Concrete vibration quality detection method and detection system based on UWB positioning

Abstract

The present invention relates to a concrete vibration quality detection method based on UWB positioning and a detection system thereof, comprising: a pressure sensor is embedded and installed on a vibrating head, a sealing film is installed on the vibrating head corresponding to the pressure sensor to seal and cover the pressure sensor; two UWB positioning tags are installed on a vibrating rod at one end away from the vibrating head; when vibrating construction is carried out at a vibrating position point, the current position coordinates of the two UWB positioning tags are obtained, and the current position coordinates of the vibrating head are calculated according to the distance between the UWB positioning tags and the vibrating head, the exciting force of the vibrating head during vibration is detected by the pressure sensor, and then the exciting force of each position point within a set range around the current vibrating head is calculated, and the current vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated according to the vibration time of the vibrating head at the current position, and the cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated according to the original vibration amount of each position point within the current set range, and the vibration condition of the concrete is detected by the cumulative vibration amount.

Description

Technical Field

[0001] The present invention relates to the field of building technology, and in particular to a concrete vibration quality detection method based on UWB positioning and a detection system thereof. Background Art

[0002] With the rapid growth of infrastructure and urban construction, the requirements for concrete pouring quality are becoming increasingly stringent. Vibration is a key process in the concrete pouring process. The use of vibration equipment can effectively remove the gas trapped in the concrete pouring process and compact the concrete quality, so it is widely used in the construction industry.

[0003] However, the existing concrete vibration method is usually carried out by workers holding a vibrating rod, which mainly depends on the workers to control the quality of the vibration. Inexperience or human negligence will lead to a decrease in the quality of the vibrated concrete, leaving safety hazards. Therefore, creating a complete concrete vibration quality monitoring system is an important means to improve the quality of concrete construction, improve the quality of concrete pouring, and reduce safety hazards. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a concrete vibration quality detection method and detection system based on UWB positioning, so as to solve the problem that it is difficult to ensure that the concrete is fully vibrated by relying on manual control of the concrete vibration quality.

[0005] To achieve the above object, the present invention provides a concrete vibration quality detection method based on UWB positioning, comprising:

[0006] A vibrating rod, a pressure sensor and an elastic sealing film are provided, wherein the vibrating rod has a vibrating head, the pressure sensor is embedded and installed on the vibrating head, and the sealing film is installed on the vibrating head corresponding to the pressure sensor to seal and cover the pressure sensor;

[0007] Providing UWB positioning tags, and installing two of the UWB positioning tags on the end of the vibrating rod away from the vibrating head, so that the two UWB positioning tags are spaced apart in the length direction of the vibrating rod;

[0008] When vibration construction is carried out at a vibration position point, the current position coordinates of the two UWB positioning tags are obtained, and the current position coordinates of the vibrating head are calculated based on the distance between the UWB positioning tag and the vibrating head. The exciting force of the vibrating head during vibration is detected by the pressure sensor, and then the exciting force of each position point within a set range around the current vibrating head is calculated. The current vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated based on the vibration time of the vibrating head at the current position. The cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated based on the original vibration amount of each position point within the current set range to detect the concrete vibration quality of the corresponding position point.

[0009] The present invention obtains the current position coordinates of the two UWB positioning tags on the vibrating rod, and then calculates the current position coordinates of the vibrating head. The exciting force of the vibrating head during vibration is detected by a pressure sensor, and then the exciting force of each position point within a set range around the current vibrating head is calculated. The current vibration amount of each position point within the current set range is calculated in combination with the vibration time of the vibrating head at the current position. The cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated in combination with the original vibration amount of each position point. The vibration condition of the concrete is detected by the cumulative vibration amount.

[0010] A further improvement of the concrete vibration quality detection method based on UWB positioning of the present invention is that it also includes the following steps:

[0011] Creating a three-dimensional grid map model of the space to be vibrated, wherein the three-dimensional grid map model has a plurality of grid blocks, and the grid blocks correspond one-to-one to position points of the space to be vibrated;

[0012] Setting a number of vibration ranges for judging the degree of vibration and each vibration range corresponds to a threshold color;

[0013] After obtaining the cumulative vibration amount of a location point, the cumulative vibration amount of the location point is compared with several levels of the threshold range to obtain the threshold color of the threshold range corresponding to the cumulative vibration amount of the location point, and the corresponding threshold color is displayed on the grid block corresponding to the location point in the three-dimensional occupied grid map model.

