vibrated. This position is the starting position of the vibration. Collect the parameters of each inclination sensor and gyroscope at the starting position of the vibration. Combined with the length of the cable from each sensor ring to the intelligent controller, the starting position of the vibrating rod is obtained after calculation in the intelligent controller.

[0027] (3) Dynamic working position of the vibrating rod (dynamic working position of the vibrating rod in spatial position curve): During the vibration process, the vibrating rod is in constant motion. When the vibrating rod stays at the same position for more than 10 seconds, the parameters of each inclination sensor and gyroscope at the starting position of the vibration are collected. Combined with the length of the cable from each sensor ring to the intelligent controller and the distance from the vibrating rod to the nearest sensor ring, the dynamic working position of the vibrating rod is obtained after calculation based on the previous working position in the intelligent controller.

[0028] (4) Depth of the vibrator immersed in the concrete: The pressure sensor, inclination sensor, gyroscope, etc. in each sensor ring can be used to detect whether each sensor ring is immersed in the concrete. Combined with the spatial position curve, the intelligent controller can mark and record the depth of the vibrator and the vibrator cable immersed in the concrete on the spatial position curve, and virtually draw the immersion range of the concrete in the intelligent controller. When the vibrator is completely pulled out and the immersion range is zero, the vibrator is stopped and various alarm conditions are no longer executed.

[0029] Positioning method 2: spatial coordinate method

[0030] In areas where Beidou and 5G signals can achieve high-precision positioning (for example, positioning accuracy is less than 10cm), the spatial position coordinates of the vibrating rod can be directly obtained using the 5G positioning module and Beidou positioning module of the vibrating rod. Then, the reference point and reference plane coordinates provided by the 5G positioning reference module and Beidou positioning reference module of the intelligent controller (recording the positions of the reference points and reference planes on the construction site) are combined to obtain the spatial motion trajectory of the vibrating rod. Combined with the timing module, missed vibration, over-vibration or insufficient vibration can be avoided.

[0031] Depth of the vibrator immersed in the concrete: Through the pressure sensor, inclination sensor, gyroscope, etc. in each sensor ring, it is possible to promptly detect whether each sensor ring is immersed in the concrete. Combined with the spatial position curve, the intelligent controller can mark and record the depth of the vibrator and the vibrator cable immersed in the concrete on the spatial position curve, and virtually draw the immersion range of the concrete in the intelligent controller; through various sensors (including the temperature sensor at the head of the vibrator and the parameters of the humidity sensor), when the vibrator is completely pulled out and the immersion range is zero, the vibrator is stopped and various alarm conditions are no longer run.

[0032] Operating conditions:

[0033] 1. Alarm condition when the vibrator is pulled out too quickly

[0034] If the vibrator is pulled out too fast, it is easy to leave gaps in the concrete. The acceleration sensor of the vibrator can monitor the abnormal acceleration and deceleration of the vibrator, and the intelligent controller can determine that the vibrator is pulled out too fast, and then alarm, prompting the operator to slow down the speed of pulling out the vibrator.

[0035] 2. Alarm condition when the vibration spacing is too large

[0036] Through positioning methods 1 and 2, the intelligent controller obtains the situation that the horizontal spacing between the vibrating rods inserted for vibration is too large, which may lead to insufficient vibration. The intelligent controller then issues an alarm to prompt the operator to adjust the insertion spacing of the vibrating rods to avoid missing vibration.

[0037] In the depth direction, through positioning methods 1 and 2, the intelligent controller obtains the situation that the interval between the vibrating rods inserted into the vibration is too large, which may lead to insufficient vibration. The intelligent controller then issues an alarm to prompt the operator to adjust the point where the vibrating rods stop in the depth direction to avoid missing vibration.

