An intelligent pouring system for low-slump concrete in diversion tunnels

Abstract

The invention relates to the technical field of concrete pouring control, and in particular to an intelligent pouring system for low-slump concrete of a diversion tunnel. The invention uses a distribution module, a pre-screening module, a model comparison module, a pouring control module and a control calibration module. The pre-screening module is used to obtain a steel bar distribution model of each pouring area and screen out a characteristic sub-model. The model comparison module is used to determine the concrete feeding heterogeneous area according to the model shaking of the characteristic sub-model before and after pouring. The pouring control module is used to control the feeding height of the feeder. The control calibration module is used to determine whether to set a number of auxiliary vibration time periods in the process of pouring concrete feeding heterogeneous areas. Thus, the invention realizes the rapid determination of the area where concrete feeding affects the displacement of steel bars, and timely adjusts the feeding method, thereby ensuring the stability of the steel bar position during concrete pouring and improving the quality and durability of the pouring structure.

Description

Technical Field

[0001] The invention relates to the technical field of concrete pouring control, and in particular to an intelligent low-slump concrete pouring system for a diversion tunnel. Background Art

[0002] In the construction of water conservancy and hydropower projects, low-slump concrete with less cement usage and better concrete quality is being used more and more widely. Engineering diversion tunnels in Tibet and other regions need to be poured with low-slump concrete. Faced with the complex construction environment and strict quality requirements of diversion tunnels, the traditional concrete pouring method mainly relies on manual experience to control the height of concrete feeding and pouring quality. However, this method has great uncertainty and inaccuracy. Since it is impossible to accurately judge the distribution of steel bars in the pouring area and the actual state of concrete after feeding, it is easy to cause uneven concrete feeding, gaps, steel bar displacement and other problems, affecting the strength and stability of the concrete structure. In addition, for low-slump concrete, its fluidity is relatively poor, and it is more difficult to ensure sufficient density during the pouring process.

[0003] With the continuous advancement of science and technology, the application of intelligent technology in the field of engineering construction is becoming more and more extensive. In order to improve the pouring quality and efficiency of low-slump concrete in diversion tunnels, there is an urgent need for an intelligent pouring system that can monitor the distribution of steel bars and concrete pouring status in real time to ensure the uniformity and density of the concrete structure.

[0004] For example, Chinese Patent Publication No.: CN103628483A, the invention discloses a method for simulating and optimizing the joint pouring of concrete dam pouring silo machinery, comprising the following steps: 1. Digitizing the dam concrete pouring silo system, that is, obtaining the spatial position of each silo and the concrete volume parameters and saving them in the database; 2. Digitizing the relevant parameters of the silo machinery, that is, obtaining the spatial positioning, working performance, operating characteristics, and working range mechanical parameters of the silo construction machinery and saving them in the database; 3. Digitizing the concrete dam pouring construction progress, that is, saving the rising progress requirements of each dam section and each dam block in the database; 4. Digitizing the concrete dam pouring quality requirements, that is, saving the construction technical requirements parameters including the height difference limit, intermittent time limit, and temperature control parameter construction of the dam body concrete pouring in the database; 5. Substituting the above parameters into the simulation model and the optimization model to obtain the joint pouring construction plan of the concrete dam pouring silo equipment.

[0005] The prior art still has the following problems:

[0006] The existing technology does not take into account the impact of a large amount of aggregate contained in low-slump concrete falling into the pouring area on the displacement of the steel bars. The existing technology cannot quickly determine the area where the concrete feeding affects the displacement of the steel bars, and cannot adjust the feeding method in time, affecting the quality of the concrete pouring construction. Summary of the invention

[0007] To this end, the present invention provides a low-slump concrete intelligent pouring system for a diversion tunnel to overcome the problems that the prior art cannot quickly determine the area where concrete feeding affects the displacement of steel bars and cannot adjust the feeding method in time.

[0008] To achieve the above object, the present invention provides a low-slump concrete intelligent pouring system for a diversion tunnel, comprising:

[0009] A material distribution module, comprising a conveyor for conveying concrete to a preset material discharge height above a pouring point and a material discharge mechanism connected to the conveyor for pouring concrete to a preset pouring area;

[0010] A pre-screening module is used to scan the steel bars in each casting area to obtain the steel bar distribution model of each casting area, and to screen the characteristic sub-model according to the point cloud data of a number of marking points on each steel bar distribution model;

[0011] A model comparison module, which is connected to the pre-screening module, is used to determine the concrete feeding heterogeneous area according to the model shaking of the characteristic sub-models of each pouring area before and after pouring;

[0012] A pouring control module, which is connected to the material distribution module and the model comparison module respectively, and is used to adjust the material feeding height of the feeder to the concrete feeding heterogeneous area;

[0013] a control calibration module, which is connected to the material distribution module and the pouring control module respectively, and is used to determine whether to set a number of auxiliary vibration time periods at preset time intervals during the pouring of the concrete material anisotropic area according to the comparison of the characteristic sub-models corresponding to the concrete material anisotropic area adjusted at the material discharge height at a number of moments;

[0014] The duration of each auxiliary vibration time period is determined according to the number of characteristic sub-models in the concrete feeding heterogeneous area.