[0014] A further improvement of the concrete vibration quality detection method based on UWB positioning of the present invention is that after completing the vibration construction of the entire space to be vibrated, the cumulative vibration amount of each position point in the space to be vibrated is compared with the set vibration amount to obtain the position coordinates of the under-vibration position point where the cumulative vibration amount is less than the set vibration amount and the difference between the cumulative vibration amount of the under-vibration position point and the set vibration amount, and display them through a display.

[0015] A further improvement of the concrete vibration quality detection method based on UWB positioning of the present invention is that a control switch for controlling the vibration of the vibrating head is provided on the vibrating rod;

[0016] When the vibrating head performs vibrating construction at a vibrating position, the vibrating time of the vibrating head at the current position is calculated through the first moment corresponding to when the control switch is turned on and the second moment corresponding to when the control switch is turned off.

[0017] The present invention also provides a concrete vibration quality detection system based on UWB positioning, comprising:

[0018] A vibrating rod for vibrating concrete, the vibrating rod having a vibrating head;

[0019] A pressure sensor is embedded in the vibrating head to detect the exciting force of the vibrating head during vibration;

[0020] An elastic sealing film is mounted on the vibrating head corresponding to the pressure sensor to seal and cover the pressure sensor;

[0021] Two UWB positioning tags installed on the vibrating rod away from one end of the vibrating head, the two UWB positioning tags are spaced apart in the length direction of the vibrating rod, and the UWB positioning tags are used to detect the current position coordinates of the UWB positioning tags;

[0022] An exciting force calculation module connected to the pressure sensor for calculating the exciting force of each position point within a set range around the current vibrating head according to the exciting force during the vibrating of the vibrating head;

[0023] A position calculation module in communication with the UWB positioning tag, used to calculate the current position coordinates of the vibrating head according to the current position coordinates of the two UWB positioning tags and the distance between the UWB positioning tag and the vibrating head;

[0024] a current vibration amount calculation module connected to the exciting force calculation module and the position calculation module, for calculating the current vibration amount of each position point within a set range centered on the current position of the vibrating head according to the vibration time of the vibrating head at the current position, the current vibrating head and the exciting force of each position point within a set range around the current vibrating head; and

[0025] The cumulative vibration amount calculation module connected to the current vibration amount calculation module is used to calculate the cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head based on the current vibration amount of each position point within the set range centered on the current position of the vibrating head and the original vibration amount of each position point within the current set range to detect the concrete vibration quality of the corresponding position point.

[0026] A further improvement of the concrete vibration quality detection system based on UWB positioning of the present invention is that it also includes:

[0027] A grid map creation module, used to create a three-dimensional occupied grid map model of the space to be vibrated, wherein the three-dimensional occupied grid map model has a plurality of grid blocks, and the grid blocks correspond one-to-one to the position points of the space to be vibrated;

[0028] A vibration level determination module connected to the cumulative vibration amount calculation module, wherein the vibration level determination module is internally set with several levels of vibration ranges for determining the degree of vibration and each of the vibration ranges corresponds to a threshold color, and the vibration level determination module is used to compare the cumulative vibration amount of a position point with the several levels of threshold ranges after obtaining the cumulative vibration amount of the position point, so as to obtain the threshold color of the threshold range corresponding to the cumulative vibration amount of the position point;

[0029] A vibration amount display module connected to the vibration level determination module and the grid map creation module, the vibration amount display module is used to display the corresponding threshold color on the grid block corresponding to the position point in the three-dimensional grid map model.

