Grouting pipeline cleaning quality monitoring system and method

Abstract

The application provides a grouting pipeline cleaning quality monitoring system and method, which comprises: a pressure detection device for detecting the pressure signal of a shield tail grouting block in a grouting main pipeline; a visual detection device for collecting cleaning water in the grouting main pipeline through a servo device, obtaining the image of the cleaning water, and analyzing the image to obtain an impurity index value; and a control module for calculating a blockage index value according to the pressure signal, analyzing the grouting pipeline cleaning quality according to the blockage index value and the impurity index value. The application can perform multiple continuous sampling detections, monitor the change of the cleaning quality in real time, judge whether the cleaning quality meets the standard in real time, and analyze the impurity index and the blockage index at the same time.

Description

Technical Field

[0001] This invention relates to the field of grouting pipeline cleaning technology, and in particular to a grouting pipeline cleaning quality monitoring system and method. Background Technology

[0002] Tunnel boring machines (TBMs) are mainly used for tunnel excavation, and the grouting system is an indispensable part of their complex structural system. The inner walls of the grouting pipes in the tail grouting block easily absorb and accumulate mud, so pipe cleaning is performed during each grouting cycle. However, the quality of pipe cleaning is difficult to assess. There are two main indicators for assessing cleaning quality: one is whether the clean water flowing into the pipe carries impurities out of the pipe (referred to as the impurity indicator), and the other is whether mud has solidified on the pipe wall (in which case clean water cannot wash away the impurities) (referred to as the blockage indicator). Currently, monitoring methods for the cleaning quality of grouting pipes are still at the stage of visual observation and judgment, and related research is scarce. This paper investigates technical solutions for the detection of the above indicators.

[0003] Existing impurity detection solutions generally only support single detection, cannot perform continuous sampling and detection, and cannot monitor changes in cleaning quality in real time or determine whether the cleaning quality meets the standards in real time.

[0004] Existing water quality testing image analysis solutions can only analyze impurity indicators; there has been little progress in analyzing clogging indicators and organically combining the two.

[0005] In summary, there is currently a lack of a quality monitoring solution for grouting pipeline cleaning to address the aforementioned issues. Summary of the Invention

[0006] This invention proposes a grouting pipeline cleaning quality monitoring system for performing multiple continuous sampling tests, real-time monitoring of changes in cleaning quality and real-time judgment of whether the cleaning quality meets the standards, and can simultaneously analyze impurity indicators and blockage indicators. The system includes: a pressure detection device for detecting the pressure signal of the shield tail grouting block in the grouting main pipeline;

[0007] A visual inspection device is used to collect the cleaning water in the grouting main pipeline through a servo device, obtain an image of the cleaning water, and analyze the image to obtain impurity index values.

[0008] The control module is used to calculate the blockage index value based on the pressure signal, and to analyze the cleaning quality of the grouting pipeline based on the blockage index value and the impurity index value.

[0009] This invention proposes a method for monitoring the cleaning quality of grouting pipelines, applied to a grouting pipeline cleaning quality monitoring system. This method performs multiple continuous sampling tests, monitors changes in cleaning quality in real time, and determines whether the cleaning quality meets standards. It also simultaneously analyzes impurity and blockage indicators. The method includes:

[0010] Obtain images of the cleaning water and pressure signals from the tail grouting block;

[0011] Analyze the images of the cleaning water to obtain the impurity index values ​​of the cleaning water;

[0012] Calculate the blockage index value based on the pressure signal;

[0013] The cleaning quality of the grouting pipeline is analyzed based on the blockage index value and the impurity index value.

[0014] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described method for monitoring the cleaning quality of grouting pipelines.

[0015] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for monitoring the cleaning quality of grouting pipelines.

[0016] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for monitoring the cleaning quality of grouting pipelines.

[0017] During the actual cleaning process of grouting pipelines, construction workers often rely solely on experience to determine whether the pipelines are clean. This inevitably leads to two problems: first, cleaning may continue even when the pipelines are already clean, wasting resources and time; second, when blockages occur that are difficult to remove with water, workers are unaware of this, eventually leading to complete blockages that are difficult to clear. This invention can simultaneously detect both blockage and impurity levels; it provides on-site workers with a correct and timely indication of when the pipeline is clean; and it can promptly detect and report blockages for timely handling. Furthermore, in this invention, the visual inspection device includes a servo device that enables cyclic sampling without human intervention, achieving a fully automated quality monitoring process, significantly improving efficiency and reducing labor costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0019] Figure 1 This is a schematic diagram of the composition of the grouting pipeline cleaning quality monitoring system in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the grouting pipeline cleaning quality monitoring system in an embodiment of the present invention;