[0038] 3. Insertion depth too deep alarm condition

[0039] When the cushion layer, foundation slab, and floor slab are poured and vibrated, the parameters of the sensing collar and the temperature sensor, humidity sensor, and vibration sensor of the vibrating rod can be obtained to identify the situation where the vibrating rod is inserted too deep, and then the intelligent controller will issue an alarm to prompt the operator to adjust the insertion depth of the vibrating rod to avoid insufficient vibration amplitude of the vibrating rod;

[0040] 4. Leakage vibration alarm condition

[0041] Through positioning method 1 and method 2, the intelligent controller obtains the trajectory of the spatial operation of the vibrating rod body. Based on the existing technology (such as pre-implanting the BIM model of the casting body in the intelligent controller), the intelligent controller finds that the spatial operation points of the vibrating rod are unevenly distributed, and then the intelligent controller issues an alarm to prompt the operator to adjust the spatial distribution of the vibrating rod to avoid the situation where the vibration points of the vibrating rod are unevenly distributed in the casting body due to the operator's unskilled or careless operation, resulting in partial concrete vibration leakage;

[0042] 5. Short vibration and over vibration alarm conditions

[0043] Through positioning method 1 and method 2, the intelligent controller obtains the trajectory of the vibrating rod in space, and combined with the timing module, finds that the vibrating rod stays too long or too short at a certain spatial running point, and then the intelligent controller issues an alarm to prompt the operator to adjust the residence time of the vibrating rod at a certain spatial point to avoid the situation where the vibrating time is too short and the concrete is not dense or the vibrating time is too long and the concrete is segregated;

[0044] 6. Collision alarm conditions

[0045] By acquiring the parameters of the vibration sensor and acceleration sensor of the vibrator, it is possible to identify the situation where the vibrator hits the formwork, steel bars or embedded parts (the amplitude and reverse acceleration of the vibrator when it hits solids or metals are significantly different from those in concrete), and then the intelligent controller will issue an alarm to prompt the operator to adjust the position of the vibrator to avoid collision.

[0046] 7. Alarm for insufficient concrete grade

[0047] Since the intelligent vibrator encounters different resistances and consumes different energies when vibrating concrete of different grades, the power of the intelligent vibrator when vibrating each grade of concrete is collected experimentally in advance and stored in the intelligent controller; when vibrating, the real-time vibration power is compared with the power value collected by the intelligent electric meter to determine the concrete grade, and then compared with the design grade to check whether it meets the requirements; when the vibration power is lower than the power corresponding to the design grade, reflecting that the concrete grade is low, the intelligent controller issues an alarm, and uses the vibration sensor to measure different amplitudes in concrete of different grades, and pre-records the amplitudes under different grades, which can also assist the intelligent electric meter in determining the concrete grade;

[0048] In addition, when the vibrating rod is turned on and working, the smart electricity meter can monitor the power consumption. Therefore, the smart electricity meter can be used to monitor whether the vibrating rod is turned on and working. Combined with the running trajectory of the vibrating rod recorded in the smart controller, the invalid trajectory of the vibrating rod when it is not turned on can be effectively removed, and the trajectory of the vibrating rod when it is turned on and working can be accurately recorded.

[0049] Beneficial effects of the present invention:

[0050] 1. It can prevent the vibrator from being pulled out too quickly, leaving gaps in the concrete;

[0051] 2. It can prevent the vibrating rods from being inserted too far apart to cause insufficient vibration;

[0052] 3. It can avoid the situation that the vibration depth of the vibrating rod is too deep when vibrating the flat casting body, resulting in insufficient amplitude of the vibrating rod;

[0053] 4. It can avoid the situation where the vibration points of the vibrating rod are unevenly distributed in the casting body due to unskilled or careless operators, resulting in partial concrete vibration leakage;

[0054] 5. It can prevent the vibration time of the vibrating rod at each vibration position from being too long or too short, resulting in loose vibration or segregation;

[0055] 6. It can prevent the vibrating rod from hitting the formwork, steel bars or embedded parts during vibration;

[0056] 7. Based on positioning methods 1 and 2, the intelligent controller can obtain and record the spatial trajectory of the vibrating rod, which can be used for monitoring the construction process and vibration process, as well as for later quality monitoring and traceability;

[0057] 8. Equipped with a variety of positioning sensors, the vibrator can be positioned in various environments (such as areas without 5G signals); the sensor ring and vibrator are equipped with a variety of positioning sensors that do not rely on external networks, which can avoid the shielding of 5G, Beidou, WIFI or UWB wireless positioning signals by steel cages or metal templates, resulting in positioning failures;

[0058] 9. The electric power consumed by vibration and vibration sensor can be used to determine whether the concrete grade meets the requirements;