[0030] A further improvement of the concrete vibration quality detection system based on UWB positioning of the present invention is that it also includes an under-vibration position acquisition module connected to the cumulative vibration amount calculation module, which is used to compare the cumulative vibration amount of each position point in the space to be vibrated with the set vibration amount after completing the vibration construction of the entire space to be vibrated, so as to obtain the position coordinates of the under-vibration position point where the cumulative vibration amount is less than the set vibration amount and the difference between the cumulative vibration amount of the under-vibration position point and the set vibration amount.

[0031] A further improvement of the concrete vibration quality detection system based on UWB positioning of the present invention is that it also includes a display connected to the under-vibration position acquisition module, and the position coordinates of the under-vibration position point and the difference between the cumulative vibration amount of the under-vibration position point and the set vibration amount are displayed on the display.

[0032] A further improvement of the concrete vibration quality detection system based on UWB positioning of the present invention is that a control switch for controlling the vibration of the vibration head is provided on the vibration rod.

[0033] The detection system also includes a vibration time calculation module connected to the control switch and the current vibration amount calculation module, which is used to obtain a first moment corresponding to when the control switch is turned on and a second moment corresponding to when the control switch is closed, so as to calculate the vibration time of the vibration head at the current position. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of the vibrating rod in the concrete vibration quality detection method based on UWB positioning of the present invention.

[0035] Figure 2 It is a logic block diagram of the concrete vibration quality detection system based on UWB positioning of the present invention.

[0036] Explanation of symbols: vibrator 10 , UWB positioning tag 20 , pressure sensor 30 , base station 40 , switch 50 , server 60 , mobile terminal device 70 . DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] In order to get rid of the fact that the concrete vibration process completely relies on human experience and judgment, and can realize the recording of the vibration state, the purpose of the present invention is to invent a monitoring system that can monitor the concrete vibration state, realize the quantitative evaluation of the concrete vibration quality, and improve the quality of concrete construction. The signals sent by the two UWB positioning tags 20 fixed on the vibrating rod 10 are received in real time through a pre-established positioning network, so as to realize the real-time and accurate tracking of the moving trajectory of the vibrating rod 10; and the accumulation of the vibration amount is reflected by the vibration duration, and the vibration state is recorded by the occupation grid method, and presented on a unique display interface, so as to realize the computer visualization display of the vibration construction process.

[0039] The concrete vibration quality detection method and detection system based on UWB positioning of the present invention are described below in conjunction with the accompanying drawings.

[0040] See also Figure 1 In this embodiment, a concrete vibration quality detection method based on UWB positioning includes:

[0041] A vibrating rod 10, a pressure sensor 30 and an elastic sealing film are provided, wherein the vibrating rod 10 has a vibrating head, the pressure sensor 30 is embedded and installed on the vibrating head, and the sealing film is installed on the vibrating head corresponding to the pressure sensor 30 to seal and cover the pressure sensor 30;

[0042] Providing UWB positioning tags 20, and installing two of the UWB positioning tags 20 on the end of the vibrating rod 10 away from the vibrating head, so that the two UWB positioning tags 20 are spaced apart in the length direction of the vibrating rod 10;

[0043] When vibration construction is carried out at a vibration position point, the current position coordinates of the two UWB positioning tags 20 are obtained, and the current position coordinates of the vibrating head are calculated based on the distance between the UWB positioning tag 20 and the vibrating head. The exciting force of the vibrating head during vibration is detected by the pressure sensor 30, and then the exciting force of each position point within a set range around the current vibrating head is calculated. According to the vibration time of the vibrating head at the current position, the current vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated. According to the previous vibration amount of each position point within the current set range, the cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated to detect the concrete vibration quality of the corresponding position point.

[0044] In this embodiment, by obtaining the current position coordinates of the two UWB positioning tags 20 on the vibrating rod 10, and according to the distance between the UWB positioning tags 20 and the vibrating head, the current position coordinates of the vibrating head, the height, position and tilt angle of the vibrating rod 10 can be calculated, so that the length, angle and other parameters of the vibrating rod 10 inserted into the concrete can be obtained, so as to grasp the movement trajectory of the vibrating rod 10. The exciting force of the vibrating head during vibration is detected by the pressure sensor 30, and the exciting force of each position point within the set range around the current vibrating head is calculated, and then the current vibration amount of each position point within the current set range is calculated in combination with the vibration time of the vibrating head at the current position, and the cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated in combination with the original vibration amount of each position point, and the vibration condition of the concrete is detected by the cumulative vibration amount.

