A device and method for collecting the location of concrete immersion vibrator compaction on a tunnel lining trolley

Abstract

This invention discloses a device and method for acquiring the location of concrete immersion vibrator compaction on a tunnel secondary lining trolley. The device consists of a supplementary light, a camera, a laser rangefinder, a fixed support, an information control and processing module, and a display platform. The method includes: first, calibrating the camera and laser rangefinder; second, acquiring images and transmitting distance information to the information control and processing module; then, preprocessing the images, using deep learning methods to detect and segment the contour of the vibrator, calculating the pixel region of the construction window to search for the intersection pixels of the vibrator and the pouring surface in the image; then, combining the distance information from the device to the pouring surface, converting the image intersection pixels into actual vibration coordinates; next, clustering the distance information, merging multiple vibration coordinates of the same group into the same vibration plane to verify the adequacy of vibration; finally, visualizing the vibration positioning results on the display platform. This invention has high flexibility and adaptability, effectively improving positioning accuracy, thereby improving the quality of vibration operations.

Description

Technical Field

[0001] This invention belongs to the field of building concrete vibration construction technology, and specifically relates to a device and method for collecting the position of concrete immersion vibration on a tunnel secondary lining trolley. Background Technology

[0002] With the rapid development of my country's economy and the increase in infrastructure construction, the requirements for the quality of concrete construction are becoming increasingly stringent. Concrete vibration compaction is a typical example of concealed construction, as the vibration status inside the concrete cannot be directly observed. Ensuring uniformity and eliminating blind spots during vibration has become a challenge for construction supervision and quality management.

[0003] During tunnel construction, to ensure the quality of concrete pouring, a method of staggered insertion of vibrators is typically used to cover the entire pouring area. Workers control the vibration position of the vibrators based on experience and skill to ensure that the concrete is vibrated evenly and thoroughly. However, in practice, operation relying on personal experience has a certain degree of randomness, and the vibration quality is greatly affected by human factors. Quality problems such as polarization and incomplete vibration may occur, leading to quality defects and potential safety hazards.

[0004] There are many methods for collecting the location of concrete immersion vibrators used in tunnel secondary lining trolleys. For example, the vibration process generates heat, which can be used to determine the vibration location through infrared camera imaging; GPS positioning technology or ultra-wideband (UWB) technology can be used for positioning; and IMU can be used in combination with other sensors (such as accelerometers, gyroscopes, and magnetometers) to achieve positioning.

[0005] However, the above methods still have some shortcomings. Infrared imaging is greatly affected by changes in ambient temperature and can only make qualitative judgments, lacking specific location values. In tunnel environments, GPS signals are easily affected by obstruction and multipath effects, and UWB signal propagation is easily restricted, resulting in low positioning accuracy and poor stability. In addition, the equipment and deployment costs of UWB technology are high, requiring additional equipment and infrastructure support. The method of using IMU in combination with other sensors is complex and costly, and IMU is easily affected by accumulated errors. Other sensors are contact-based positioning and are easily damaged when fixed on high-frequency vibrators.

[0006] The visualization-based non-contact positioning method offers high flexibility and adaptability, enabling positioning within confined spaces, unaffected by terrain signals, and less prone to sticking to splashed concrete. This effectively improves positioning accuracy and ensures more thorough vibration. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a device and method for collecting the position of concrete immersion vibrator on a tunnel secondary lining trolley. The device and method have high flexibility and adaptability, and can help workers determine the current position of the vibrator during tunnel construction, thereby improving the quality of concrete vibration.

[0008] To achieve the aforementioned objective, the present invention provides a concrete immersion vibration position acquisition device for a tunnel secondary lining trolley, characterized in that it comprises a supplementary light, a camera, a laser rangefinder, a fixed bracket, an information control and processing module, and a display platform; the supplementary light, camera, and laser rangefinder are physically connected to the fixed bracket; and the supplementary light, camera, and laser rangefinder are electrically connected to the information control and processing module and the display platform.