[0021] Figure 3 This is a monitoring principle diagram under sampling conditions in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the visual detection process in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the sorting operation in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram illustrating the flow of various signals and data in an embodiment of the present invention;

[0025] Figure 7 This is a flowchart of the visual quality monitoring and control process for the grouting pipeline in an embodiment of the present invention;

[0026] Figure 8 This is a flowchart of the grouting pipeline cleaning quality monitoring method in an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0029] In the description of this specification, the terms "comprising," "including," "having," and "containing" are open-ended terms, meaning that they include but are not limited to. The terms "an embodiment," "a specific embodiment," "some embodiments," and "for example," etc., refer to specific features, structures, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. The order of steps involved in the various embodiments is used to illustrate the implementation of this application, and the order of steps is not limited and can be adjusted appropriately as needed.

[0030] In this embodiment of the invention, the basic principle of cleaning quality monitoring is as follows: the cleaning quality indicators are decomposed into indicator 1—blockage indicator and indicator 2—impurity indicator; during pipeline cleaning, the inlet pressure value and outlet pressure value of the shield tail grouting block are detected and compared with the data of the pipeline when there is no blockage, and the pipeline is analyzed to determine whether there is a blockage; during pipeline cleaning, the visual inspection and sampling device works cyclically, and the water sample after cleaning is visually inspected. By analyzing the turbidity and particle size indicators of the water sample, it is determined whether there are still impurities in the pipeline; the detection process is repeated cyclically, and the blockage indicator and impurity indicator are comprehensively evaluated to realize the cleaning quality monitoring process of the tunneling machine grouting pipeline.

[0031] Note: The term "blockage" in the above context does not mean that a certain part of the pipeline is completely blocked. Rather, it means that the pipe diameter is reduced due to the solidification of mud on the pipe wall, and that this part cannot be washed away by the cleaning water, resulting in a significant change in flow velocity and pressure at that point. The term "impurities" in the above context refers to impurities that are attached to the pipe wall and can be washed away by clean water. These impurities can be observed by observing the mixed substances in the water after the cleaning water flows out of the pipeline.

[0032] Figure 1 This is a schematic diagram of the composition of the grouting pipeline cleaning quality monitoring system in an embodiment of the present invention. The grouting pipeline cleaning quality monitoring system includes:

[0033] Pressure detection device 101 is used to detect the pressure signal of the shield tail grouting block in the grouting main pipeline;

[0034] The visual inspection device 102 is used to collect the cleaning water in the grouting main pipeline through the servo device, obtain the image of the cleaning water, and analyze the image to obtain the impurity index value.

[0035] The control module 103 is used to calculate the blockage index value based on the pressure signal, and to analyze the cleaning quality of the grouting pipeline based on the blockage index value and the impurity index value.

[0036] Figure 2 This is a schematic diagram of the grouting pipeline cleaning quality monitoring system in an embodiment of the present invention. Figures 3-5 These are monitoring principle diagrams under different operating conditions in embodiments of the present invention, wherein, Figure 3 This is a monitoring principle diagram under sampling conditions in an embodiment of the present invention. Figure 4 This is a schematic diagram illustrating the principle of visual detection in an embodiment of the present invention. Figure 5 This is a schematic diagram of the sorting operation in an embodiment of the present invention.

[0037] The system includes a grouting main pipeline 4, a pressure detection device located at the first end of the grouting main pipeline 4, a sampling branch 5 connected to the grouting main pipeline 4, and a sampling cup 7; wherein, the visual detection device is connected to the sampling cup 7.

[0038] The control module is the host computer 19.

[0039] The pressure detection device includes: a first pressure sensor 1, a shield tail grouting block 2, and a second pressure sensor 3, which are sequentially arranged starting from the first end of the grouting main pipeline 4;

[0040] The pressure signals include the inlet pressure value and the outlet pressure value of the tail grouting block 2.

[0041] The first pressure sensor 1 and the second pressure sensor 3 are respectively used to: collect the inlet pressure value and outlet pressure value of the shield tail grouting block (2) and send them to the calculation module;

[0042] The visual inspection device includes: a lower-level machine 17, a housing 8, a camera device, a first servo device, and a second servo device housed within the housing 8, wherein the sampling cup 7 is fixedly connected to the first servo device; the first servo device is connected to the second servo device.

[0043] The second servo device is used for:

[0044] During sampling, the first servo device and sampling cup 7 are driven to collect cleaning water;

[0045] Under visual inspection conditions, the first servo device and the camera device are driven to take pictures of the cleaning water in the sampling cup, obtain the image of the cleaning water, and upload it to the lower computer 17.

[0046] During the sampling process, the first servo device is driven to empty the sampling cup and return to the sampling state.

