Rebar detection imaging method and rhinestone device

Abstract

The application discloses a steel bar detection imaging method and a water drill device. The method comprises the following steps: generating a detection magnetic field in a preset range of a wall body by covering a drill bit of the water drill device; when an induced magnetic field is detected in the detection magnetic field, determining relative position information between the drill bit and a steel bar in the wall body according to the induced magnetic field; generating a detection image of the preset range according to the relative position information between the drill bit and the steel bar and a preset proportion, and displaying the detection image; generating an image connecting line for indicating the shortest distance between the drill bit and the steel bar according to pixel points for indicating the drill bit and pixel points for indicating the steel bar in the detection image, and displaying the image connecting line; determining an actual distance between the drill bit and the steel bar according to the shortest distance indicated by the image connecting line and the preset proportion; and when the actual distance is smaller than a preset alarm distance, an alarm prompt is given. The application can improve the safety of engineering.

Description

Technical Field

[0001] This invention relates to the field of construction. More specifically, it relates to a method for detecting and imaging rebar and a water-drilling device. Background Technology

[0002] As we all know, reinforced concrete is an important building structure widely used in the construction field. The steel bars in reinforced concrete play a very important role in the mechanical properties and structural stability of the building structure. The thickness, arrangement and amount of steel bars in reinforced concrete are determined according to the needs of the project, and there are also requirements for the thickness of the concrete protective layer on the outside of the steel bars.

[0003] During construction, workers often need to drill holes in various types of walls. Currently, the mainstream drilling method is water-cooled drilling, also known as water-powered diamond drilling. Water-cooled drilling offers advantages such as accurate dimensions, low noise, and minimal space requirements, making it widely popular and favored by construction workers. The commonly used device in water-cooled drilling is the water-cooled drilling rig. However, when workers use water-cooled drilling rigs to work on walls, if the drill bit comes into contact with reinforcing steel bars in the wall, it may inevitably cause irreversible damage to the wall and / or the drill bit, thus reducing the safety of the project. Summary of the Invention

[0004] One objective of this invention is to provide a rebar detection imaging method and a water drilling device, which can detect the position of rebars in a wall while the water drilling device is working, thereby playing an early warning role and ensuring the safety of the project.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a rebar detection imaging method applied to a water drilling device, the method comprising:

[0007] A detection magnetic field is generated within a preset range of the wall by the drill bit of the water drilling device.

[0008] When an induced magnetic field is detected within the detection magnetic field, the relative position information between the drill bit and the reinforcing steel bars in the wall is determined based on the induced magnetic field.

[0009] Based on the relative position information between the drill bit and the rebar, a detection image within the preset range is generated according to a preset ratio and then displayed.

[0010] Based on the pixels in the detected image that indicate the drill bit and the pixels that indicate the rebar, an image connection line indicating the shortest distance between the drill bit and the rebar is generated and displayed.

[0011] The actual distance between the drill bit and the reinforcing bar is determined based on the shortest distance indicated by the image connection line and the preset ratio;

[0012] An alarm will be triggered when the actual distance is less than the preset alarm distance.

[0013] Optionally, the number of pixels used to indicate the drill bit is N, and the number of pixels used to indicate the reinforcing bar is M, where N and M are positive integers;

[0014] The generation of the image connection line for indicating the shortest distance between the drill bit and the reinforcing bar includes:

[0015] The N pixels used to indicate the drill bit are connected one by one to the M pixels used to indicate the reinforcing bar, resulting in a primary connection consisting of N·M connections.

[0016] The primary connections that overlap with other pixels are filtered out to obtain secondary connections consisting of O connections, where O is a positive integer;

[0017] Obtain the distances indicated by the O lines included in the secondary connection, and take the line with the shortest distance among the secondary connections as the image connection line.

[0018] Optionally, generating the image connection line for indicating the shortest distance between the drill bit and the reinforcing bar includes:

[0019] The detection image is processed by taking the center point of the detection image as the origin of the coordinate system, and the first coordinates of the pixel points used to indicate the steel bars are obtained to obtain the first coordinate set.

[0020] Based on the coordinate values ​​of all first coordinates in the first coordinate set, the direction of the reinforcing bar relative to the drill bit is determined to obtain a first direction quadrant, and there is at least one first direction quadrant;

[0021] A second coordinate set is obtained by acquiring the second coordinates of the pixel points used to indicate the drill bit. The second coordinate set is then split according to the coordinate values ​​of all the second coordinates to obtain multiple third coordinate sets, each of which corresponds to a second direction quadrant.

[0022] The second pixel of the drill bit corresponding to the first pixel of the reinforcing bar is determined based on the first direction quadrant and the second direction quadrant, and the image connection line of the shortest distance between the drill bit and the reinforcing bar is obtained based on the first pixel and the second pixel.

[0023] Optionally, the step of determining the second pixel of the drill bit corresponding to the first pixel of the reinforcing bar based on the first directional quadrant and the second directional quadrant, and obtaining the image connection line of the shortest distance between the drill bit and the reinforcing bar based on the first pixel and the second pixel, includes:

[0024] Extract the third coordinate set corresponding to the second direction quadrant that is the same as the first direction quadrant as the fourth coordinate set, and take the pixel point in the fourth coordinate set as the second pixel point of the drill bit corresponding to the first pixel point of the rebar;

[0025] The first number is obtained by counting the number of the first pixel, and the second number is obtained by counting the number of the second pixel. The smaller number of pixels is used as the actively calculated pixels, and the larger number of pixels is used as the passively calculated pixels.

[0026] The connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the minimum connection distance is taken as the image connection line with the shortest distance between the drill bit and the rebar.

[0027] Optionally, the step of sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels to obtain the connection distance, and using the minimum connection distance as the image connection line with the shortest distance between the drill bit and the rebar, includes:

[0028] The connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the trend of the change of the connection distance obtained by adjacent intervals is obtained.