[0059] 10. Since the vibrator is in constant motion, 5G, Beidou and other wireless positioning technologies have certain errors, and the gyroscope is also prone to cumulative errors in constant motion. The present invention uses the advantage of the vibrator cable length being a fixed length condition to fix the gyroscope on the vibrator cable, obtain the parameters and perform curve fitting (the total length of the curve is the vibrator cable length, which is a fixed length), which can greatly improve the accuracy of curve fitting, reduce errors, and thus improve positioning accuracy;

[0060] 11. The use of smart electricity meters can monitor whether the vibrating rod is turned on and working. Combined with the running trajectory of the vibrating rod recorded in the smart controller, it can effectively remove the invalid trajectory of the vibrating rod when it is not turned on, and accurately record the trajectory of the vibrating rod when it is turned on and vibrating; avoid the trajectory of the vibrating rod in the shutdown condition being recorded as a valid vibration trajectory, further improving the accuracy of the recording of the vibrating process of the vibrating rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a result schematic diagram of an embodiment of a multi-source positioning intelligent vibrating device of the present invention;

[0062] Figure 2 for Figure 1 An enlarged schematic diagram of the structure of part A of the illustrated embodiment;

[0063] Figure 3 for Figure 1 An enlarged schematic diagram of the structure of part B of the illustrated embodiment;

[0064] Figure 4 for Figure 1 An enlarged schematic diagram of the structure of the sensor collar of the illustrated embodiment;

[0065] Figure 5 for Figure 1 The three-dimensional spatial position curve of the embodiment shown - the starting position of the vibrating rod;

[0066] Figure 6 for Figure 1 The three-dimensional spatial position curve of the embodiment shown - the dynamic working position of the vibrating rod;

[0067] In the figure: 1. intelligent controller, 2. intelligent electricity meter, 3. 5G positioning reference module, 4. Beidou positioning reference module, 5. timing module, 6. communication module, 7. vibrator cable, 8. vibrator cable sensing layer, 9. sensing ring, 10. conductive and thermal conductive rubber sleeve, 11. flexible insulating filler, 12. pressure sensor, 13. tilt sensor, 14. micro gyroscope, 15. micro current sensor, 16. temperature sensor I, 17. humidity sensor I, 18. vibrator, 19. temperature sensor II, 20. humidity sensor II, 21. acceleration sensor, 22. 5G positioning module, 23. Beidou positioning module, 24. vibration sensor;

[0068] A-reference plane, B-reference point of intelligent controller, C-three-dimensional position curve of vibrating device, D-concrete immersion range, E-dynamic working position of vibrating rod. DETAILED DESCRIPTION

[0069] The present invention is further described below in conjunction with the accompanying drawings and embodiments. Example

[0070] Referring to the accompanying drawings, a multi-source positioning intelligent vibration device includes an intelligent controller 1 and a vibrating rod 18. The intelligent controller 1 is connected to the vibrating rod 18 through a vibrating rod cable 7. The intelligent controller 1 is provided with an intelligent electricity meter 2, a 5G positioning reference module 3, a Beidou positioning reference module 4, a timing module 5 and a communication module 6. The vibrating rod cable 7 is wrapped with a soft conductive and heat-conductive rubber sleeve 10. The cavity between the conductive and heat-conductive rubber sleeve 10 and the vibrating rod cable 7 is a vibrating rod cable sensing layer 8. A plurality of sensing rings 9 are provided in the vibrating rod cable sensing layer 8, and the distances between the sensing rings 9 are equal. The sensing rings 9 are sleeved on the outside of the vibrating rod cable 7 and fixed with glue. A sensing ring 9 is specially provided at the connection between the vibrating rod 18 and the vibrating rod cable 7. The spatial attitude parameters such as the inclination angle and the three-dimensional rotation angle of the sensing ring 9 are the spatial attitude parameters such as the inclination angle and the three-dimensional rotation angle of the vibrating rod 18. A pressure sensor 12, an inclination sensor 13, a micro-gyroscope 14, a micro-current sensor 15, a temperature sensor I 16 and a humidity sensor I 17 are arranged in the sensing ring 9. The cavity in the sensing layer 8 of the vibrating rod cable line except the sensing ring is filled with a flexible insulating filler 11 (such as rubber and plastic sponge). The vibrating rod 18 is provided with a temperature sensor II 19, a humidity sensor II 20, an acceleration sensor 21, a 5G positioning module 22, a Beidou positioning module 23 and a vibration sensor 24. The pressure sensor 12, the inclination sensor 13, the micro-gyroscope 14, the micro-current sensor 15, the temperature sensor I 16, the humidity sensor I 17, the temperature sensor II 19, the humidity sensor II 20, the acceleration sensor 21 and the vibration sensor 24 are connected to the intelligent controller 1, the 5G positioning reference module 3 is connected to the 5G positioning module 22, and the Beidou positioning reference module 4 is connected to the Beidou positioning module 23.