[0047] Among them, the shield tail grouting block 2 is the most prone to grout blockage in the grouting pipeline. Therefore, the first pressure sensor 1 and the second pressure sensor 3 are placed on the pipeline walls on both sides of its inlet and outlet to collect the inlet pressure value P1 and the outlet pressure value P2, respectively.

[0048] The first servo device includes a first servo motor 11 and a direct-drive moving platform 14.

[0049] The second servo device includes a second servo motor 12 and a lead screw 13 that are interconnected.

[0050] The sampling cup 7 is fixedly connected to the motor shaft of the first servo motor 11 via connector 18;

[0051] The base of the first servo motor 11 is connected to the linear motion platform 14, which is the linear motion component of the lead screw 13.

[0052] The system also includes a solenoid valve 6 located at the first end of the sampling branch 5, for:

[0053] Upon receiving the open command from the host computer 19, the sampling branch 5 is activated;

[0054] Upon receiving the shutdown command from the host computer 19, the sampling branch 5 is shut down.

[0055] The visual inspection device also includes a liquid level sensor 15 disposed on the sampling cup 7, for:

[0056] During sampling, the water level in the sampling cup is detected and fed back to the lower-level machine 17.

[0057] The lower-level machine 17 is also used to: send a sampling stop signal to the upper-level machine and send a visual inspection command to the second servo device when the water level of the received cleaning water reaches the set value;

[0058] The host computer 19 is also used to: send a closing command to the solenoid valve 6 after receiving the sampling stop signal;

[0059] The second servo device is also used to: after receiving a visual inspection command, drive the first servo device and the entire sampling cup away from the sampling branch 5, so that the sampling cup stops moving when it moves directly below the camera device; after stopping for a preset time, enter the sorting mode, and drive the first servo device and the entire sampling cup closer to the direct below the sampling branch 5.

[0060] The visual inspection device also includes a movable door 20, which is capable of moving up and down along the side wall of the housing 8 near the sampling cup;

[0061] The movable door 20 is used to: open upon receiving an opening command from the host computer 19, and close upon receiving a closing command from the host computer 19.

[0062] When the system is in a non-monitoring state, the first servo device, the second servo device, and the sampling cup 7 are placed inside the outer casing 8, and the movable door 20 is closed.

[0063] The host computer 19 is also used to: send an opening command to the movable door 20, send a data acquisition command to the lower computer 17, and enter the sampling mode;

[0064] The lower-level machine 17 is also used to: send a sampling command to the second servo device after receiving the acquisition command;

[0065] The second servo device is also used to: after receiving the sampling command, drive the first servo device and the entire sampling cup to move closer to the sampling branch 5, so that the sampling cup is located directly below the sampling branch 5.

[0066] The host computer 19 is also used to: issue an opening command to the solenoid valve 6.

[0067] The visual inspection device includes a connector 18; the sampling cup 7 is fixedly connected to the first servo device via the connector 18.

[0068] The system also includes a wastewater tank 16 connected to the second end of the grouting main pipeline 4, for receiving cleaning water flowing out of the grouting main pipeline 4.

[0069] The sampling branch 5 is led out from the second end of the grouting main pipeline 4 at a predetermined length, and the first end of the sampling branch 5 is located between the second pressure sensor 3 and the sewage tank 16.

[0070] The steps for rinsing water to flow into the sampling cup include:

[0071] The cleaning water is injected from the first end of the grouting main pipeline 4, flows sequentially through the first pressure sensor 1, the shield tail grouting block 2, the second pressure sensor 3, and the sampling branch 5, and then flows into the sampling cup.

[0072] The steps of the first servo device controlling the emptying of the sampling cup 7 include:

[0073] The first servo device controls the sampling cup 7 to face downwards, and after a preset time for the cleaning water to be drained, the first servo device controls the sampling cup 7 to face upwards.

[0074] During the sampling process, the second servo motor 12 drives the lead screw 13 to rotate, and the lead screw 13 drives the direct-drive moving platform 14, the first servo motor 11, and the sampling cup to move closer to the sampling branch 5, so that the sampling cup is located directly below the sampling branch 5.

[0075] In visual inspection mode, the second servo motor 12 drives the lead screw 13 to rotate, and the lead screw 13 drives the linear moving platform 14, the first servo motor 11 and the sampling cup to move away from the sampling branch 5, so that the sampling cup stops moving when it moves directly below the camera device.

[0076] In the sampling operation, the second servo motor 12 drives the lead screw 13 to rotate, and the lead screw 13 drives the direct-drive moving platform 14, the first servo motor 11, and the sampling cup to move closer to the sampling branch 5, so that the sampling cup is located directly below the sampling branch 5. The first servo motor 11 controls the sampling cup 7 to face downwards. After waiting for a preset time for the cleaning water to be drained, the first servo motor 11 controls the sampling cup 7 to face upwards.