[0045] The exciting force of the vibrating rod 10 is constant when vibrating the same type of concrete, but is different for different types of concrete. The exciting force of the vibrating rod 10 when vibrating different types of concrete can be detected by the pressure sensor 30. The pressure sensor 30 is arranged at the vibrating head and is covered by an elastic sealing film to effectively conduct the force between the vibrating head and the concrete, and at the same time plays a sealing role to prevent the concrete from penetrating into the pressure sensor 30, so that the pressure sensor 30 can detect the force between the vibrating head and the concrete, that is, the exciting force of the vibrating rod 10, thereby reflecting the vibration of the concrete by the vibrating rod 10.

[0046] Specifically, the current vibration amount at a certain position point is equal to the vibration time at the current position multiplied by the exciting force at the position point multiplied by an empirical coefficient, and the empirical coefficient is calculated in advance through an evaluation model standard established by a large amount of empirical data.

[0047] When the vibrating rod vibrates, the vibrating area around the current vibrating head will be vibrated. The exciting force at the vibrating head is obtained through a pressure sensor, and the exciting force at the position points within the set range around the vibrating head will decrease outward with the vibrating head as the center. The calculation formula obtained through a large amount of empirical data is used to infer the exciting force of each position point within the set range around the current vibrating head.

[0048] In a specific embodiment, the detection method further comprises the following steps:

[0049] Creating a three-dimensional grid map model of the space to be vibrated, wherein the three-dimensional grid map model has a plurality of grid blocks, and the grid blocks correspond one-to-one to position points of the space to be vibrated;

[0050] Setting a number of vibration ranges for judging the degree of vibration and each vibration range corresponds to a threshold color;

[0051] After obtaining the cumulative vibration amount of a location point, the cumulative vibration amount of the location point is compared with several levels of the threshold range to obtain the threshold color of the threshold range corresponding to the cumulative vibration amount of the location point, and the corresponding threshold color is displayed on the grid block corresponding to the location point in the three-dimensional occupied grid map model.

[0052] Furthermore, after completing the vibration construction of the entire space to be vibrated, the cumulative vibration amount of each position point in the space to be vibrated is compared with the set vibration amount to obtain the position coordinates of the under-vibration position point where the cumulative vibration amount is less than the set vibration amount and the difference between the cumulative vibration amount of the under-vibration position point and the set vibration amount and display them on the display.

[0053] Furthermore, the vibrating rod 10 is provided with a control switch for controlling the vibration of the vibrating head;

[0054] When the vibrating head performs vibrating construction at a vibrating position, the vibrating time of the vibrating head at the current position is calculated through the first moment corresponding to when the control switch is turned on and the second moment corresponding to when the control switch is turned off.

[0055] Preferably, the vibrating rod 10 is provided with a card slot adapted to the UWB positioning tag 20 , and the UWB positioning tag 20 is inserted into the corresponding card slot and can be removed for charging.

[0056] The present invention also provides a concrete vibration quality detection system based on UWB positioning, comprising:

[0057] A vibrating rod 10 for vibrating concrete, wherein the vibrating rod 10 has a vibrating head;

[0058] A pressure sensor 30 is embedded and installed on the vibrating head, and is used to detect the exciting force of the vibrating head during vibration;

[0059] An elastic sealing film is installed on the vibrating head corresponding to the pressure sensor 30 to seal and cover the pressure sensor 30;

[0060] Two UWB positioning tags 20 installed on the vibrating rod 10 away from one end of the vibrating head, the two UWB positioning tags 20 are spaced apart in the length direction of the vibrating rod 10, and the UWB positioning tags 20 are used to detect the current position coordinates of the UWB positioning tags 20;

[0061] An exciting force calculation module connected in communication with the pressure sensor 30 calculates the exciting force of each position point within a set range around the current vibrating head according to the exciting force during the vibrating of the vibrating head;