[0009] Preferably, the supplementary light, camera, and laser rangefinder are integrated as a whole and physically connected to the fixed bracket. The fixed bracket can be installed above, to the left, or to the right of the construction window on the side of the secondary lining trolley. The fixed bracket ensures that the supplementary light, camera, and laser rangefinder are stably positioned between the side of the secondary lining trolley and the mountain slope during operation, while ensuring that the camera is located in the center of the window. When the supplementary light, camera, and laser rangefinder are not in operation, they can be retracted into the side of the secondary lining trolley through the construction window. The bottoms of the camera and laser rangefinder are strictly parallel, with the line of sight pointing downwards, and the optical axis of the camera is perpendicular to the pouring surface.

[0010] To achieve the aforementioned objective, the present invention also provides a method for acquiring the location of concrete immersion vibration on a tunnel secondary lining trolley, the method comprising the following steps: Step S1: Calibrate the camera and laser rangefinder: Determine the internal parameters of the camera and the rotation and translation relationship between the camera and the laser rangefinder, and transmit them to the information control and processing module; Step S2: Image acquisition and distance information transmission to the information control and processing module: The information control and processing module switches the supplementary lighting on and off according to the tunnel environment, acquires images, and simultaneously acquires the distance from the laser rangefinder to the poured surface. The data is then transmitted to the information control and processing module. Step S3: Image preprocessing: Perform distortion removal and image enhancement processing, including rotation, translation, and flipping, on the multiple collected images of the vibration area to create a dataset of vibration images and create labels for the vibration rods for parameter training. Step S4: Extract the outline of the vibratory rod in the image using a deep learning-based detection and segmentation algorithm; Step S5: Calculate the pixel area corresponding to the construction window and search for the intersection pixel of the vibrator and the pouring surface in the image; Step S6: Conversion between intersection pixel and actual vibration coordinate point: Determine the intersection pixel coordinates of the vibrator and the pouring surface. Then, combine the focal length in the camera model. Image optical center The distance from the device to the pouring surface measured in real time Using coordinate system transformation formulas, the positions of the actual vibration coordinate points are calculated. ; Step S7: The distance information from the clustering device to the pouring surface is used to merge the multiple vibration coordinates of the same group into the same vibration plane to check the adequacy of vibration; Step S8: Display vibration positioning results: Output the information processed by the information control processing module to the display platform, and visualize the vibration positioning results of different vibration planes on the display platform.

[0011] Preferred embodiment: The image information acquired in step S2 and the distance from the device to the pouring surface. Information needs to be controlled periodically by the information control and processing module to ensure strict synchronization of the collection time.

[0012] Preferably, the step S4, which uses a deep learning-based detection and segmentation algorithm to extract the contour of the vibratory rod in the image, is as follows: Step S41: Use a target detection algorithm to observe whether there is a vibratory rod in the image. If it exists, proceed to step S42; if it does not exist, detect the next vibratory rod image. Step S42: Use the PSPNet algorithm, which incorporates more contextual information, to perform semantic segmentation on the image, extract rich features of the vibratory tamping rod, and perform pixel-level fine segmentation on the outline of the vibratory tamping rod. Step S43: Eliminate areas with small pixel values ​​to reduce noise interference and further optimize the contour of the segmented vibratory rod.

[0013] Preferably, the step S5, which calculates the pixel region corresponding to the construction window and searches for the intersection pixels of the vibrator and the pouring surface in the image, is as follows: Step S51: Calculate the pixel region of the construction window: Take a certain pixel region pqmn, where p is the upper left corner of the pixel region of the construction window, q is the upper right corner of the pixel region of the construction window, m is the lower left corner of the pixel region of the construction window, and n is the lower right corner of the pixel region of the construction window; if the window length in the real world is... Gao Wei The camera's vertical field of view is Horizontally, the distance between the camera's optical center and the trolley body is... Vertically, the height of the camera's optical center from the upper edge of the trolley window is... Assume that the p and q coordinates of the bottom edge of the window in the real world are respectively... and In the real world, the coordinates of m and n at the top edge of the window are respectively and Substituting these coordinates into the coordinate system transformation formula, the coordinates of the pixel region pqmn of the construction window can be determined: point p q point point m n points Among them, horizontally, the maximum distance between the camera's optical center and the trolley body is... ; Step S52: If the pixel region contains a portion of the vibratory rod, take a point in the pixel region as the approximate proximal end point of the vibratory rod. Preferably, select any pixel in the segmented vibratory rod contour. The point of maximum value; Step S53: Finally, further search for the endpoint furthest from the approximate near endpoint in the segmented vibrator rod contour. This point is the pixel coordinate of the intersection point between the vibrator rod and the pouring surface. .