[0077] The camera device includes:

[0078] Camera 9 is used to take pictures of the cleaning water to obtain an image of the cleaning water;

[0079] The light sources 10 on both sides of the camera 9 are used to provide supplementary lighting when the camera 9 takes pictures.

[0080] Liquid level sensors can be ultrasonic, capacitive, or photoelectric.

[0081] Camera 9 is a fixed-focus wide-angle lens or a fixed-focus lens.

[0082] As can be seen from the above, the system in this embodiment of the invention includes two states and three operating conditions, which will be explained below.

[0083] When not under monitoring, the system is in a non-monitored state. In this state, the first servo device (first servo motor 11 and direct-drive platform 14), the second servo device (second servo motor 12 and lead screw 13), and the sampling cup 7 are located inside the housing 8. The moving door 20 is closed, and the solenoid valve 6 of the sampling branch 5 is closed. The first and second pressure sensors are not operational. The cleaning water does not flow through the sampling branch 5 but enters from the first end of the grouting main pipeline 4 and then flows out into the sewage tank.

[0084] When monitoring is required, the system enters a monitoring state and then enters a cycle consisting of three operating conditions. The sampling condition is used to sample the cleaning water flowing through the pipeline for subsequent visual inspection. The visual inspection condition is used to acquire and analyze images of the cleaning water samples to obtain impurity index results. The discharge condition is used to discharge the samples from this round of testing into the wastewater tank and empty the sampling cup for the next round of sampling and testing.

[0085] The specific process of sampling is as follows:

[0086] The host computer 19 sends a data acquisition command to the slave computer 17, and enters the sampling mode for the first time;

[0087] After receiving the acquisition command, the lower-level machine 17 sends an opening command to the moving door 20, and the moving door opens; it also sends a sampling command to the second servo device.

[0088] After receiving the sampling command, the second servo device drives the lead screw 13 to rotate. The lead screw 13 drives the linear moving platform 14, the first servo motor 11, and the sampling cup to move closer to the sampling branch 5, so that the sampling cup is located directly below the sampling branch 5.

[0089] The host computer sends an opening command to the solenoid valve 6, which opens the sampling branch 5. The cleaning water is injected from the first end of the grouting main pipeline 4 and flows sequentially through the first pressure sensor 1, the shield tail grouting block 2, the second pressure sensor 3, and the sampling branch 5 before flowing into the sampling cup.

[0090] The liquid level sensor 15 detects the water level of the cleaning water in the sampling cup and feeds it back to the lower-level machine 17;

[0091] When the water level of the received cleaning water reaches the set value, the lower-level machine 17 sends a sampling stop signal to the upper-level machine and a visual inspection command to the second servo device.

[0092] After receiving the sampling stop signal, the host computer 19 sends a closing command to the solenoid valve 6, and the solenoid valve 6 closes the sampling branch 5;

[0093] The sampling process lasts for approximately 1 second.

[0094] The specific process of visual inspection is as follows:

[0095] The second servo motor 12 drives the lead screw 13 to rotate (forward rotation). The lead screw 13 drives the linear moving platform 14, the first servo motor 11, and the entire sampling cup away from the sampling branch 5, so that the sampling cup stops moving when it is directly below the camera device. At this time, the lower computer 17 sends a closing command to the moving door 20, and the moving door 20 closes. The purpose of closing the moving door is to ensure that there is no other water vapor contaminating the sample of the cleaning water.

[0096] At this time, the light source 10 is turned on, the camera 9 captures the cleaning water in the sampling cup, obtains an image of the cleaning water, and uploads it to the lower computer 17;

[0097] After a preset time (e.g., 2 minutes) of stopping motion, the sorting process begins;

[0098] This condition lasts for approximately 2 seconds.

[0099] The specific process of the nesting operation is as follows:

[0100] The lower-level machine 17 sends an opening command to the movable door 20, and the movable door 20 opens. The second servo motor 12 drives the lead screw 13 to rotate (in reverse). The lead screw 13 drives the linear moving platform 14, the first servo motor 11, and the sampling cup to move closer to the sampling branch 5, so that the sampling cup is directly below the sampling branch 5. The first servo motor 11 controls the sampling cup 7 to face downward by rotating 180 degrees forward. After waiting for a preset time (about 0.5 seconds) to drain the cleaning water, the first servo motor 11 controls the sampling cup 7 to face upward by rotating 180 degrees forward. At this time, the sampling cup 7 is exactly the same as the initial position and posture of the sampling condition, and the next sampling and detection cycle begins.