[0062] A position calculation module in communication with the UWB positioning tag 20, for calculating the current position coordinates of the vibrating head according to the current position coordinates of the two UWB positioning tags 20 and the distance between the UWB positioning tag 20 and the vibrating head;

[0063] a current vibration amount calculation module connected to the exciting force calculation module and the position calculation module, for calculating the current vibration amount of each position point within a set range centered on the current position of the vibrating head according to the vibration time of the vibrating head at the current position, the current vibrating head and the exciting force of each position point within a set range around the current vibrating head; and

[0064] The cumulative vibration amount calculation module connected to the current vibration amount calculation module is used to calculate the cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head based on the current vibration amount of each position point within the set range centered on the current position of the vibrating head and the original vibration amount of each position point within the current set range to detect the concrete vibration quality of the corresponding position point.

[0065] In a specific embodiment, the detection system further includes:

[0066] A grid map creation module, used to create a three-dimensional occupied grid map model of the space to be vibrated, wherein the three-dimensional occupied grid map model has a plurality of grid blocks, and the grid blocks correspond one-to-one to the position points of the space to be vibrated;

[0067] A vibration level determination module connected to the cumulative vibration amount calculation module, wherein the vibration level determination module is internally set with several levels of vibration ranges for determining the degree of vibration and each of the vibration ranges corresponds to a threshold color, and the vibration level determination module is used to compare the cumulative vibration amount of a position point with the several levels of threshold ranges after obtaining the cumulative vibration amount of the position point, so as to obtain the threshold color of the threshold range corresponding to the cumulative vibration amount of the position point;

[0068] A vibration amount display module connected to the vibration level determination module and the grid map creation module, the vibration amount display module is used to display the corresponding threshold color on the grid block corresponding to the position point in the three-dimensional grid map model.

[0069] Furthermore, the detection system also includes an under-vibration position acquisition module connected to the cumulative vibration amount calculation module, which is used to compare the cumulative vibration amount of each position point in the space to be vibrated with the set vibration amount after completing the vibration construction of the entire space to be vibrated, so as to obtain the position coordinates of the under-vibration position point where the cumulative vibration amount is less than the set vibration amount and the difference between the cumulative vibration amount of the under-vibration position point and the set vibration amount.

[0070] The lack-vibration area is obtained through the position coordinates of the lack-vibration position point, and the required vibration amount of supplementary vibration is obtained through the difference between the accumulated vibration amount of the lack-vibration position point and the set vibration amount, so as to control the time of supplementary vibration.

[0071] Preferably, the detection system further comprises a display connected to the under-vibration position acquisition module, and the position coordinates of the under-vibration position point and the difference between the accumulated vibration amount of the under-vibration position point and the set vibration amount are displayed on the display.

[0072] Furthermore, the vibrating rod 10 is provided with a control switch for controlling the vibration of the vibrating head;

[0073] The detection system also includes a vibration time calculation module connected to the control switch and the current vibration amount calculation module, which is used to obtain a first moment corresponding to when the control switch is turned on and a second moment corresponding to when the control switch is closed, so as to calculate the vibration time of the vibration head at the current position.

[0074] The detection system further comprises a communication module installed on the vibration rod and connected to the pressure sensor 30 , and the pressure sensor 30 is communicatively connected to the excitation force calculation module via the communication module.

[0075] See also Figure 2 The detection system further includes the plurality of base stations 40 connected to the communication module and the UWB positioning tag 20, a switch 50 connected to the base station 40, a server 60 connected to the switch 50, and a mobile terminal device 70 connected to the server 60. The exciting force calculation module, the position calculation module, the current vibration amount calculation module, the cumulative vibration amount calculation module, the vibration level determination module, and the vibration time calculation module are installed in the server 60. The grid map creation module and the vibration amount display module are installed in the mobile terminal device 70.

[0076] Preferably, the mobile terminal device 70 is a mobile phone, a notebook, a tablet computer, etc.

[0077] The construction process of the concrete vibration quality detection method based on UWB positioning of the present invention is described below.