[0014] Preferably, in step S7, the distance information from the clustering device to the pouring surface, and the step of merging multiple vibration coordinates of the same group into the same vibration plane to verify the adequacy of vibration, are as follows: Step S71: When the pouring height reaches the minimum allowable distance between the camera and the pouring surface. When necessary, the device needs to be retrieved, the current construction window closed, and recalibration and data acquisition started in the upper-level window; similarly, the same applies to the other left and right windows; the horizontal field of view of the camera is known to be... The field of view in the vertical direction is To ensure the camera completely covers the area where the concrete is vibrating, The minimum allowable distance from the camera to the pouring surface. Existence constraint formula Generally, considering the narrow and elongated shape between the secondary lining trolley and the mountainside, the optimal choice should meet the following requirements. scope; Step S72: Perform K-means clustering on the distances from the device to the pouring surface collected from multiple vibrations, resulting in several groups of distances. ,in Indicates the number of groups. ; Step S73: Determine the distance after clustering Are there any cases that exceed the error tolerance range? If so, remove them; otherwise, keep them. Step S74: Calculate the distance for each group. The corresponding fixed distance is obtained by taking the average value of each. ; Step S75: Finally, combine the same set of distances The actual coordinates of multiple vibrations are used as the center, with each vibration coordinate point as the center and the vibration range as the area. Draw circles with a radius and merge them based on a fixed distance. On the fitted vibration plane, visually determine whether there is any missed vibration.

[0015] Compared with existing technologies, the advantages of this invention are as follows: It employs a visual non-contact positioning method, which offers high flexibility and adaptability, enabling positioning within confined spaces, unaffected by terrain signals, and without direct contact with the concrete of the construction environment, thus minimizing device damage. By acquiring images and distance information and transmitting them to the information control and processing module for processing, the current vibration position at different heights and insertion points can be obtained relatively accurately, effectively improving positioning accuracy. Furthermore, the vibration positioning results on different vibration planes can be visualized on the display platform, which is beneficial for vibration construction. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a tunnel secondary lining trolley concrete immersion vibration position acquisition device of the present invention; The labels in the diagram represent: 1. Supplemental lighting; 2. Camera; 3. Laser rangefinder; 4. Fixed bracket; 5. Vibrator; 6. Reinforced concrete pouring surface; 7. Side of the secondary lining trolley; 8. Construction window; 9. Mountain; 10. Information control and processing module; 11. Display platform.

[0017] Figure 2 This is a flowchart of the method for collecting the location of concrete immersion vibration on a tunnel secondary lining trolley according to the present invention.

[0018] Figure 3 This is a schematic diagram of a camera-captured image of a vibrator rod in a method for acquiring the location of concrete immersion vibrator compaction on a tunnel secondary lining trolley according to the present invention. The labels in the figure represent: 12, the outer shell of the trolley side; 13, the lower edge of the window in the image; 14, the near end point of the vibratory rod within the window area in the image; 15, the far end point of the vibratory rod farthest from the near end point in the image; p, q, m, and n represent the four ends of the window in the image.