[0101] The image of the cleaning water can be obtained through the above three working conditions. The lower-level computer 17 is used to: analyze the image of the cleaning water, obtain the impurity index value of the cleaning water, and send it to the upper-level computer 19. In addition, the first pressure sensor 1 and the second pressure sensor 3 are respectively used to: collect the inlet pressure value and outlet pressure value of the shield tail grouting block 2, and send them to the upper-level computer 19;

[0102] Finally, the host computer 19 calculates the blockage index value based on the inlet pressure value and the outlet pressure value, and analyzes the cleaning quality of the grouting pipeline based on the blockage index value and the impurity index value.

[0103] Figure 6 This is a schematic diagram illustrating the flow of various signals and data in an embodiment of the present invention. Figure 6 The system includes: pressure signals (inlet and outlet pressure values), solenoid valve switch signals (open and close commands), liquid level data (cleaning water level), images, servo devices (first and second servo devices), a lower-level computer, and a higher-level computer. The higher-level computer is located at the central control console of the tunneling machine construction site, using a PLC or similar controller. The pressure signals measured in the pipeline are directly transmitted to the higher-level computer for analysis and processing to obtain blockage index results. Simultaneously, the higher-level computer directly transmits solenoid valve switch signals. These two signal transmission processes are conducted using wired or wireless transmission methods depending on the site conditions. The lower-level computer is located within the vision inspection device, using microcontrollers such as OpenMV and STM32 that can integrate image analysis modules. Images are transmitted to the lower-level computer, which then analyzes them to obtain image analysis results, i.e., pipeline cleaning impurity index results, which are transmitted to the higher-level computer. The higher-level computer then judges the pipeline cleaning quality based on the combined blockage and impurity indexes. Liquid level data is transmitted to the lower-level computer, which controls the movement of the servo devices.

[0104] Figure 7 The flowchart for visual quality monitoring and control of grouting pipeline in this embodiment of the invention includes four stages: S1, S2, S3, and S4.

[0105] S1 stage: The grouting pipeline begins to be cleaned. After clear water is discharged from the outlet of the cleaned pipeline, the grouting pipeline cleaning quality monitoring stage begins.

[0106] S2 stage: Data is collected through the two states and three operating conditions of the aforementioned system, including the acquisition of inlet pressure value, outlet pressure value and images; then, the blockage index value and impurity index value are calculated.

[0107] The calculation principle for the blockage index value is based on the phenomenon that when slurry solidifies on the inner wall of the pipe, it leads to a decrease in the inner diameter and an increase in the roughness of the pipe. According to fluid mechanics, when fluid passes through this section of the pipeline, the friction loss increases, and the fluid pressure decreases while the flow rate remains constant. Based on the above principle, the calculation process for the blockage index value is as follows:

[0108] Establish a pressure database of the shield tail grouting block during pipeline cleaning under conditions of no impurities or blockages, the pressure database including pressure difference comparison values;

[0109] Calculate and compare the pressure difference between the inlet pressure value and the inlet pressure value;

[0110] Compare the pressure difference value with the pressure difference reference value to calculate the blockage index value;

[0111] Among them, when there is a large difference between the pressure difference value and the pressure difference reference value, it can be judged that the friction loss in the pipeline is too large, and it can be judged that there is a blockage. That is, the blockage index does not meet the standard. When the blockage index meets the standard, it is marked as A1, and when it does not meet the standard, it is marked as A0.

[0112] The calculation principle of the impurity index value is as follows: After the cleaning water flows through the grouting pipeline, the impurities in the water can be mainly divided into two states. One is that the water becomes dark after dissolving in the water. The detection of this part of the impurities is simply called turbidity detection. The other is that the water contains a lot of visible particulate impurities that do not dissolve in the water. The detection of this part of the impurities is simply called particle size detection. The detection of both types of impurities is considered at the same time during image analysis.

[0113] The calculation process for impurity index values ​​is as follows:

[0114] The image of the cleaning water is preprocessed, which includes image grayscale processing and filtering processing. Grayscale processing removes redundant interference information from the color image, while filtering suppresses noise in the target image while preserving image detail features as much as possible.

[0115] The grayscale value of the preprocessed image is obtained to determine the brightness of the washing water and obtain the turbidity detection result. The lower the grayscale value, the higher the turbidity of the water sample, and the higher the grayscale value, the clearer the water sample.

[0116] The preprocessed image is binarized and inverted. The number and size of white light spots in the inverted image are calculated (this step is to process particulate impurities into white light spots and other parts into black background. The binarization judgment threshold can be appropriately increased to distinguish particulate impurities from miscible impurities). The particle size detection result is obtained. The larger and more numerous the white light spots, the more particulate impurities there are in the water sample.

[0117] Based on the turbidity and particle size test results, the impurity index values ​​of the cleaning water are obtained, which determines whether the impurity index meets the standards during pipeline cleaning. If the impurity index meets the standards, it is marked as B1; if it does not meet the standards, it is marked as B0.