[0071] In this embodiment, the connection between the pressure sensor 12, the tilt sensor 13, the micro gyroscope 14, the micro current sensor 15, the temperature sensor I 16, the humidity sensor I 17, the temperature sensor II 19, the humidity sensor II 20, the acceleration sensor 21, and the vibration sensor 24 and the intelligent controller 1 can be wireless or wired. The connection between the 5G positioning reference module 3 and the 5G positioning module 22 can be wireless or wired. The connection between the Beidou positioning reference module 4 and the Beidou positioning module 23 can be wireless or wired.

[0072] In this embodiment, the intelligent controller 1 can collect signals from the pressure sensor 12, the tilt sensor 13, the micro gyroscope 14, the micro current sensor 15, the temperature sensor I 16, the humidity sensor I 17, the temperature sensor II 19, the humidity sensor II 20, the acceleration sensor 21, the intelligent electricity meter 2, the 5G positioning reference module 3, the Beidou positioning reference module 4, the timing module 5 and the vibration sensor 24, and accurately locate the multi-source parameters of the vibrator according to the positioning method of the present invention and monitor its operating status, and also record the positioning situation or alarm according to the positioning situation. The intelligent controller 1 is connected to an external power supply to power the device.

[0073] In this embodiment, the smart electricity meter 2 can measure the power consumed by the vibrator 18 and collect its power value. Since the resistance and energy consumed by the vibrator when vibrating concrete of different grades are different, the power of the vibrator when vibrating each grade of concrete can be experimentally collected in advance and stored in the smart controller 1. When vibrating, the real-time vibration power can be compared with the power value collected by the smart electricity meter to determine the concrete grade and compare it with the design grade to check whether it meets the requirements.

[0074] In this embodiment, the 5G positioning reference module 3 can accurately determine the location of the intelligent controller 1 in the area covered by the 5G signal and record it in the intelligent controller 1.

[0075] In this embodiment, the Beidou positioning reference module 4 can accurately determine the location of the intelligent controller 1 in an area with Beidou signals that is not covered by 5G signals, and record it in the intelligent controller 1.

[0076] The 5G positioning reference module 3 and Beidou positioning reference module 4 can be set in multiple on a plane, can be turned on at the same time, and can correct each other to achieve more accurate positioning and form a reference plane.

[0077] In this embodiment, the timing module 5 can record the vibration time of the vibrating rod at different positions and record it in the intelligent controller 1. If the vibration time of the same vibration point is too long or too short, the intelligent controller 1 will issue an audible and visual alarm and send a warning to the cloud management platform through the communication module 6.

[0078] In this embodiment, the intelligent controller 1 is connected to the cloud platform through the communication module 6 to upload or download instructions and data. Through the cloud platform, the intelligent controller 1 can be remotely controlled using a mobile phone, PAD or computer.

[0079] In this embodiment, the vibrator cable 7 connects the intelligent controller 1 with the vibrator 18 to transmit current and control signals.

[0080] In this embodiment, the conductive and thermally conductive rubber sleeve 10 can transmit electric current. The conductive and thermally conductive rubber sleeve 10 is soft and can transmit the pressure of the concrete to the pressure sensor. The temperature sensor on the sensing ring 9 can measure the temperature of the concrete through the conductive and thermally conductive rubber sleeve after correction.

[0081] In this embodiment, the pressure sensor, micro-current sensor, temperature sensor I and humidity sensor I of the sensing ring 9 contact the conductive thin rubber of the sensing layer of the vibrator cable line to measure pressure, temperature, humidity and micro-current.

[0082] In this embodiment, each sensor ring 9 and the sensor thereon have a unique address code in the intelligent controller 1 .

[0083] Pressure sensor 12: The conductive and heat-conductive rubber sleeve is soft and can transmit the pressure of the concrete to the pressure sensor. When a sensing ring pressure sensor measures the concrete pressure, it means that the sensing ring has been immersed in the concrete.