[0019] Figure 4 This is a schematic diagram of the structure between the imaging image and the actual pouring surface, and between the camera coordinate system and the laser rangefinder coordinate system, in the method for acquiring the position of concrete immersion vibration of a tunnel secondary lining trolley according to the present invention. The labels in the figure represent: 16, the horizontal field of view of the camera; 17, the vertical field of view of the camera; 18, the height of the camera's optical center from the image, i.e., the focal length; 19, the vibration image; 20, the distance from the camera's optical center to the concrete surface; 21, the camera coordinate system; 22, the laser rangefinder coordinate system.

[0020] Figure 5This is a schematic diagram of the vibration position of a vibration surface in the method for collecting the position of concrete immersion vibration on a tunnel secondary lining trolley according to the present invention. Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figure 1 As shown, the tunnel secondary lining trolley concrete immersion vibration position acquisition device of the present invention includes a supplementary light 1, a camera 2, a laser rangefinder 3, a fixed bracket 4, an information control and processing module 10, and a display platform 11. The supplementary light 1, camera 2, and laser rangefinder 3 are physically connected to the fixed bracket 4; the supplementary light 1, camera 2, and laser rangefinder 3 are electrically connected to the information control and processing module 10 and the display platform 11.

[0023] Specifically: The supplementary light 1, camera 2, and laser rangefinder 3 are integrated as a whole and physically connected to the fixed bracket 4; the fixed bracket 4 can be installed above, to the left, or to the right of the construction window 8 on the side 7 of the secondary lining trolley. The fixed bracket can ensure that the supplementary light 1, camera 2, and laser rangefinder 3 are stably positioned between the side 7 of the secondary lining trolley and the mountain slope 9 when working, while ensuring that the camera 2 is located in the center of the window 8. When the supplementary light 1, camera 2, and laser rangefinder 3 are not working, they can be retracted into the side 7 of the secondary lining trolley through the construction window 8; the bottoms of the camera 2 and the laser rangefinder 3 are strictly parallel, with the line of sight facing downwards, and the optical axis of the camera is perpendicular to the pouring surface 6.

[0024] like Figure 2 As shown, the process steps of the present invention for acquiring the location of concrete immersion vibrator compaction on a tunnel secondary lining trolley are as follows: Step S1: Calibrate Camera 2 and Laser Rangefinder 3: Determine the internal parameters of Camera 2 and the rotation and translation relationship between Camera 2 and Laser Rangefinder 3, and transmit this information to the information control and processing module. For example... Figure 4 As shown, the camera coordinate system o C -x C y C z C 21 and the coordinate system of the laser rangefinder o L -x L y L z L The conversion formula between 2 and 2 is as follows:

[0025] in It is the installation error angle. It's a camera. C To laser rangefinder L Spatial distance.

[0026] Step S2: Image acquisition and distance information transmission to information control and processing module 10: The information control and processing module 10 switches the supplementary lighting 1 on and off according to the tunnel environment, acquires images, and simultaneously acquires the distance from the laser rangefinder 3 to the poured surface 6. The data is then transmitted to the information control and processing module 10. Specifically: the image information 19 acquired in step S2 and the distance from the device to the pouring surface 6. Information needs to be controlled by the information control and processing module 10 at regular intervals to ensure strict synchronization of the collection time.

[0027] Step S3: Image preprocessing: Perform distortion removal processing on the multiple collected images 19 of the vibration area, including image enhancement processing such as rotation, translation, and flipping, to create a dataset of vibration images 19 and create labels for the vibration rods 5 for parameter training. Step S4: Extract the contour of the vibratory rod 5 in the image using a detection and segmentation algorithm based on deep learning; Specifically, step S4 is as follows: Step S41: Use a target detection algorithm to observe whether there is a vibratory rod 5 in the image. If it exists, proceed to step S42; if it does not exist, detect the next vibratory image. Step S42: Use the PSPNet algorithm, which incorporates more contextual information, to perform semantic segmentation on the image, extract rich features of the vibratory rod 5, and perform pixel-level fine segmentation on the contour of the vibratory rod 5. Step S43: Eliminate areas with small pixel values ​​to reduce noise interference and further optimize the contour of the segmented vibratory rod 5.