[0029] If the trend of change is a decreasing trend, then the distance between the actively calculated pixel and the new passively calculated pixel is recalculated to obtain the new connection distance;

[0030] If the trend of change is increasing, then the distance between the current actively calculated pixel and all passively calculated pixels is no longer calculated, and the distance between the next actively calculated pixel and all passively calculated pixels is calculated instead.

[0031] Optionally, the method further includes:

[0032] When an induced magnetic field is detected within the detection magnetic field, a magnetic field image of the preset range is generated according to the preset ratio, wherein the magnetic field image includes the magnetic field lines of the induced magnetic field.

[0033] The magnetic field image and the detection image are fused to obtain a fused image, which is then displayed.

[0034] Optionally, fusing the magnetic field image with the detection image includes:

[0035] Obtain the pixel coordinates of the pixels in the detection image that indicate the drill bit and the pixels that indicate the reinforcing bar;

[0036] The pixels used to indicate the drill bit and the pixels used to indicate the reinforcing bar in the detection image are extracted;

[0037] Based on the pixel coordinates, the extracted pixels used to indicate the drill bit and the pixels used to indicate the reinforcing bar are merged into the corresponding positions in the magnetic field image.

[0038] Optionally, the preset alarm distance includes multiple distance levels for indicating different distances, and the distances indicated by the multiple distance levels decrease step by step.

[0039] The method further includes:

[0040] When an alarm is triggered by an audible alert, the alarm volume increases when the actual distance decreases from the distance indicated by the current distance level to the distance indicated by the next lower distance level; and / or

[0041] When a light indicator is used as an alarm prompt, the brightness of the alarm prompt increases when the actual distance decreases from the distance indicated by the current distance level to the distance indicated by the next lower distance level.

[0042] Optionally, when the actual distance remains between the distances indicated by two adjacent distance levels for a first preset time, the alarm prompt is stopped and the preset alarm distance is updated, with the last distance level among the two adjacent distance levels being taken as the first distance level of the updated preset alarm distance;

[0043] Specifically, when the water drill device switches from a powered-on state to a powered-off state, the updated preset alarm distance is restored; and / or

[0044] Optionally, when the actual distance is equal to the distance indicated by the last of the preset alarm distance levels, the working state of the drill bit is controlled and intervened, wherein the control intervention includes at least one of the following methods:

[0045] The drill bit is switched from a powered-on state to a powered-off state, and the power-on switch of the drill bit is locked until the actual distance is greater than the distance indicated by the last distance level in the preset alarm distance for a second preset time, at which point the lock on the power-on switch of the drill bit is released; and

[0046] The rotational speed of the drill bit is gradually reduced to a safe speed until the actual distance is greater than the distance indicated by the last distance level in the preset alarm distance for a second preset time, at which point the rotational speed of the drill bit is restored.

[0047] Optionally, determining the relative position information between the drill bit and the reinforcing steel bars in the wall based on the induced magnetic field includes:

[0048] Collect the electrical signal of the induced magnetic field;

[0049] The magnetic field strength of the induced magnetic field is determined based on the electrical signal of the induced magnetic field;

[0050] The relative position information between the drill bit and the reinforcing bars in the wall is determined based on the magnetic field strength of the induced magnetic field and the magnetic field strength of the detected magnetic field.

[0051] Optionally, the method further includes:

[0052] Based on the current orientation of the drill bit and the relative position information between the drill bit and the reinforcing steel in the wall, it is determined whether the drill bit will come into contact with the reinforcing steel when it works in the current orientation direction;

[0053] When the determination result is that the drill bit will touch the rebar when working in the current orientation direction, the contact time when the drill bit touches the rebar when working in the current orientation direction is calculated and displayed.

[0054] Optionally, calculating the contact time when the drill bit contacts the reinforcing bar while working in the current orientation direction includes:

[0055] Obtain the real-time voltage of the drill bit when it is working in the current orientation direction;

[0056] At the first moment, the first relative position between the drill bit and the reinforcing bar is obtained;

[0057] At a second time after the first time, the second relative position between the drill bit and the reinforcing bar is obtained;

[0058] Based on the difference between the second moment and the first moment, and the difference between the second relative position and the first relative position, the contact time when the drill bit contacts the rebar when it is working in the current orientation direction with the real-time voltage is obtained.

[0059] Secondly, the present invention provides a water drill device for detecting and imaging rebar, applied to a water drill device, comprising:

[0060] The magnetic field generating unit is configured to generate a detection magnetic field covering a preset range of the drill bit of the water drill device within the wall.

[0061] A magnetic field sensing unit is configured to determine the relative position information between the drill bit and the reinforcing bars in the wall based on the induced magnetic field when an induced magnetic field is detected in the detection magnetic field.

[0062] The display unit is configured to generate and display a detection image of the preset range based on the relative position information between the drill bit and the rebar according to a preset ratio; and to generate and display an image connection line indicating the shortest distance between the drill bit and the rebar based on pixels in the detection image indicating the drill bit and pixels indicating the rebar.

[0063] The alarm unit is configured to determine the actual distance between the drill bit and the rebar based on the shortest distance indicated by the image connection line and the preset ratio, and to issue an alarm when the actual distance is less than the preset alarm distance.

[0064] The beneficial effects of this invention are as follows:

[0065] This invention can sense the relative position information between the drill bit and the reinforcing steel in the wall in real time and display the corresponding image. This allows workers to view the detection image in real time during construction to determine the detection results. Based on the relative position information between the drill bit and the reinforcing steel in the wall, the position of the reinforcing steel can be judged to further determine the feasibility of construction, which can at least improve the safety of the project. Furthermore, when the actual distance between the drill bit and the reinforcing steel is less than the preset alarm distance, an alarm can be triggered, which has a good warning effect on the workers. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0067] Figure 1 A flowchart of a rebar detection imaging method according to an embodiment of the present invention is shown.