[0084] Inclination sensor 13: can measure the inclination of the vibrator cable line.

[0085] The micro gyroscope 14 can measure the three-dimensional rotation angle and spatial posture of the section of the vibrating rod cable; the intelligent controller can determine the spatial posture of the section of the vibrating rod cable by using the micro gyroscope signal and the signal of the inclination sensor.

[0086] Microcurrent sensor 15: Two electrodes of the microcurrent sensor are arranged on both sides of the sensor ring. When the sensor ring is immersed in concrete, the moisture in the concrete connects the two electrodes of the microcurrent sensor to generate microcurrent, which is then transmitted to the intelligent controller to assist the signal of the pressure sensor to further determine that the sensor ring has been immersed in the concrete.

[0087] Temperature sensor Ⅰ16: The reaction between cement and water in concrete will generate hydration heat, and part of the energy in the vibration process will also be converted into heat energy. Therefore, when the temperature sensor Ⅰ measures a temperature increase, it means that the sensor ring has been immersed in the concrete.

[0088] Temperature sensor II 19: can measure the temperature rise caused by the heat of hydration of concrete, and then assist the humidity sensor II and vibration sensor of the vibrator to determine whether the vibrator has been immersed in the concrete.

[0089] Humidity sensor Ⅱ20: When the vibrating rod is immersed in the concrete, the relative humidity measured by humidity sensor Ⅱ20 reaches 100%; when the vibrating rod enters the void in the concrete and causes air vibration, the relative humidity measured by humidity sensor Ⅱ20 decreases significantly. At this time, the position of the vibrating rod should be adjusted, and the upper part of the void should be vibrated to gradually fill the concrete void.

[0090] The humidity sensor II 20 and the temperature sensor II 19 of the vibrating rod are provided in multiple groups, which are suitable for the situation where the vibrating rod is partially immersed in concrete.

[0091] The acceleration sensor 21 can monitor the abnormal acceleration and deceleration of the vibrating rod, and determine through the intelligent controller 11 that the vibrating rod is pulled out too fast.

[0092] Vibration sensor 24: can sense the vibration amplitude of the vibrating rod. Since the amplitude, acceleration and force of the vibrating rod in ordinary concrete, segregated concrete and cavity are different, the vibration sensor measures the amplitude of the vibrating rod, and the intelligent controller can determine whether the vibrating rod is in ordinary concrete or segregated concrete or in a cavity. When the intelligent controller determines that the vibrating rod is in segregated concrete or a cavity, it sends a corresponding alarm signal to prompt the operator to handle it. When the vibrating rod is in the segregated concrete, stop vibrating immediately; when the vibrating rod is in the cavity, move the vibrating rod directly upward and to the upper side, and vibrate to gradually eliminate the cavity.

[0093] Positioning method implemented by using the multi-source positioning intelligent vibrating device:

[0094] Positioning method 1: spatial position curve method

[0095] According to the parameters of each sensor, the three-dimensional spatial position fitting curve of the vibrating rod cable and its sensing layer, sensing ring, and vibrating rod is virtually drawn in the intelligent controller with the position point of the intelligent controller as the reference point (referred to as the three-dimensional spatial position curve of the vibrating system), and then the position of the vibrating rod at each time point is fitted and calculated using a mathematical algorithm and recorded, including the following contents:

[0096] (1) Starting position of the intelligent controller (reference point and reference plane of the spatial position curve intelligent controller): Preparation of the vibrator, placing the intelligent controller and the vibrator at the starting position of the work, recording the position of the starting position on the construction site, and accurately determining the position of the intelligent controller through the 5G positioning reference module and Beidou positioning reference module installed on it, forming the starting parameters of the intelligent controller (reference point and reference plane of the spatial position curve intelligent controller), and forming the reference plane or reference point;

[0097] (2) Starting position of the vibrating rod: Keep the position of the intelligent controller unchanged and insert the vibrating rod into the concrete to be vibrated. This position is the starting position of the vibration. Collect the parameters of each inclination sensor and micro gyroscope at the starting position of the vibration. Combined with the length of the cable from each sensor ring to the intelligent controller, the starting position of the vibrating rod is obtained after calculation in the intelligent controller.