[0028] Step S5: Calculate the pixel area corresponding to the construction window and search for the intersection pixel of the vibrator 5 and the pouring surface 6 in image 19; Specifically, step S5 is as follows: Step S51: After obtaining the precise contour information of the vibrator 5, perform an intersection point search in this area; calculate the pixel area of ​​the construction window: such as Figure 3 As shown, camera 2 will capture a portion of the side body shell 12 of the trolley. A specific pixel region pqmn is selected, where p is the upper left corner of the construction window pixel region, q is the upper right corner, m is the lower left corner, and n is the lower right corner. If the window 8 in the real world has a length of... Gao Wei ,like Figure 4 As shown, the camera's vertical field of view is 17°. Horizontally, the distance between the camera's optical center and the trolley body is... Vertically, the height of the camera's optical center from the upper edge of the trolley window is... Assume that the p and q coordinates of the bottom edge 13 of the window in the real world are respectively and In the real world, the coordinates of m and n at the top edge of the window are respectively and Substituting these coordinates into the coordinate system transformation formula, the coordinates of the pixel region pqmn of the construction window can be determined: point p q point point m n points Among them, horizontally, the maximum distance between the camera's optical center and the trolley body is... ; Step S52: Generally, if there is a vibratory rod 5 in image 19, one end is located in the construction window pixel area, and the other end is located in the non-construction window pixel area and is the desired intersection point; the vibratory rod 5 located in the construction window pixel area should be a near-horizontal short line shape, and the vibratory rod 5 located in the non-construction window pixel area should be an arc shape; if the pixel area contains a portion of the vibratory rod 5, take a point in the pixel area as the approximate near endpoint 14 of the vibratory rod 5. Specifically, select any pixel in the segmented contour of the vibratory rod 5. The point of maximum value; Step S53: Finally, further search for the endpoint 15 furthest from the approximate near endpoint 14 in the segmented outline of the vibrator 5. This point is the pixel coordinate of the intersection point between the vibrator 5 and the pouring surface 6. .

[0029] Step S6: Conversion between intersection pixel and actual vibration coordinate point: Determine the intersection pixel coordinates of vibrator 5 and pouring surface 6. Then, combine the focal length in the camera model. 18. Image optical center The distance from the device to the pouring surface 6, measured in real time Using coordinate system transformation formulas, the positions of the actual vibration coordinate points are calculated. The formula for coordinate system transformation between image pixels and real-world points is as follows:

[0030] Among them, the distance from the device to the pouring surface 6 measured by the laser rangefinder 3. Approximate distance measured by camera 2 20.

[0031] Step S7: The distance information from the clustering device to the pouring surface 6 is used to merge the multiple vibration coordinates of the same group into the same vibration plane to check the adequacy of vibration; Specifically, step S7 is as follows: Step S71: Because the concrete pouring surface 6 will rise over time, the objects in the images captured by camera 2 will increase in size, and the pixels occupied by the vibrator 5 will also increase. Therefore, when the pouring height reaches the minimum allowable distance between camera 2 and the pouring surface 6... When this happens, the device needs to be retrieved, the current construction window 8 closed, and recalibration and data acquisition started in the upper-level window; similarly, the same applies to the other left and right windows; the horizontal field of view of the camera is known to be 16. The vertical field of view is 17. To ensure that camera 2 completely covers the area where the concrete is vibrating, The minimum allowable distance from camera 2 to the pouring surface 6. The constraint formula is as follows:

[0032] Generally, considering the narrow and elongated shape between the secondary lining trolley 7 and the mountain 9, the optimal solution is to meet the following requirements. scope; Step S72: Perform K-means clustering on the distances from the device to the pouring surface 6 collected from multiple vibrations, resulting in several groups of distances. ,in Indicates the number of groups. ; Step S73: Determine the distance after clustering Are there any cases that exceed the error tolerance range? If so, remove them; otherwise, keep them. Step S74: Calculate the distance for each group. The corresponding fixed distance is obtained by taking the average value of each. ; Step S75: Finally, combine the same set of distances The actual coordinates of the multiple vibrations on the surface, such as Figure 5 As shown, with each vibration coordinate point as the center and the vibration range as the area... Draw circles with a radius and merge them based on a fixed distance. On the fitted vibration plane, visually determine whether there is any missed vibration.