[0118] Phase S3: This is the data analysis and judgment phase. The blockage and impurity indicators are jointly assessed. There are four possible combinations for these two indicators: A1B1, A0B1, A1B0, and A0B0, each corresponding to a different pipeline cleaning status, also known as the grouting pipeline cleaning quality. A1B1 indicates no blockage or impurities in the pipeline, meaning the cleaning quality meets the standard, and the clear strategy is to stop cleaning. A0B1 indicates that although there are no impurities in the cleaning water, there is still blockage in the pipeline that is difficult to remove with clean water. Continuing cleaning will not improve the situation and will only waste resources and time; therefore, it is determined that there is blockage in the pipeline, and the clear strategy is to stop cleaning and notify the construction personnel to clear the pipeline immediately. A1B0 indicates that there is no blockage in the pipeline, but some impurities remain; the clear strategy is to continue cleaning, and the process should return to step S2 to continue monitoring the cleaning quality. A0B0 indicates that there are a large number of impurities in the pipeline; the clear strategy is to continue cleaning, and the process should return to step S2 to continue monitoring the cleaning quality.

[0119] S4 indicates that the cleaning process has ended, signifying the conclusion of both the pipeline cleaning process and the pipeline cleaning quality monitoring process.

[0120] Figure 8 This is a flowchart of a grouting pipeline cleaning quality monitoring method according to an embodiment of the present invention, applied to a grouting pipeline cleaning quality monitoring system, including:

[0121] Step 801: Obtain images of the cleaning water, the inlet pressure value of the shield tail grouting block, and the outlet pressure value;

[0122] Step 802: Analyze the image of the cleaning water to obtain the impurity index value of the cleaning water;

[0123] Step 803: Calculate the blockage index value based on the inlet pressure value and the outlet pressure value;

[0124] Step 804: Analyze the cleaning quality of the grouting pipeline based on the blockage index value and the impurity index value.

[0125] In summary, the system and method proposed in this invention can simultaneously detect both blockage and impurity indicators; it can provide on-site construction personnel with a correct and timely completion time for cleaning when the pipeline is clean; and it can promptly detect and report blockages in the pipeline for timely handling, which should be protected. Furthermore, in this invention, the visual inspection device includes a first servo device and a second servo device, enabling a loop between sampling, visual inspection, and sorting modes. The sampling cup returns to the sampling mode during sorting, eliminating the need for human intervention and operation, thus achieving a fully automated quality monitoring process, significantly improving efficiency and reducing labor costs.

[0126] This invention also provides a computer device. Figure 9 This is a schematic diagram of a computer device in an embodiment of the present invention. The computer device 900 includes a memory 910, a processor 920, and a computer program 930 stored in the memory 910 and executable on the processor 920. When the processor 920 executes the computer program 930, it implements the above-mentioned grouting pipeline cleaning quality monitoring method.

[0127] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for monitoring the cleaning quality of grouting pipelines.

[0128] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for monitoring the cleaning quality of grouting pipelines.

[0129] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program operating systems. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program operating system implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program business systems according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0131] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0133] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A grouting pipeline cleaning quality monitoring system, characterized in that, include: The pressure detection device is used to detect the pressure signal of the grouting block at the tail of the shield in the main grouting pipeline; A visual inspection device is used to collect the cleaning water in the grouting main pipeline through a servo device, obtain an image of the cleaning water, and analyze the image to obtain impurity index values. The control module is used to calculate the blockage index value based on the pressure signal, and to analyze the cleaning quality of the grouting pipeline based on the blockage index value and the impurity index value. The visual inspection device includes: a lower unit (17), a housing (8), a camera device, a first servo device, and a second servo device placed inside the housing (8), wherein the sampling cup (7) is fixedly connected to the first servo device; the first servo device is connected to the second servo device; The second servo device is used for: During the sampling process, the first servo device and the sampling cup (7) are driven to collect the cleaning water; In visual inspection mode, the first servo device and camera device are driven to take pictures of the cleaning water in the sampling cup, obtain the image of the cleaning water, and upload it to the lower computer (17). During the sampling process, the first servo device is driven to empty the sampling cup and return to the sampling state. The first servo device includes a first servo motor (11) and a linear motion platform (14); the second servo device includes a second servo motor (12) and a lead screw (13) connected to each other; the sampling cup (7) is fixedly connected to the motor shaft of the first servo motor (11) through a connector (18); the base of the first servo motor (11) is connected to the linear motion platform (14), and the linear motion platform (14) is the linear motion component of the lead screw (13); During the sampling process, the second servo motor (12) drives the lead screw (13) to rotate, and the lead screw (13) drives the direct-drive moving platform (14), the first servo motor (11), and the sampling cup to move closer to the sampling branch (5), so that the sampling cup is located directly below the sampling branch (5). In the visual inspection mode, the second servo motor (12) drives the lead screw (13) to rotate, and the lead screw (13) drives the linear moving platform (14), the first servo motor (11) and the entire sampling cup to move away from the sampling branch (5), so that the sampling cup stops moving when it moves directly below the camera device; In the sampling operation, the second servo motor (12) drives the lead screw (13) to rotate. The lead screw (13) drives the direct-moving platform (14), the first servo motor (11), and the sampling cup to move closer to the sampling branch (5), so that the sampling cup is located directly below the sampling branch (5). The first servo motor (11) controls the sampling cup (7) to face downwards. After waiting for a preset time for the cleaning water to be drained, the first servo motor (11) controls the sampling cup (7) to face upwards.