[0068] Figure 2 A schematic diagram of a water drill device for detecting and imaging rebar is shown in another embodiment of the present invention. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0071] It should be understood that in the various embodiments of the present invention, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0072] It should be understood that in this invention, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0073] It should be understood that in this invention, "multiple" refers to two or more. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, "and / or B" can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "Contains A, B, and C", "Contains A, B, and C" means that all three A, B, and C are contained; "Contains A, B, or C" means that one of A, B, and C is contained; "Contains A, B, and / or C" means that any one, two, or three of A, B, and C are contained.

[0074] It should be understood that in this invention, "B corresponding to A", "B corresponding to A", "A and B correspond", or "B and A correspond" means that B is associated with A, and B can be determined based on A. Determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information. Matching A and B is defined as a similarity between A and B that is greater than or equal to a preset threshold.

[0075] Depending on the context, "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection."

[0076] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0077] As we all know, reinforced concrete is an important building structure widely used in the construction field. The steel bars in reinforced concrete play a very important role in the mechanical properties and structural stability of the building structure. The thickness, arrangement and amount of steel bars in reinforced concrete are determined according to the needs of the project, and there are also requirements for the thickness of the concrete protective layer on the outside of the steel bars.

[0078] During construction, workers often need to drill holes in various types of walls. Currently, the mainstream drilling method is water-cooled drilling, which uses a water source to drill diamond holes. Water-cooled drilling offers advantages such as accurate dimensions, low noise, and minimal space requirements, making it widely popular and favored by construction workers. The commonly used equipment in water-cooled drilling is the water-cooled drilling device.

[0079] The inventors discovered during their research that in actual construction, if workers use a water drill to work on a wall, and the drill bit touches the reinforcing steel in the wall, it may inevitably cause irreversible damage to the wall and / or the drill bit, thereby reducing the safety of the project.

[0080] To avoid the above situation, the inventors have proposed a rebar detection imaging method in one embodiment, such as... Figure 1 The flowchart shown illustrates the method, which includes the following steps:

[0081] S100: A detection magnetic field is generated within a preset range of the wall using a drill bit that covers the water drilling device;

[0082] It can be explained here that the detection magnetic field can be generated by an energized coil. When the coil is energized by alternating current, a corresponding detection magnetic field will be generated around the coil.

[0083] S200. When an induced magnetic field is detected within the detection magnetic field, the relative position information between the drill bit and the reinforcing steel bars in the wall is determined based on the induced magnetic field.

[0084] In this embodiment, the concrete in the wall is a weakly magnetic material with a uniform magnetic field, while the reinforcing steel is strongly magnetic. When the reinforcing steel is placed inside the wall, the magnetic field lines are concentrated in the direction of the steel. During the detection process, when a detection magnetic field is generated, the presence of the steel causes a change in the magnetic field lines of the detection magnetic field, inducing a corresponding magnetic field. The position of the steel within the wall can be determined through this induced magnetic field, further determining the relative position between the drill bit and the steel. This facilitates workers' judgment of the steel's position when using a water drill, preventing the drill bit from touching the steel and improving project safety.

[0085] For example, the preset range can be understood as at least covering the range of the detected magnetic field.

[0086] For example, to improve the accuracy of testing, diamond can be chosen as the material for the drill bit, thereby reducing the impact on the magnetic field.

[0087] In some optional implementations of this embodiment, S200 further includes the following steps:

[0088] S201. Acquire the electrical signal of the induced magnetic field;

[0089] S202. Determine the magnetic field strength of the induced magnetic field based on the electrical signal of the induced magnetic field;

[0090] S203. Determine the relative positional relationship between the drill bit and the reinforcing bars in the wall based on the magnetic field strength of the induced magnetic field and the magnetic field strength of the detected magnetic field.

[0091] In this embodiment, the detection magnetic field can be generated by a coil, and the magnetic field strength of the detection magnetic field can be determined by the voltage across the coil. Correspondingly, the electrical signal of the induced magnetic field can also be acquired by another coil. After acquiring the electrical signal of the magnetic field, the coil generates a corresponding induced voltage, thereby determining the magnetic field strength of the induced magnetic field based on the induced voltage. Furthermore, the relative position information between the drill bit and the rebar can be determined based on the acquired magnetic field strength and the magnetic field strength of the detection magnetic field.

[0092] For example, S201 to S203 mentioned above can be expressed by the following formulas:

[0093] E2 = E1 · dx · φ;

[0094] In the above formula, E1 is the magnetic field strength of the detected magnetic field, E2 is the magnetic field strength of the induced magnetic field, d is the depth of the reinforcing bar in the wall, φ is the diameter of the reinforcing bar, and x is the calibration number.

[0095] S300: Generate a detection image within a preset range based on the relative position information between the drill bit and the rebar according to a preset ratio;

[0096] For example, image display functionality can be achieved through a display screen, which can be mounted on a rhinestone device or on an external medium, such as smart glasses, smartwatches, or external computers.

[0097] It can be explained that, since the drill bit and the rebar are located within a preset range of the wall, in order to ensure that the relative position information between the drill bit and the rebar can be displayed proportionally, it is necessary to generate a detection image within a preset range according to a preset ratio, thereby improving the display effect and display accuracy.

[0098] In this embodiment, by displaying the detection images, workers can at least view the detection images in real time during work to determine the detection results, thereby judging the feasibility of construction based on the relative position information between the drill bit and the steel bars in the wall, thus improving the safety of the project.