[0033] Step S8: Display vibration positioning results: Output the information processed by the information control processing module 10 to the display platform 11, and visualize the vibration positioning results of different vibration planes on the display platform 11.

[0034] Analysis shows that this method is suitable for positioning the insertion vibrator at the lower part (first and second layers) of the secondary lining trolley. The method error consists of the pixel error of the intersection point of the vibrator and the concrete pouring surface, the calibration error of the camera and the laser rangefinder, and the distance measurement error of the laser rangefinder.

[0035] The above description is merely a preferred embodiment of the present invention, intended to help those skilled in the art understand the invention. However, it should be understood that this is not intended to limit the invention. All other embodiments obtained by those skilled in the art without creative effort, and any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, should fall within the scope of protection of the present invention.

Claims

1. A method for acquiring the location of concrete immersion vibration on a tunnel secondary lining trolley, characterized in that, The steps of the method are as follows: Step S1: Calibrate the camera and laser rangefinder: Determine the internal parameters of the camera and the rotation and translation relationship between the camera and the laser rangefinder, and transmit them to the information control and processing module; Step S2: Image acquisition and distance information transmission to the information control and processing module: The information control and processing module switches the supplementary lighting on and off according to the tunnel environment, acquires images, and simultaneously acquires the distance from the laser rangefinder to the poured surface. The data is then transmitted to the information control and processing module. Step S3: Image preprocessing: Perform distortion removal and image enhancement processing, including rotation, translation, and flipping, on multiple collected images of the vibration area to create a dataset of vibration images and create labels for the vibration rods for parameter training. Step S4: Extract the outline of the vibratory rod in the image using a deep learning-based detection and segmentation algorithm; Step S5: Calculate the pixel area corresponding to the construction window, and search for the intersection pixels of the vibrator and the pouring surface in the image. The specific steps are as follows: Step S51: Calculate the pixel region of the construction window: Take a certain pixel region pqmn, where p is the upper left corner of the pixel region of the construction window, q is the upper right corner of the pixel region of the construction window, m is the lower left corner of the pixel region of the construction window, and n is the lower right corner of the pixel region of the construction window; if the window length in the real world is... Gao Wei The camera's vertical field of view is Horizontally, the distance between the camera's optical center and the trolley body is... Vertically, the height of the camera's optical center from the upper edge of the trolley window is... Assume that the p and q coordinates of the bottom edge of the window in the real world are respectively... and In the real world, the coordinates of m and n at the top edge of the window are respectively and Substituting these coordinates into the coordinate system transformation formula, the coordinates of the pixel region pqmn of the construction window can be determined: point p q point point m n points Among them, horizontally, the maximum distance between the camera's optical center and the trolley body is... ; Step S52: If the pixel region contains a portion of the vibratory rod, take a point in the pixel region as the approximate proximal endpoint of the vibratory rod, and select any pixel in the segmented vibratory rod contour. The point of maximum value; Step S53: Finally, further search for the endpoint furthest from the approximate near endpoint in the segmented vibratory rod contour. This furthest endpoint is the pixel coordinate of the intersection point between the vibratory rod and the pouring surface. ; Step S6: Conversion between intersection pixel and actual vibration coordinate point: Determine the intersection pixel coordinates of the vibrator and the pouring surface. Then, combine the focal length in the camera model. Image optical center The distance from the device to the pouring surface measured in real time Using coordinate system transformation formulas, the positions of the actual vibration coordinate points are calculated. ; Step S7: The distance information from the clustering device to the pouring surface is used to merge the multiple vibration coordinates of the same group into the same vibration plane to check the adequacy of vibration; Step S8: Display vibration positioning results: Output the processed information from the information control processing module to the display platform, and visualize the vibration positioning results of different vibration planes on the display platform.