2. The system as described in claim 1, characterized in that, It also includes a grouting main pipeline (4), a pressure detection device installed at the first end of the grouting main pipeline (4), a sampling branch (5) connected to the grouting main pipeline (4), and a sampling cup (7); wherein, the visual detection device is connected to the sampling cup (7).

3. The system as described in claim 2, characterized in that, The control module is a host computer (19).

4. The system as described in claim 3, characterized in that, The pressure detection device includes: a first pressure sensor (1), a shield tail grouting block (2), and a second pressure sensor (3) arranged sequentially from the first end of the grouting main pipeline (4). Among them, the pressure signal includes the inlet pressure value and outlet pressure value of the shield tail grouting block (2); The first pressure sensor (1) and the second pressure sensor (3) are respectively used to collect the inlet pressure value and outlet pressure value of the shield tail grouting block (2) and send them to the calculation module.

5. The system as described in claim 4, characterized in that, The second servo device is specifically used for: When entering the sampling mode for the first time, the first servo device and the entire sampling cup are moved close to the sampling branch (5), so that the sampling cup is located directly below the sampling branch (5); at this time, the sampling branch (5) is opened, and the cleaning water flows into the sampling cup. When the water level of the cleaning water reaches the set value, the sampling branch (5) is closed. In visual inspection mode, the first servo device and the entire sampling cup are moved away from the sampling branch (5), so that the sampling cup stops moving when it is directly below the camera device. The camera device takes a picture of the cleaning water in the sampling cup, obtains the image of the cleaning water, and uploads it to the lower computer (17). In the sampling operation, the first servo device and the sampling cup are moved closer to the sampling branch (5), so that the sampling cup is located directly below the sampling branch (5). At this time, the first servo device controls the emptying of the sampling cup (7). The lower-level machine (17) is used to: analyze the image of the cleaning water, obtain the impurity index value of the cleaning water, and send it to the upper-level machine (19).

6. The system as described in claim 5, characterized in that, It also includes a solenoid valve (6) located at the first end of the sampling branch (5), used for: Upon receiving the open command from the host computer (19), the sampling branch (5) is opened. When the host computer (19) sends a shutdown command, the sampling branch (5) is shut down.

7. The system as described in claim 6, characterized in that, The visual inspection device also includes a liquid level sensor (15) disposed on the sampling cup (7), for: During the sampling process, the water level of the cleaning water in the sampling cup is detected and fed back to the lower-level machine (17). The lower-level machine (17) is also used to: send a sampling stop signal to the upper-level machine and send a visual inspection command to the second servo device when the water level value of the received cleaning water reaches the set value; The host computer (19) is also used to: send a closing command to the solenoid valve (6) after receiving the sampling stop signal; The second servo device is also used to: after receiving the visual inspection command, drive the first servo device and the entire sampling cup away from the sampling branch (5), so that the sampling cup stops moving when it moves directly below the camera device; after stopping for a preset time, enter the sorting mode, drive the first servo device and the entire sampling cup closer to the sampling branch (5), so that the sampling cup is located directly below the sampling branch (5).

8. The system as described in claim 7, characterized in that, The visual inspection device also includes a movable door (20) that can move up and down along the side wall of the housing (8) near the sampling cup; The movable door (20) is used to: open after receiving an opening instruction from the lower-level machine (17), and close after receiving a closing instruction from the lower-level machine (17).

9. The system as described in claim 8, characterized in that, When the system is in a non-monitoring state, the first servo device, the second servo device, and the sampling cup (7) are placed inside the outer casing (8), and the movable door (20) is closed; The host computer (19) is also used to: send acquisition commands to the lower computer (17) and enter the sampling mode; The lower-level machine (17) is also used to: send an opening command to the moving door (20) and a sampling command to the second servo device after receiving the acquisition command; The second servo device is also used to: after receiving the sampling command, drive the first servo device and the entire sampling cup to move closer to the sampling branch (5), so that the sampling cup is located directly below the sampling branch (5); The host computer (19) is also used to: issue an opening command to the solenoid valve (6).