[0078] During operation, a hand-held vibrator 10 is inserted and pulled out on the concrete paving surface of the area to be vibrated. Each insertion point is paused for a few seconds after insertion, and then pulled out and inserted into the next target point, and the vibration force of the vibrator 10 itself is transmitted to the concrete, thereby achieving the vibration effect on the concrete. The present invention pre-places two UWB positioning tags 20 on the vibrator 10, and the positioning software module in the server 60 can receive the signals sent by the two UWB positioning tags 20 fixed on the vibrator 10 in real time through a specifically established positioning network, and realizes real-time and accurate tracking of the moving trajectory of the vibrator 10 by detecting the three-dimensional coordinates of the two UWB positioning tags 20; and the background software module in the server 60 can record the duration of vibration, and comprehensively reflect the accumulation of vibration through the vibration time and the exciting force of the vibrator 10 when working, and record the vibration state through the grid occupation method, and present it on a unique display interface at the same time, thereby realizing the computer visualization display of the vibration construction process.

[0079] By adopting the above technical solution, the present invention has the following beneficial effects:

[0080] The present invention has a simple structure and low cost. It does not require much modification to the vibrating rod 10. Only two UWB tags need to be installed on each vibrating rod 10. The adopted ultra-wideband (Ultra Wide Band, UWB) technology is a wireless carrier communication technology. Since the time width of the UWB pulse is extremely short, it is often used for high-precision distance measurement. The contribution of the present invention is to develop a new method for monitoring the concrete vibration state, and contribute the corresponding system structure, so that the concrete vibration operation effect becomes visualized, and the places where the concrete vibration quality is not in place can be effectively observed so that supplementary vibration can be performed, thereby ensuring the quality of the project and reducing safety hazards.

[0081] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

Claims

1. A concrete vibration quality detection method based on UWB positioning, It is characterized in that include: A vibrating rod, a pressure sensor and an elastic sealing film are provided, wherein the vibrating rod has a vibrating head, the pressure sensor is embedded and installed on the vibrating head, and the sealing film is installed on the vibrating head corresponding to the pressure sensor to seal and cover the pressure sensor; Providing UWB positioning tags, and installing two of the UWB positioning tags on the end of the vibrating rod away from the vibrating head, so that the two UWB positioning tags are spaced apart in the length direction of the vibrating rod; When vibration construction is carried out at a vibration position point, the current position coordinates of the two UWB positioning tags are obtained, and the current position coordinates of the vibrating head are calculated based on the distance between the UWB positioning tag and the vibrating head. The exciting force of the vibrating head during vibration is detected by the pressure sensor, and then the exciting force of each position point within a set range around the current vibrating head is calculated. The current vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated based on the vibration time of the vibrating head at the current position. The cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head is calculated based on the original vibration amount of each position point within the current set range to detect the concrete vibration quality of the corresponding position point.

2. The method for detecting the quality of concrete vibration based on UWB positioning according to claim 1 further comprises the following steps: Creating a three-dimensional grid map model of the space to be vibrated, wherein the three-dimensional grid map model has a plurality of grid blocks, and the grid blocks correspond one-to-one to position points of the space to be vibrated; Setting a number of vibration ranges for judging the degree of vibration and each vibration range corresponds to a threshold color; After obtaining the cumulative vibration amount of a location point, the cumulative vibration amount of the location point is compared with several levels of the threshold range to obtain the threshold color of the threshold range corresponding to the cumulative vibration amount of the location point, and the corresponding threshold color is displayed on the grid block corresponding to the location point in the three-dimensional occupied grid map model.

3. The concrete vibration quality detection method based on UWB positioning as claimed in claim 1, It is characterized in that After completing the vibration construction of the entire space to be vibrated, the cumulative vibration amount of each position point in the space to be vibrated is compared with the set vibration amount to obtain the position coordinates of the under-vibration position point where the cumulative vibration amount is less than the set vibration amount and the difference between the cumulative vibration amount of the under-vibration position point and the set vibration amount, and display them on the display.