2. The method for acquiring the location of concrete immersion vibration on a tunnel secondary lining trolley according to claim 1, characterized in that, The image information acquired in step S2 and the distance from the device to the pouring surface Information needs to be controlled periodically by the information control and processing module to ensure strict synchronization of the collection time.

3. The method for acquiring the location of concrete immersion vibration on a tunnel secondary lining trolley according to claim 1, characterized in that, The step S4, which uses a deep learning-based detection and segmentation algorithm to extract the contour of the vibratory rod in the image, is as follows: Step S41: Use a target detection algorithm to observe whether there is a vibratory rod in the image. If it exists, proceed to step S42; if it does not exist, detect the next vibratory rod image. Step S42: Use the PSPNet algorithm, which incorporates more contextual information, to perform semantic segmentation on the image, extract rich features of the vibratory tamping rod, and perform pixel-level fine segmentation on the outline of the vibratory tamping rod. Step S43: Eliminate areas with small pixel values ​​to reduce noise interference and further optimize the contour of the segmented vibratory rod.

4. The method for acquiring the location of concrete immersion vibration on a tunnel secondary lining trolley according to claim 1, characterized in that, In step S7, the distance information from the clustering device to the pouring surface is used to merge multiple vibration coordinates of the same group into the same vibration plane. The step to verify the adequacy of vibration is as follows: Step S71: When the pouring height reaches the minimum allowable distance between the camera and the pouring surface. When necessary, the device needs to be retrieved, the current construction window closed, and recalibration and data acquisition started in the upper-level window; similarly, the same applies to the other left and right windows; the horizontal field of view of the camera is known to be... The field of view in the vertical direction is To ensure the camera completely covers the area where the concrete is vibrating, The minimum allowable distance from the camera to the pouring surface. Existence constraint formula Combining the narrow and elongated shape between the secondary lining trolley and the mountainside, it meets the requirements. scope; Step S72: Perform K-means clustering on the distances from the device to the pouring surface collected from multiple vibrations, resulting in several groups of distances. ,in Indicates the number of groups. ; Step S73: Determine the distance after clustering Are there any cases that exceed the error tolerance range? If so, remove them. Conversely, retain; Step S74: Calculate the distance for each group. The corresponding fixed distance is obtained by taking the average value of each. ; Step S75: Finally, combine the same set of distances The actual coordinates of multiple vibrations are used as the center, with each vibration coordinate point as the center and the vibration range as the area. Draw circles with a radius and merge them based on a fixed distance. On the fitted vibration plane, visually determine whether there is any missed vibration.

5. A tunnel secondary lining trolley concrete immersion vibration position acquisition device using the method described in any one of claims 1-4, comprising a supplementary light (1), a camera (2), a laser rangefinder (3), a fixed bracket (4), an information control and processing module (10), and a display platform (11); the supplementary light (1), the camera (2), the laser rangefinder (3) are physically connected to the fixed bracket (4); the supplementary light (1), the camera (2), the laser rangefinder (3) are electrically connected to the information control and processing module (10) and the display platform (11).

6. The tunnel secondary lining trolley concrete immersion vibration position acquisition device according to claim 5, characterized in that, The supplementary light (1), camera (2), and laser rangefinder (3) are integrated as a whole and physically connected to the fixed bracket (4). The fixed bracket (4) can be installed above, to the left or to the right of the construction window (8) on the side (7) of the secondary lining trolley. The fixed bracket can ensure that the supplementary light (1), camera (2), and laser rangefinder (3) are stably located between the side (7) of the secondary lining trolley and the mountain slope (9) when they are working. At the same time, it ensures that the camera (2) is located in the center of the window (8). When the supplementary light (1), camera (2), and laser rangefinder (3) are not working, they can be retracted into the side (7) of the secondary lining trolley through the construction window (8). The bottoms of the camera (2) and the laser rangefinder (3) are strictly parallel, with the line of sight facing downwards, and the optical axis of the camera is perpendicular to the pouring surface (6).

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