[0098] (3) Dynamic working position of the vibrating rod (dynamic working position of the vibrating rod in spatial position curve): During the vibration process, the vibrating rod is in constant motion. When the vibrating rod stays at the same position for more than 10 seconds, the parameters of each inclination sensor and micro-gyroscope at the starting position of the vibration are collected. Combined with the length of the cable from each sensor ring to the intelligent controller and the distance from the vibrating rod to the nearest sensor ring, the dynamic working position of the vibrating rod is obtained after calculation based on the previous working position in the intelligent controller.

[0099] (4) Depth of the vibrator immersed in the concrete: The pressure sensor, inclination sensor, micro-gyroscope, micro-current sensor, temperature sensor, etc. in each sensor ring can be used to detect whether each sensor ring is immersed in the concrete. Combined with the spatial position curve, the intelligent controller can mark and record the depth of the vibrator and the vibrator cable immersed in the concrete on the spatial position curve, and virtually draw the immersion range of the concrete in the intelligent controller. When the vibrator is completely pulled out and the immersion range is zero, the vibrator is stopped and various alarm conditions are no longer run.

[0100] Positioning method 2: spatial coordinate method.

[0101] In areas where Beidou and 5G signals can achieve high-precision positioning (for example, positioning accuracy is less than 10cm), the spatial position coordinates of the vibrating rod can be directly obtained using the 5G positioning module and Beidou positioning module of the vibrating rod. Then, the reference point and reference plane coordinates provided by the 5G positioning reference module and Beidou positioning reference module of the intelligent controller (recording the positions of the reference points and reference planes on the construction site) are combined to obtain the spatial motion trajectory of the vibrating rod. Combined with the timing module, missed vibration, over-vibration or insufficient vibration can be avoided.

[0102] Depth of the vibrator immersed in the concrete: Through the pressure sensor, inclination sensor, gyroscope, etc. in each sensor ring, it is possible to promptly detect whether each sensor ring is immersed in the concrete. Combined with the spatial position curve, the intelligent controller can mark and record the depth of the vibrator and the vibrator cable immersed in the concrete on the spatial position curve, and virtually draw the immersion range of the concrete in the intelligent controller; through various sensors (including the temperature sensor at the head of the vibrator and the parameters of the humidity sensor), when the vibrator is completely pulled out and the immersion range is zero, the vibrator is stopped and various alarm conditions are no longer run.

[0103] Operating conditions:

[0104] 1. Alarm condition when the vibrator is pulled out too quickly

[0105] If the vibrator is pulled out too fast, it is easy to leave gaps in the concrete. The acceleration sensor of the vibrator can detect abnormal acceleration of the vibrator, and the intelligent controller can determine that the vibrator is pulled out too fast, and then issue an alarm to prompt the operator to slow down the speed of pulling out the vibrator.

[0106] 2. Alarm condition when the vibration spacing is too large

[0107] Through positioning methods 1 and 2, the intelligent controller obtains the situation that the horizontal spacing between the vibrating rods inserted for vibration is too large, which may lead to insufficient vibration. The intelligent controller then issues an alarm to prompt the operator to adjust the insertion spacing of the vibrating rods to avoid missing vibration.

[0108] In the depth direction, through positioning methods 1 and 2, the intelligent controller obtains the situation that the interval between the vibrating rods inserted into the vibration is too large, which may lead to insufficient vibration. The intelligent controller then issues an alarm to prompt the operator to adjust the point where the vibrating rods stop in the depth direction to avoid missing vibration.

[0109] 3. Insertion depth too deep alarm condition

[0110] When the cushion layer, foundation slab, and floor slab are poured and vibrated, the parameters of the sensing collar and the temperature sensor, humidity sensor, and vibration sensor of the vibrating rod can be obtained to identify the situation where the vibrating rod is inserted too deep, and then the intelligent controller will issue an alarm to prompt the operator to adjust the insertion depth of the vibrating rod to avoid insufficient vibration amplitude of the vibrating rod;

[0111] 4. Leakage vibration alarm condition

[0112] Through positioning method 1 and method 2, the intelligent controller obtains the trajectory of the spatial operation of the vibrating rod. Based on the existing technology (such as pre-implanting the BIM model of the cast body in the intelligent controller), the intelligent controller finds that the spatial operation points of the vibrating rod are unevenly distributed, and then the intelligent controller issues an alarm to prompt the operator to adjust the spatial distribution of the vibrating rod to avoid the situation where the vibration points of the vibrating rod are unevenly distributed in the cast body due to the operator's unskilled or careless operation, resulting in local concrete vibration leakage;