4. The concrete vibration quality detection method based on UWB positioning as claimed in claim 1, It is characterized in that The vibrating rod is provided with a control switch for controlling the vibration of the vibrating head; When the vibrating head performs vibrating construction at a vibrating position, the vibrating time of the vibrating head at the current position is calculated through the first moment corresponding to when the control switch is turned on and the second moment corresponding to when the control switch is turned off.

5. A concrete vibration quality detection system based on UWB positioning, It is characterized in that include: A vibrating rod for vibrating concrete, the vibrating rod having a vibrating head; A pressure sensor is embedded in the vibrating head to detect the exciting force of the vibrating head during vibration; An elastic sealing film is mounted on the vibrating head corresponding to the pressure sensor to seal and cover the pressure sensor; Two UWB positioning tags installed on the vibrating rod away from one end of the vibrating head, the two UWB positioning tags are spaced apart in the length direction of the vibrating rod, and the UWB positioning tags are used to detect the current position coordinates of the UWB positioning tags; An exciting force calculation module connected to the pressure sensor for calculating the exciting force of each position point within a set range around the current vibrating head according to the exciting force during the vibrating of the vibrating head; A position calculation module in communication with the UWB positioning tag, used to calculate the current position coordinates of the vibrating head according to the current position coordinates of the two UWB positioning tags and the distance between the UWB positioning tag and the vibrating head; a current vibration amount calculation module connected to the exciting force calculation module and the position calculation module, for calculating the current vibration amount of each position point within a set range centered on the current position of the vibrating head according to the vibration time of the vibrating head at the current position, the current vibrating head and the exciting force of each position point within a set range around the current vibrating head; and The cumulative vibration amount calculation module connected to the current vibration amount calculation module is used to calculate the cumulative vibration amount of each position point within the set range centered on the current position of the vibrating head based on the current vibration amount of each position point within the set range centered on the current position of the vibrating head and the original vibration amount of each position point within the current set range to detect the concrete vibration quality of the corresponding position point.

6. The concrete vibration quality detection system based on UWB positioning as claimed in claim 5, It is characterized in that Also includes: A grid map creation module, used to create a three-dimensional occupied grid map model of the space to be vibrated, wherein the three-dimensional occupied grid map model has a plurality of grid blocks, and the grid blocks correspond one-to-one to the position points of the space to be vibrated; A vibration level determination module connected to the cumulative vibration amount calculation module, wherein the vibration level determination module is internally set with several levels of vibration ranges for determining the degree of vibration and each of the vibration ranges corresponds to a threshold color, and the vibration level determination module is used to compare the cumulative vibration amount of a position point with the several levels of threshold ranges after obtaining the cumulative vibration amount of the position point, so as to obtain the threshold color of the threshold range corresponding to the cumulative vibration amount of the position point; A vibration amount display module connected to the vibration level determination module and the grid map creation module, the vibration amount display module is used to display the corresponding threshold color on the grid block corresponding to the position point in the three-dimensional grid map model.

7. The concrete vibration quality detection system based on UWB positioning as claimed in claim 5, It is characterized in that It also includes an under-vibration position acquisition module connected to the cumulative vibration amount calculation module, which is used to compare the cumulative vibration amount of each position point in the space to be vibrated with the set vibration amount after completing the vibration construction of the entire space to be vibrated, so as to obtain the position coordinates of the under-vibration position point where the cumulative vibration amount is less than the set vibration amount and the difference between the cumulative vibration amount of the under-vibration position point and the set vibration amount.

8. The concrete vibration quality detection system based on UWB positioning as claimed in claim 7, It is characterized in that It also includes a display connected to the under-vibration position acquisition module, which displays the position coordinates of the under-vibration position point and the difference between the accumulated vibration amount of the under-vibration position point and the set vibration amount.

9. The concrete vibration quality detection system based on UWB positioning as claimed in claim 5, It is characterized in that The vibrating rod is provided with a control switch for controlling the vibration of the vibrating head; The detection system also includes a vibration time calculation module connected to the control switch and the current vibration amount calculation module, which is used to obtain a first moment corresponding to when the control switch is turned on and a second moment corresponding to when the control switch is closed, so as to calculate the vibration time of the vibration head at the current position.

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