[0099] S400: Based on the pixels in the detected image used to indicate the drill bit and the pixels used to indicate the reinforcing bar, generate and display an image connection line indicating the shortest distance between the drill bit and the reinforcing bar;

[0100] It can be explained that because the reinforcing bars have a certain shape, such as linear, U-shaped or other shapes, and the distance between each position on the reinforcing bar with a certain shape and the drill bit is different, the worker cannot accurately determine the shortest distance between the drill bit and the reinforcing bar and the location of the shortest distance.

[0101] To address the aforementioned issues, the inventors proposed determining the shortest distance between the drill bit and the rebar, as well as the location of that shortest distance, based on pixels, and displaying it using image connecting lines. This helps workers improve the accuracy of their assessment of construction feasibility during the construction process. Furthermore, since the image connecting lines are generated based on the shortest distance between the pixels indicating the drill bit and the pixels indicating the rebar, accuracy is also enhanced.

[0102] For example, there are N pixels used to indicate the drill bit and M pixels used to indicate the rebar, where N and M are positive integers. The pixels corresponding to the drill bit and the rebar can be obtained based on the different pixel colors. In some optional implementations of this embodiment, S400 further includes the following steps:

[0103] S401. Connect each of the N pixels used to indicate the drill bit to the M pixels used to indicate the reinforcing bar to obtain a primary connection consisting of N·M connections.

[0104] S402. Remove the primary connections that overlap with other pixels to obtain a secondary connection consisting of O connections, where O is a positive integer.

[0105] S403. Obtain the distances indicated by the O lines included in the secondary connection, and take the line with the shortest distance among the secondary connections as the image connection line.

[0106] In this embodiment, to obtain an accurate image connection line indicating the shortest distance between the drill bit and the rebar, firstly, the N pixels indicating the drill bit are connected one by one to the M pixels indicating the rebar to obtain corresponding primary connections. Then, the connection with the shortest indicated distance is found from the primary connections. To reduce the computational load and improve the computing power, corresponding filtering conditions can be set to filter out connections that do not meet the conditions. It is known that if a connection composed of two pixels includes other pixels, it can be determined that the connection is not the shortest distance. Based on this, the filtering condition can be to filter out connections in the primary connections that have overlapping parts with other pixels. Finally, after filtering, the distances indicated by the remaining O connections are obtained, and the connection with the shortest indicated distance is taken as the image connection line.

[0107] As an alternative implementation to S401-S403 described above, S400 further includes the following steps:

[0108] S411. Using the center point of the detected image as the origin, perform coordinate processing on the detected image to obtain the first coordinates of the pixels used to indicate the reinforcing bars, thus obtaining the first coordinate set.

[0109] S412. Based on the coordinate values ​​of all first coordinates in the first coordinate set, determine the direction of the reinforcing bar relative to the drill bit to obtain the first direction quadrant. There is at least one first direction quadrant.

[0110] S413. Obtain the second coordinates of the pixels used to indicate the drill bit to obtain a second coordinate set. Split the second coordinate set according to the coordinate values ​​of all the second coordinates to obtain multiple third coordinate sets. Each third coordinate set corresponds to a second direction quadrant.

[0111] S414. Determine the second pixel of the drill bit corresponding to the first pixel of the reinforcing bar according to the first direction quadrant and the second direction quadrant, and obtain the image connection line of the shortest distance between the drill bit and the reinforcing bar according to the first pixel and the second pixel.

[0112] In this embodiment, after the detection image is processed by coordinate system, the detection image may include a four-quadrant coordinate system with the detection center as the origin, including a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant. After obtaining the four-quadrant coordinate system, firstly, based on the first pixel used to indicate the rebar, the first direction quadrant corresponding to the first pixel is determined, wherein the first direction quadrant may include at least one. Then, based on the second coordinate of the second pixel used to indicate the drill bit, the corresponding second coordinate set is obtained, and the second coordinate set is split according to the quadrant in which the second coordinate is located to obtain multiple third coordinate sets, each third coordinate set corresponding to a second direction quadrant. Finally, based on the matching degree between the first direction quadrant and the second direction quadrant (the matching degree can be understood as whether the two are the same), the second pixel of the drill bit corresponding to the first pixel of the rebar is determined, and the corresponding shortest distance image connection line is obtained based on the first pixel and the second pixel. Through the above scheme, the third coordinate sets corresponding to the second direction quadrant that do not match the first direction quadrant can be filtered out, thereby saving a lot of computing power and improving computing efficiency during the calculation process.

[0113] Further, in the above embodiments, determining the second pixel of the drill bit corresponding to the first pixel of the reinforcing bar based on the first and second directional quadrants, and obtaining the image connection line of the shortest distance between the drill bit and the reinforcing bar based on the first and second pixel points, includes:

[0114] Extract the third coordinate set corresponding to the second direction quadrant that is the same as the first direction quadrant as the fourth coordinate set, and take the pixel point in the fourth coordinate set as the second pixel point of the drill bit corresponding to the first pixel point of the rebar;

[0115] The first number is obtained by counting the number of the first pixel, and the second number is obtained by counting the number of the second pixel. The smaller number of pixels is used as the actively calculated pixels, and the larger number of pixels is used as the passively calculated pixels.

[0116] The connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the minimum connection distance is taken as the image connection line with the shortest distance between the drill bit and the rebar.

[0117] In this embodiment, the fourth coordinate set is the set corresponding to the second direction quadrant that is the same as the first direction quadrant. Therefore, the fourth coordinate set can be identified as the second pixel of the drill bit corresponding to the first pixel of the rebar. By classifying the first and second pixels in the fourth coordinate set, a smaller number of pixels are designated as active calculation pixels and a larger number as passive calculation pixels. This allows the active calculation pixels to be connected to the passive pixels simultaneously, and the connection distance to be determined, thereby determining the shortest image connection line between the drill bit and the rebar. In the above scheme, since the number of active calculation pixels is relatively small compared to the number of passive pixels, by sequentially calculating the distance between each active calculation pixel and all passive pixels, a significant amount of computational power can be saved during the calculation process, improving computational efficiency.