[0113] 5. Short vibration and over vibration alarm conditions

[0114] Through positioning method 1 and method 2, the intelligent controller obtains the trajectory of the vibrating rod in space, and combined with the timing module, finds that the vibrating rod stays too long or too short at a certain spatial running point, and then the intelligent controller issues an alarm to prompt the operator to adjust the residence time of the vibrating rod at a certain spatial point to avoid the situation where the vibrating time is too short and the concrete is not dense or the vibrating time is too long and the concrete is segregated;

[0115] 6. Collision alarm conditions

[0116] By acquiring the parameters of the vibration sensor and acceleration sensor of the vibrator, it is possible to identify the situation where the vibrator hits the formwork, steel bars or embedded parts (the amplitude and reverse acceleration of the vibrator when it hits solids or metals are significantly different from those in concrete), and then the intelligent controller will issue an alarm to prompt the operator to adjust the position of the vibrator to avoid collision.

[0117] 7. Alarm for insufficient concrete grade

[0118] Since the intelligent vibrator encounters different resistances and consumes different energies when vibrating concrete of different grades, the power of the intelligent vibrator when vibrating each grade of concrete is collected experimentally in advance and stored in the intelligent controller; when vibrating, the real-time vibration power is compared with the power value collected by the intelligent electric meter to determine the concrete grade, and then compared with the design grade to check whether it meets the requirements; when the vibration power is lower than the power corresponding to the design grade, reflecting that the concrete grade is low, the intelligent controller issues an alarm, and uses the vibration sensor to measure different amplitudes in concrete of different grades, and pre-records the amplitudes under different grades, which can also assist the intelligent electric meter in determining the concrete grade;

[0119] In addition, the use of smart electricity meters can monitor whether the vibrating rod is turned on and working. Combined with the vibrating rod operation trajectory recorded in the smart controller, it can effectively remove the invalid trajectory of the vibrating rod when it is not turned on, and accurately record the trajectory of the vibrating rod when it is turned on and vibrating. It can avoid the trajectory of the vibrating rod's shutdown condition from being recorded as a valid vibration trajectory, further improving the accuracy of the vibrating rod's vibration process record.