[0015] Furthermore, the pre-screening module is used to screen the feature sub-models, wherein:

[0016] The pre-screening module is used to determine a number of marking points on the steel bar distribution model and obtain the three-dimensional coordinates of each marking point, cluster each marking point into a number of characteristic marking point groups according to the three-dimensional coordinates of each marking point, and determine a corresponding characteristic sub-model according to each characteristic marking point group;

[0017] The three-dimensional coordinates of each marking point include a vertical coordinate perpendicular to the horizontal ground direction, a horizontal coordinate along the horizontal ground direction, and a vertical coordinate perpendicular to the horizontal and vertical coordinates respectively. Each characteristic marking point group includes several marking points whose only vertical coordinates are different in the three-dimensional coordinates.

[0018] Furthermore, the model comparison module is used to determine the horizontal coordinate, vertical coordinate and vertical coordinate of each mark point in the characteristic sub-model before pouring, and the maximum horizontal coordinate, maximum vertical coordinate and maximum vertical coordinate in the pouring start time period;

[0019] The pouring start time period is a time period of preset duration starting from the pouring start time.

[0020] Furthermore, the model comparison module is used to determine the shaking of the model, wherein:

[0021] The model comparison module determines the absolute value of the difference between the horizontal coordinate of each marked point before pouring and the maximum horizontal coordinate in the time period starting from pouring as the horizontal coordinate change, determines the absolute value of the difference between the vertical coordinate of each marked point before pouring and the maximum vertical coordinate in the time period starting from pouring as the vertical coordinate change, and determines the absolute value of the difference between the vertical coordinate of each marked point before pouring and the maximum vertical coordinate in the time period starting from pouring as the vertical coordinate change, and calculates the average value of the horizontal coordinate change, the average value of the vertical coordinate change and the average value of the vertical coordinate change of several marked points.

[0022] Furthermore, the model comparison module determines as a heterogeneous sub-model the characteristic sub-model whose maximum value among the average value of the horizontal coordinate change, the average value of the vertical coordinate change and the average value of the vertical coordinate change exceeds a preset coordinate change threshold, and determines as the casting area where the heterogeneous sub-model exists the heterogeneous concrete feeding area.

[0023] Furthermore, the pouring control module controls the feeder to lower the discharge height of the concrete discharge anisotropic area, and the reduction amount of the discharge height is positively correlated with the average value of the coordinate change amount.

[0024] Furthermore, the control calibration module is used to determine the comparison of the characteristic sub-models, wherein:

[0025] The control calibration module completes adjustment in response to the material discharge height, obtains the characteristic sub-models corresponding to several moments, calculates the horizontal coordinate standard deviation according to the horizontal coordinates of several marked points on each characteristic sub-model, calculates the vertical coordinate standard deviation according to the vertical coordinates of several marked points on each characteristic sub-model, and calculates the vertical coordinate standard deviation according to the vertical coordinates of several marked points on each characteristic sub-model.

[0026] Furthermore, the control calibration module is used to determine whether to set a number of auxiliary vibration time periods, wherein:

[0027] The control calibration module is used to compare the maximum value of the horizontal coordinate standard deviation, the vertical coordinate standard deviation and the vertical coordinate standard deviation with a preset coordinate change standard deviation reference value;

[0028] If the maximum value among the horizontal coordinate standard deviation, the vertical coordinate standard deviation and the vertical coordinate standard deviation is greater than the coordinate change standard deviation reference value, the control calibration module determines to set a number of auxiliary vibration time periods at preset time intervals during the pouring of concrete in the heterogeneous area.

[0029] Furthermore, the control calibration module is used to determine the duration of the auxiliary vibration time period, wherein:

[0030] The duration of the auxiliary vibration time period is positively correlated with the number of characteristic sub-models in the concrete feeding heterogeneous area.

[0031] Furthermore, the control calibration module is also used to control the feeder to suspend operation during the auxiliary vibration time period and issue a prompt to vibrate the current concrete feeding anomaly area.

[0032] Compared with the prior art, the beneficial effect of the present invention lies in that, through the distribution module, pre-screening module, model comparison module, pouring control module and control calibration module, the present invention obtains the steel bar distribution model of each pouring area and screens out the characteristic sub-model through the pre-screening module, determines the concrete feeding heterogeneous area according to the model shaking of the characteristic sub-model of each pouring area before and after pouring through the model comparison module, controls the feeding height of the feeder through the pouring control module, and determines through the control calibration module whether to set a number of auxiliary vibration time periods at preset time intervals during the pouring of concrete feeding heterogeneous area, thereby realizing the rapid determination of the area where the concrete feeding affects the displacement of the steel bars, and timely adjusting the feeding method, ensuring the stability of the steel bar position during the concrete pouring process, and improving the quality and durability of the cast structure.