[0118] Furthermore, in the above embodiments, the connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the minimum connection distance is taken as the image connection line with the shortest distance between the drill bit and the rebar, including:

[0119] The connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the trend of the change of the connection distance between adjacent intervals is obtained.

[0120] If the trend of change is a decreasing trend, then the distance between the actively calculated pixel and the new passively calculated pixel is recalculated to obtain the new connection distance;

[0121] If the trend of change is increasing, then the distance between the current actively calculated pixel and all passively calculated pixels is no longer calculated, and the distance between the next actively calculated pixel and all passively calculated pixels is calculated instead.

[0122] In this embodiment, when the trend of change is decreasing, it can be determined that the distance between the current actively calculated pixel and the current passive pixel is not the shortest distance. Therefore, the distance between the active pixel and the new passive calculated pixel is calculated sequentially. When the trend of change is increasing, it can be determined that the connection distance between the current actively calculated pixel and the current passive pixel may be the shortest distance. In this case, the next actively calculated pixel is calculated, thereby saving a lot of computing power and improving computing efficiency during the calculation process.

[0123] S500: Determine the actual distance between the drill bit and the rebar based on the shortest distance indicated by the image connection line and the preset ratio;

[0124] As can be seen, since the detection image is generated according to a preset ratio based on the relative position information between the drill bit and the rebar, the actual distance of the image connecting line needs to be determined according to the preset ratio based on the shortest distance indicated by the image connecting line.

[0125] In some optional implementations of this embodiment, the actual distance determined by the shortest distance indicated by the image connection line and a preset ratio can also be displayed, thereby making it easier for workers to determine the specific value of the actual distance.

[0126] S600: When the actual distance is less than the preset alarm distance, an alarm will be triggered.

[0127] It can be noted that the preset alarm distance can be set according to the actual engineering safety requirements, such as 6 cm, 8 cm or 10 cm, etc. This embodiment does not make a specific limitation on this.

[0128] In this embodiment, during the worker's construction process, if the actual distance between the drill bit and the rebar is less than the preset alarm distance, it may mean that if construction continues, the drill bit may touch the rebar. The alarm can serve as a warning to the worker and improve the safety of the project as much as possible.

[0129] For example, the preset alarm distance includes multiple distance levels for indicating different distances, and the distances indicated by the multiple distance levels decrease step by step.

[0130] In some optional implementations of this embodiment, S600 further includes the following steps:

[0131] When an alarm is triggered by an audible alert, the alarm volume increases when the actual distance decreases from the distance indicated by the current distance level to the distance indicated by the next lower distance level; and / or

[0132] When a light indicator is used as an alarm prompt, the brightness of the alarm prompt increases when the actual distance decreases from the distance indicated by the current distance level to the distance indicated by the next lower distance level.

[0133] For example, sound prompts can be implemented through speakers, while light prompts can be implemented through LEDs. To illustrate this embodiment more clearly, a simple introduction is given below in conjunction with a practical application scenario: For example, multiple distances can include level 1, level 2, level 3, level 4, and level 5. Level 1 can be indicated as 2 cm, level 2 as 4 cm, level 3 as 6 cm, level 4 as 8 cm, and level 5 as 10 cm. When the actual distance is 6 cm, it can be determined that the actual distance is at level 3. When the actual distance decreases to 4 cm, it can be determined that the actual distance is at level 2. During the transition from level 3 to level 2, the alarm prompt effect will increase accordingly, thereby improving the warning effect on workers.

[0134] It can be noted that when the actual distance decreases from the distance indicated by the current distance level to the distance indicated by the next lower distance level, the alarm effect can increase instantaneously or gradually as the actual distance decreases. This embodiment does not specifically limit this.

[0135] In some optional implementations of this embodiment, the method further includes: when the actual distance is between the distances indicated by two adjacent distance levels for a first preset time, stopping the alarm prompt and updating the preset alarm distance, and taking the last distance level of the two adjacent distance levels as the first distance level of the updated preset alarm distance.

[0136] It can be noted that the first preset time can be designed according to the actual engineering safety requirements. The first preset time can be 10 seconds, 15 seconds or 20 meters per second, etc.

[0137] For example, during construction, if the actual distance remains between the distances indicated by two adjacent distance levels for a first preset time, the worker's judgment of this actual distance is considered safe. Therefore, the corresponding alarm can be deactivated and the preset alarm distance updated. The distance indicated by the first of the two adjacent distance levels is identified as the safe distance, and the last distance level is used as the first distance level of the updated preset alarm distance. An alarm is only triggered when the actual distance is less than the first distance level of the updated preset distance. This allows for dynamic adjustment of the preset alarm distance based on the worker's actual judgment, ensuring safety while avoiding unnecessary alarms that could negatively impact the worker's construction.

[0138] Furthermore, since the same water drill may be used by multiple workers at different times, and each worker's judgment of the safe distance may be different, when the water drill is switched from the power-on state to the power-off state, the updated preset alarm distance is restored. This allows each worker to dynamically adjust the preset alarm distance according to their own judgment of the safe distance, thus improving the applicability of the product.

[0139] In some optional implementations of this embodiment, the method further includes: controlling and intervening in the working state of the water drilling device when the actual distance is equal to the distance indicated by the last distance level in the preset alarm distance.

[0140] It can be explained that when the actual distance is equal to the distance indicated by the last of the preset alarm distance levels, it can be considered that the drill bit and the rebar are in a dangerous situation of imminent contact. Therefore, it is necessary to take appropriate control intervention to the drill bit to eliminate the corresponding dangerous situation.