Claims

1. A multi-source positioning intelligent vibration positioning method, characterized in that: The device used in the positioning method is a multi-source positioning intelligent vibration device, including an intelligent controller and a vibrating rod. The intelligent controller is connected to the vibrating rod through a vibrating rod cable. The intelligent controller is equipped with an intelligent electricity meter, a 5G positioning reference module, a Beidou positioning reference module, a timing module and a communication module. The vibrating rod cable is provided with a conductive and heat-conductive rubber sleeve. The cavity between the conductive and heat-conductive rubber sleeve and the vibrating rod cable is a vibrating rod cable sensing layer. A series of sensing rings are provided in the vibrating rod cable sensing layer, wherein a sensing ring is provided at the connection between the vibrating rod and the vibrating rod cable. The sensing ring is provided with a pressure sensor, an inclination sensor, a gyroscope and a humidity sensor I. The cavity in the sensing layer of the vibrating rod cable line except the sensing ring is filled with a flexible insulating filler. The vibrating rod is provided with a humidity sensor II, an acceleration sensor, a 5G positioning module, a Beidou positioning module and a vibration sensor. The pressure sensor, the inclination sensor, the gyroscope, the humidity sensor I, the humidity sensor II, the acceleration sensor, the vibration sensor are connected to the intelligent controller, the 5G positioning reference module is connected to the 5G positioning module, and the Beidou positioning reference module is connected to the Beidou positioning module; The positioning method includes the following two methods: Positioning method 1: spatial position curve method According to the parameters of each sensor, the three-dimensional spatial position fitting curve of the vibrator cable and its sensing layer, sensing ring, and vibrator is virtually drawn in the intelligent controller with the position point of the intelligent controller as the reference point. The length of the vibrator cable is a favorable condition for sizing, and then the position of the vibrator at each time point is fitted, calculated, and recorded, including the following contents: (1) Starting position of the intelligent controller: Prepare the vibrator rod, place the intelligent controller and the vibrator rod at the starting position, record the position of the starting position on the construction site, accurately determine the position of the intelligent controller through the 5G positioning reference module and the Beidou positioning reference module, form the starting position parameters of the intelligent controller, and form a reference plane or reference point; (2) Starting position of the vibrating rod: Keep the position of the intelligent controller unchanged and insert the vibrating rod into the concrete to be vibrated. This position is the starting position of the vibration. Collect the parameters of each inclination sensor and gyroscope at the starting position of the vibration. Combined with the length of the cable from each sensor ring to the intelligent controller, the starting position of the vibrating rod is obtained after calculation in the intelligent controller. (3) Dynamic working position of the vibrating rod: During the vibration process, the vibrating rod is in constant motion. When the vibrating rod stays at the same position for more than 10 seconds, the parameters of the inclination sensors and gyroscopes at the starting position of the vibration are collected. The parameters are combined with the length of the cable from each sensor ring to the intelligent controller and the distance from the vibrating rod to the nearest sensor ring. The dynamic working position of the vibrating rod is obtained after calculation based on the previous working position in the intelligent controller. (4) Depth of the vibrator immersed in the concrete: The pressure sensor, inclination sensor, and gyroscope in each sensor ring can be used to detect whether each sensor ring is immersed in the concrete. Combined with the spatial position curve, the intelligent controller can mark and record the depth of the vibrator and the vibrator cable immersed in the concrete on the spatial position curve, and virtually draw the immersion range of the concrete in the intelligent controller. When the vibrator is completely pulled out and the immersion range is zero, the vibrator stops running and various alarm conditions are no longer run. Positioning method 2: spatial coordinate method In areas where Beidou and 5G signals can achieve high-precision positioning, the spatial position coordinates of the vibrating rod are directly obtained using the 5G positioning module and Beidou positioning module of the vibrating rod. Then, the reference point and reference plane coordinates provided by the 5G positioning reference module and Beidou positioning reference module of the intelligent controller are combined to obtain the spatial motion trajectory of the vibrating rod. Combined with the timing module, missed vibration, over-vibration or insufficient vibration can be avoided. Depth of the vibrating rod immersed in the concrete: Through the pressure sensor, inclination sensor and gyroscope in each sensor ring, it is possible to promptly detect whether each sensor ring is immersed in the concrete. Combined with the spatial position curve, the intelligent controller can mark and record the depth of the vibrating rod and the vibrating rod cable immersed in the concrete on the spatial position curve, and virtually draw the immersion range of the concrete in the intelligent controller; when the vibrating rod is completely pulled out and the immersion range is zero through various sensors, the vibrating rod is stopped and various alarm conditions are no longer run.

2. The multi-source positioning intelligent vibration positioning method according to claim 1 is characterized in that: The gyroscope is a micro gyroscope.

3. The multi-source positioning intelligent vibration positioning method according to claim 1 or 2, characterized in that: A current sensor is also arranged in the sensing ring, and the current sensor is connected to the intelligent controller.

4. The multi-source positioning intelligent vibration positioning method according to claim 1 or 2, characterized in that: A temperature sensor I is also arranged in the sensing collar, and the temperature sensor I is connected to the intelligent controller.

5. The multi-source positioning intelligent vibration positioning method according to claim 1 or 2, characterized in that: The vibrating rod is provided with a temperature sensor II, and the temperature sensor II is connected to the intelligent controller.

6. The multi-source positioning intelligent vibration positioning method according to claim 1 or 2, characterized in that: The 5G positioning reference modules and Beidou positioning reference modules are arranged at least two on a plane, turned on at the same time, and corrected each other to achieve more accurate positioning and form a reference plane or reference point.

7. The multi-source positioning intelligent vibration positioning method according to claim 1 or 2, characterized in that: The intelligent controller is connected to the cloud platform through a communication module to upload or download instructions and data, and the intelligent controller can be remotely controlled through the cloud platform using a mobile phone, PAD or computer.

8. The multi-source positioning intelligent vibration positioning method according to claim 1 or 2, characterized in that: The humidity sensor II of the vibrating rod is provided with more than two groups.

9. The multi-source positioning intelligent vibration positioning method according to claim 5 is characterized in that: The temperature sensor II of the vibrating rod is provided with more than two groups.

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