10. The system as described in claim 4, characterized in that, The visual inspection device includes a connector (18); The sampling cup (7) is fixed to the first servo device via a connector (18).

11. The system as described in claim 4, characterized in that, It also includes a wastewater tank (16) connected to the second end of the grouting main pipeline (4) for receiving cleaning water flowing out of the grouting main pipeline (4).

12. The system as claimed in claim 11, characterized in that, The sampling branch (5) is led out from the second end of the grouting main pipeline (4) at a predetermined length, and the first end of the sampling branch (5) is located between the second pressure sensor (3) and the sewage tank (16).

13. The system as described in claim 4, characterized in that, The steps for rinsing water to flow into the sampling cup include: The cleaning water is injected from the first end of the grouting main pipeline (4), flows through the first pressure sensor (1), the shield tail grouting block (2), the second pressure sensor (3), and the sampling branch (5) in sequence, and flows into the sampling cup.

14. The system as described in claim 4, characterized in that, The steps of the first servo device controlling the emptying of the sampling cup (7) include: The first servo device controls the sampling cup (7) to face downwards, and after a preset time for the cleaning water to be drained, the first servo device controls the sampling cup (7) to face upwards.

15. The system as described in claim 4, characterized in that, The camera device includes: Camera (9) is used to take pictures of the cleaning water and obtain images of the cleaning water; The light sources (10) on both sides of the camera (9) are used to provide supplementary lighting when the camera (9) takes pictures.

16. The system as claimed in claim 4, characterized in that, Liquid level sensors can be ultrasonic, capacitive, or photoelectric.

17. The system as claimed in claim 4, characterized in that, The camera (9) is a fixed-focus wide-angle lens or a fixed-focus lens.

18. The system as described in claim 4, characterized in that, The lower-level machine (17) is specifically used for: The image of the cleaning water is preprocessed, including image grayscale conversion and filtering. The grayscale values ​​of the preprocessed image are obtained to determine the brightness of the washing water and obtain the turbidity detection results. The preprocessed image is binarized and inverted. The number and size of white light spots in the inverted image are calculated to obtain the particle size detection result. Based on the turbidity and particle size test results, the impurity index values ​​of the cleaning water are obtained.

19. The system as claimed in claim 18, characterized in that, The host computer (19) is specifically used for: Establish a pressure database of the shield tail grouting block during pipeline cleaning under conditions of no impurities or blockages, the pressure database including pressure difference comparison values; Calculate the pressure difference between the inlet pressure and the outlet pressure. Compare the pressure difference value with the pressure difference reference value to calculate the blockage index value; Based on the blockage index value and the standard value, the impurity index value and the standard value, the cleaning quality and cleaning strategy of the grouting pipeline are analyzed.

20. A method for monitoring the quality of grouting pipeline cleaning, characterized in that, The grouting pipeline cleaning quality monitoring system according to any one of claims 1 to 19 comprises: Obtain images of the cleaning water and pressure signals from the tail grouting block; Analyze the images of the cleaning water to obtain the impurity index values ​​of the cleaning water; Calculate the blockage index value based on the pressure signal; The cleaning quality of the grouting pipeline is analyzed based on the blockage index value and the impurity index value.

21. The method as described in claim 20, characterized in that, Analyze the images of the cleaning water to obtain the impurity index values, including: The image of the cleaning water is preprocessed, including image grayscale conversion and filtering. The grayscale values ​​of the preprocessed image are obtained to determine the brightness of the washing water and obtain the turbidity detection results. The preprocessed image is binarized and inverted. The number and size of white light spots in the inverted image are calculated to obtain the particle size detection result. Based on the turbidity and particle size test results, the impurity index values ​​of the cleaning water are obtained.

22. The method as described in claim 20, characterized in that, Based on the pressure signal, calculate the blockage index value, including: Establish a pressure database of the shield tail grouting block during pipeline cleaning under conditions of no impurities or blockages, the pressure database including pressure difference comparison values; Calculate the pressure difference between the inlet pressure value and the outlet pressure value, where the pressure signal includes the inlet pressure value and the outlet pressure value; By comparing the pressure difference with the pressure difference reference value, the blockage index value is calculated.

23. The method as described in claim 20, characterized in that, The cleaning quality of the grouting pipeline is analyzed based on the blockage index and impurity index values, including: Based on the blockage index value and the standard value, the impurity index value and the standard value, the cleaning quality and cleaning strategy of the grouting pipeline are analyzed.

24. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 20 to 23.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 20 to 23.

26. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 20 to 23.

Images