[0141] In this embodiment, the control intervention method described above may include at least one of the following methods:

[0142] Method 1: Switch the drill bit from power-on to power-off state and lock the drill bit's power-on switch until the actual distance exceeds the distance indicated by the last preset alarm distance level for a second preset time, then release the drill bit's power-on switch; and

[0143] Method 2: Gradually reduce the rotation speed of the drill bit to a safe speed until the actual distance is greater than the distance indicated by the last distance level in the preset alarm distance for a second preset time, then restore the rotation speed of the drill bit.

[0144] It can be explained that switching the drill bit from powered on to powered off and adjusting the rotation speed can be controlled by the water drill device. The water drill device can switch the motor that controls the rotation of the drill bit from powered on to powered off by cutting off the current. The power switch of the drill bit can be regarded as a controller for stopping the motor. When the controller is locked, the worker cannot actively restart the motor through the controller. The second preset time can be set according to the actual engineering safety requirements. The second preset time can be 10 seconds, 15 seconds, or 20 seconds, etc.

[0145] The following is a brief introduction to Method 1 and Method 2 based on practical application scenarios:

[0146] Assuming the distance indicated by the lowest distance level in the warning alarm distance is 2 centimeters, and the second preset time is 10 seconds;

[0147] Based on the above assumptions, in Method 1, when the actual distance between the drill bit and the rebar reaches 2 centimeters, it is considered a dangerous situation requiring intervention. At this point, the water drill will stop the motor and lock the corresponding power switch, thus stopping the drill and preventing it from contacting the rebar. After the drill stops, if the worker moves the drill bit to maintain a distance of 2 centimeters between it and the rebar for 10 seconds, the dangerous situation can be considered resolved. The power switch can then be unlocked, and the worker can manually restart the motor through the controller.

[0148] Based on the above assumptions, in Method 2, when the actual distance between the drill bit and the rebar reaches 2 centimeters, it is considered a dangerous situation requiring intervention. At this point, the water drill will adjust the voltage input to the motor, thereby reducing the drill bit's rotation speed to a safe speed, which can be half or less of the drill bit's normal operating speed. This reduction in rotation speed prevents the drill bit from prematurely contacting the rebar. After the drill bit's rotation speed is reduced, if the worker, for example, moves the drill bit to maintain a distance of 2 centimeters between the drill bit and the rebar for 10 seconds, the dangerous situation can be considered resolved, and the drill bit's rotation speed can be restored.

[0149] In some optional implementations of this embodiment, the method further includes:

[0150] When an induced magnetic field is detected within the detection magnetic field, a magnetic field image of a preset range is generated according to a preset ratio, wherein the magnetic field image includes the magnetic field lines of the induced magnetic field.

[0151] The magnetic field image and the detection image are fused to obtain a fused image, which is then displayed.

[0152] It can be explained that the content of the detection image includes the drill bit, the rebar, and the image connecting line used to indicate the shortest distance between the two. The rebar is determined by the induced magnetic field. In order to more clearly show the relationship between the rebar and the induced magnetic field through the image, a corresponding magnetic field image can be generated based on the distribution of the magnetic field lines of the induced magnetic field. The magnetic field image, which includes the magnetic field lines of the induced magnetic field, is then fused with the detection image to generate a corresponding fused image for display.

[0153] Furthermore, the above-mentioned step of fusing the magnetic field image with the detection image may include:

[0154] Obtain the pixel coordinates of the pixels used to indicate the drill bit and the pixels used to indicate the reinforcing bar in the detected image;

[0155] Extract the pixels used to indicate the drill bit and the pixels used to indicate the reinforcing bar from the detected image;

[0156] Based on pixel coordinates, the extracted pixels used to indicate the drill bit and the pixels used to indicate the reinforcing bar are fused to the corresponding positions in the detection image.

[0157] In this embodiment, since both the detection image and the magnetic field image are generated based on a preset range and according to a preset ratio, after fusing the two, the pixel coordinates of the pixels indicating the drill bit and the pixels indicating the rebar in the detection image should be the same as the pixel coordinates of the pixels indicating the drill bit and the pixels indicating the rebar in the fused image. Based on this logic, in order to achieve the fusion between the detection image and the magnetic field image, the pixel coordinates corresponding to the pixels indicating the drill bit and the pixels indicating the rebar in the detection image can be obtained first. Then, the pixels indicating the drill bit and the pixels indicating the rebar can be extracted. Finally, based on the obtained pixel coordinates, the pixels can be fused to the corresponding positions in the magnetic field image to form a fused image.

[0158] In some optional implementations of this embodiment, the method further includes:

[0159] Based on the current orientation of the drill bit and the relative position information between the drill bit and the reinforcing bars in the wall, it is determined whether the drill bit will come into contact with the reinforcing bars when it works in the current orientation direction;

[0160] When the determination result is that the drill bit will touch the rebar if it works in the current orientation direction, the contact time when the drill bit touches the rebar in the current orientation direction is calculated and displayed.

[0161] It can be explained that, because workers have a certain directionality when using water drills, the relative positional relationship between the drill bit and the rebar generally falls into three categories when workers are working in the same direction: 1. The distance between the drill bit and the rebar gets closer and closer; 2. The distance between the drill bit and the rebar remains constant; 3. The distance between the drill bit and the rebar gets farther and farther.

[0162] During construction, if the relative position between the drill bit and the rebar is in the first relationship mentioned above, it indicates that the drill bit is currently working towards the location of the rebar. If this working state is maintained, the drill bit will come into contact with the rebar. In this case, the contact time can be calculated and displayed to further prompt the work from a time perspective.

[0163] Furthermore, the calculation of the contact time when the drill bit contacts the rebar while working in the current orientation includes:

[0164] Obtain the real-time voltage of the drill bit as it operates in the current orientation direction;

[0165] At the first moment, obtain the first relative position between the drill bit and the rebar;

[0166] At the second moment after the first moment, obtain the second relative position between the drill bit and the rebar;

[0167] Based on the difference between the second moment and the first moment, and the difference between the second relative position and the first relative position, the contact time when the drill bit contacts the rebar when it is working in the current orientation direction with real-time voltage is obtained.

[0168] The following is a brief introduction to the calculation process of the touch time mentioned above, combined with a practical application scenario:

[0169] Assuming the real-time voltage is 200V, the first moment is 5 seconds, the first relative position is 10 centimeters, the second moment is 10 seconds, and the second relative position is 8 centimeters;

[0170] Since the difference between the second moment and the first moment is 5 seconds, and the difference between the second relative position and the first relative position is 2 centimeters, it can be determined that the distance between the drill bit and the rebar decreased by 2 centimeters within 5 seconds. And since the second relative position between the drill bit and the rebar is 8 centimeters after the second moment, it can be deduced that when the drill bit is working with real-time voltage in the current orientation, the drill bit and the rebar will make contact after 20 seconds.

[0171] In another embodiment, the inventors proposed a water drill device for detecting and imaging rebar, applied to a water drill device, such as... Figure 2 The diagram shown illustrates the structure of the system, which includes:

[0172] The magnetic field generating unit is configured to generate a detection magnetic field within a preset range of the wall, encompassing the drill bit of the water drill device.

[0173] The magnetic field sensing unit is configured to determine the relative position information between the drill bit and the reinforcing bars in the wall based on the induced magnetic field when an induced magnetic field is detected in the detection magnetic field.

[0174] The display unit is configured to generate and display a detection image of a preset range based on the relative position information between the drill bit and the rebar according to a preset ratio; and to generate and display an image connection line indicating the shortest distance between the drill bit and the rebar based on pixels in the detection image that indicate the drill bit and pixels that indicate the rebar.

[0175] The alarm unit is configured to determine the actual distance between the drill bit and the rebar based on the shortest distance indicated by the image connection line and a preset ratio. When the actual distance is less than the preset alarm distance, an alarm is triggered.

[0176] This embodiment also provides a readable storage medium, which can be a computer storage medium or a communication medium. A communication medium includes any medium that facilitates the transfer of a computer program from one location to another. A computer storage medium can be any available medium accessible to a general-purpose or special-purpose computer. For example, the readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application-Specific Integrated Circuit (ASIC). Alternatively, the ASIC can reside in a user equipment. Of course, the processor and the readable storage medium can also exist as discrete components in a communication device. The readable storage medium can be a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0177] This embodiment also provides a program product including executable instructions stored in a readable storage medium. At least one processor of the device can read the executable instructions from the readable storage medium, and the at least one processor executes the executable instructions to cause the device to implement the methods provided in the various embodiments described above.

[0178] In the above-described terminal or server embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rebar detection imaging method, applied to a water drilling device, characterized in that, The method includes: A detection magnetic field is generated within a preset range of the wall by the drill bit of the water drilling device. When an induced magnetic field is detected within the detection magnetic field, the relative position information between the drill bit and the reinforcing steel bars in the wall is determined based on the induced magnetic field. Based on the relative position information between the drill bit and the rebar, a detection image within the preset range is generated according to a preset ratio and then displayed. Based on the pixels in the detected image that indicate the drill bit and the pixels that indicate the rebar, an image connection line indicating the shortest distance between the drill bit and the rebar is generated and displayed. The actual distance between the drill bit and the reinforcing bar is determined based on the shortest distance indicated by the image connection line and the preset ratio; An alarm will be triggered when the actual distance is less than the preset alarm distance. The step of generating an image connection line to indicate the shortest distance between the drill bit and the reinforcing bar includes: The detection image is processed by coordinate transformation with the center point of the detection image as the origin, and the first coordinates of the pixel points used to indicate the reinforcing bars are obtained to obtain the first coordinate set. Based on the coordinate values ​​of all first coordinates in the first coordinate set, the direction of the reinforcing bar relative to the drill bit is determined to obtain a first direction quadrant, and there is at least one first direction quadrant; A second coordinate set is obtained by acquiring the second coordinates of the pixel points used to indicate the drill bit. The second coordinate set is then split according to the coordinate values ​​of all the second coordinates to obtain multiple third coordinate sets, each of which corresponds to a second direction quadrant. The second pixel of the drill bit corresponding to the first pixel of the reinforcing bar is determined based on the first direction quadrant and the second direction quadrant, and the image connection line of the shortest distance between the drill bit and the reinforcing bar is obtained based on the first pixel and the second pixel. The step of determining the second pixel of the drill bit corresponding to the first pixel of the reinforcing bar based on the first direction quadrant and the second direction quadrant, and obtaining the image connection line of the shortest distance between the drill bit and the reinforcing bar based on the first pixel and the second pixel, includes: Extract the third coordinate set corresponding to the second direction quadrant that is the same as the first direction quadrant as the fourth coordinate set, and take the pixel point in the fourth coordinate set as the second pixel point of the drill bit corresponding to the first pixel point of the rebar; The first number is obtained by counting the number of the first pixel, and the second number is obtained by counting the number of the second pixel. The smaller number of pixels is used as the actively calculated pixels, and the larger number of pixels is used as the passively calculated pixels. The connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the minimum connection distance is taken as the image connection line with the shortest distance between the drill bit and the rebar.

2. The method according to claim 1, characterized in that, The number of pixels used to indicate the drill bit is N, and the number of pixels used to indicate the reinforcing bar is M, where N and M are positive integers. The generation of the image connection line for indicating the shortest distance between the drill bit and the reinforcing bar includes: The N pixels used to indicate the drill bit are connected one by one to the M pixels used to indicate the reinforcing bar, resulting in a primary connection consisting of N·M connections. The primary connections that overlap with other pixels are filtered out to obtain secondary connections consisting of O connections, where O is a positive integer; Obtain the distances indicated by the O lines included in the secondary connection, and take the line with the shortest distance among the secondary connections as the image connection line.

3. The method according to claim 1, characterized in that, The step of sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels to obtain the connection distance, and using the minimum connection distance as the image connection line with the shortest distance between the drill bit and the rebar, includes: The connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the trend of the change of the connection distance between adjacent intervals is obtained. If the trend of change is a decreasing trend, then the distance between the actively calculated pixel and the new passively calculated pixel is recalculated to obtain the new connection distance; If the trend of change is increasing, then the distance between the current actively calculated pixel and all passively calculated pixels is no longer calculated, and the distance between the next actively calculated pixel and all passively calculated pixels is calculated instead.

4. The method according to claim 1, characterized in that, The method further includes: When an induced magnetic field is detected within the detection magnetic field, a magnetic field image of the preset range is generated according to the preset ratio, wherein the magnetic field image includes the magnetic field lines of the induced magnetic field. The magnetic field image and the detection image are fused to obtain a fused image, which is then displayed.

5. The method according to claim 4, characterized in that, The step of fusing the magnetic field image with the detection image includes: Obtain the pixel coordinates of the pixels in the detection image that indicate the drill bit and the pixels that indicate the reinforcing bar; The pixels used to indicate the drill bit and the pixels used to indicate the reinforcing bar in the detection image are extracted; Based on the pixel coordinates, the extracted pixels used to indicate the drill bit and the pixels used to indicate the reinforcing bar are merged into the corresponding positions in the magnetic field image.

6. The method according to claim 1, characterized in that, The preset alarm distance includes multiple distance levels for indicating different distances, and the distances indicated by the multiple distance levels decrease step by step. The method further includes: When an alarm is triggered by an audible alert, the alarm volume increases when the actual distance decreases from the distance indicated by the current distance level to the distance indicated by the next lower distance level; and / or When a light indicator is used as an alarm prompt, the brightness of the alarm prompt increases when the actual distance decreases from the distance indicated by the current distance level to the distance indicated by the next lower distance level.

7. The method according to claim 6, characterized in that, When the actual distance remains between the distances indicated by two adjacent distance levels for a first preset time, the alarm prompt stops and the preset alarm distance is updated, with the last distance level among the two adjacent distance levels being taken as the first distance level of the updated preset alarm distance. Specifically, when the water drill device switches from a powered-on state to a powered-off state, the updated preset alarm distance is restored; and / or when the actual distance is equal to the distance indicated by the last distance level in the preset alarm distance, the working state of the drill bit is controlled and intervened, wherein the control intervention includes at least one of the following methods: The drill bit is switched from a powered-on state to a powered-off state, and the power-on switch of the drill bit is locked until the actual distance is greater than the distance indicated by the last distance level in the preset alarm distance for a second preset time, at which point the lock on the power-on switch of the drill bit is released; and The rotational speed of the drill bit is gradually reduced to a safe speed until the actual distance is greater than the distance indicated by the last distance level in the preset alarm distance for a second preset time, at which point the rotational speed of the drill bit is restored.

8. A water-based drilling device for detecting and imaging reinforcing bars, applied to a water-based drilling device, characterized in that, include: The magnetic field generating unit is configured to generate a detection magnetic field covering a preset range of the drill bit of the water drill device within the wall. A magnetic field sensing unit is configured to determine the relative position information between the drill bit and the reinforcing bars in the wall based on the induced magnetic field when an induced magnetic field is detected in the detection magnetic field. The display unit is configured to generate and display a detection image of the preset range based on the relative position information between the drill bit and the rebar according to a preset ratio, and to generate and display an image connection line indicating the shortest distance between the drill bit and the rebar based on the pixels in the detection image that indicate the drill bit and the pixels that indicate the rebar. as well as The alarm unit is configured to determine the actual distance between the drill bit and the rebar based on the shortest distance indicated by the image connection line and the preset ratio, and to issue an alarm when the actual distance is less than the preset alarm distance. The step of generating an image connection line to indicate the shortest distance between the drill bit and the reinforcing bar includes: The detection image is processed by coordinate transformation with the center point of the detection image as the origin, and the first coordinates of the pixel points used to indicate the reinforcing bars are obtained to obtain the first coordinate set. Based on the coordinate values ​​of all first coordinates in the first coordinate set, the direction of the reinforcing bar relative to the drill bit is determined to obtain a first direction quadrant, and there is at least one first direction quadrant; A second coordinate set is obtained by acquiring the second coordinates of the pixel points used to indicate the drill bit. The second coordinate set is then split according to the coordinate values ​​of all the second coordinates to obtain multiple third coordinate sets, each of which corresponds to a second direction quadrant. The second pixel of the drill bit corresponding to the first pixel of the reinforcing bar is determined based on the first direction quadrant and the second direction quadrant, and the image connection line of the shortest distance between the drill bit and the reinforcing bar is obtained based on the first pixel and the second pixel. The step of determining the second pixel of the drill bit corresponding to the first pixel of the reinforcing bar based on the first direction quadrant and the second direction quadrant, and obtaining the image connection line of the shortest distance between the drill bit and the reinforcing bar based on the first pixel and the second pixel, includes: Extract the third coordinate set corresponding to the second direction quadrant that is the same as the first direction quadrant as the fourth coordinate set, and take the pixel point in the fourth coordinate set as the second pixel point of the drill bit corresponding to the first pixel point of the rebar; The first number is obtained by counting the number of the first pixel, and the second number is obtained by counting the number of the second pixel. The smaller number of pixels is used as the actively calculated pixels, and the larger number of pixels is used as the passively calculated pixels. The connection distance is obtained by sequentially calculating the distance between each actively calculated pixel and all passively calculated pixels, and the minimum connection distance is taken as the image connection line with the shortest distance between the drill bit and the rebar.

Images