[0033] In particular, the present invention screens characteristic sub-models through a pre-screening module. In the actual concrete pouring process, the low slump characteristic of concrete makes the steel bars perpendicular to the horizontal ground most affected by the flow of concrete, which is prone to steel bar displacement. The present invention performs three-dimensional coordinate analysis of the marking points on the steel bar distribution model, and can accurately find those marking point groups that only have different vertical coordinates in the three-dimensional coordinates, and then determine the steel bar sub-model in the direction perpendicular to the horizontal ground, which is convenient for further analysis of the screened sub-models and improves the data representation of determining the area where concrete feeding affects the displacement of steel bars.

[0034] In particular, the present invention determines the heterogeneous area of ​​concrete feeding by calculating the average value of the horizontal coordinate change, the average value of the vertical coordinate change and the average value of the vertical coordinate change of several marking points in the time period before pouring and the beginning of pouring. It can be understood that the three-dimensional coordinates of the marking points in the time period at the beginning of pouring will fluctuate due to the impact of concrete pouring. By respectively calculating the average value of the change in the three directions of the horizontal coordinate, the vertical coordinate and the vertical coordinate, the position change of the characteristic sub-model before and after pouring can be more comprehensively reflected. By comparing the maximum value of the average value of the change in the three directions with the preset coordinate change threshold, the characteristic sub-models with the most significant changes in a certain direction, that is, the heterogeneous sub-models, can be accurately screened out. In this way, the misjudgment caused by considering only the change in a single direction can be avoided, and the accuracy of quickly determining the area where the concrete feeding affects the displacement of the steel bars is achieved.

[0035] In particular, the present invention controls the feeder to lower the discharge height of the concrete in the heterogeneous area through the pouring control module. Those skilled in the art will understand that by lowering the discharge height of the concrete pouring, it is possible to avoid the concrete with low slump from generating greater flow potential energy under a large height drop state, reduce the impact of the concrete pouring on the steel bars, improve the stability of the steel bar position during the concrete pouring process, and improve the quality and durability of the cast structure.

[0036] In particular, the present invention determines whether to set a number of auxiliary vibration time periods through the comparison of characteristic sub-models. It can be understood that by calculating the standard deviation of the horizontal coordinate, the vertical coordinate and the vertical coordinate, the degree of discreteness of the characteristic sub-model in different directions can be reflected. If the standard deviation is large, it indicates that the stability of the characteristic sub-model is poor, and there are still obvious unevenness or instability factors in the concrete feeding anisotropic area. It is necessary to set the auxiliary vibration time period in time, so that the local flow of concrete around the steel bars can be enhanced by timely vibration during the pouring process, and the slight displacement of the steel bars can be corrected. The more steel bars in the pouring area that are susceptible to the concrete pouring, the longer the vibration time is required to adjust the abnormal displacement of the steel bars, thereby improving the stability of the steel bar position during the concrete pouring process and improving the quality and durability of the cast structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a system block diagram of a low-slump concrete intelligent pouring system for a diversion tunnel according to an embodiment of the present invention;

[0038] Figure 2 This is a simplified structural diagram of a material distribution module according to an embodiment of the present invention;

[0039] Figure 3 A logic flow chart of determining the heterogeneous area of ​​concrete feeding by the model comparison module of the embodiment of the present invention;

[0040] Figure 4 A logic flow chart of a control calibration module according to an embodiment of the present invention for determining whether to set a plurality of auxiliary vibration time periods;

[0041] In the figure, 1: feeder, 2: feed bin, 3: conduit. DETAILED DESCRIPTION

[0042] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0044] It should be noted that, in the description of the present invention, terms such as "upper", "lower", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0045] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] See also Figure 1 as well as Figure 2 As shown, Figure 1 This is a system block diagram of the low-slump concrete intelligent pouring system for diversion tunnels according to an embodiment of the present invention. Figure 2 This is a simplified structural diagram of a material distribution module according to an embodiment of the present invention. A low-slump concrete intelligent pouring system for a diversion tunnel according to the present invention comprises:

[0047] A material distribution module, which includes a conveyor 1 for conveying concrete to a preset discharge height above a pouring point and a discharge mechanism connected to the conveyor 1 for pouring concrete to a preset pouring area;

[0048] Specifically, the preset feed height in the present invention is set by those skilled in the art according to the slump of concrete. Preferably, for low-fluidity concrete with a slump of 40 mm, the preset feed height can be 1 m.

[0049] A pre-screening module is used to scan the steel bars in each casting area to obtain the steel bar distribution model of each casting area, and to screen the characteristic sub-model according to the point cloud data of a number of marking points on each steel bar distribution model;

[0050] A model comparison module, which is connected to the pre-screening module, is used to determine the concrete feeding heterogeneous area according to the model shaking of the characteristic sub-models of each pouring area before and after pouring;

[0051] A pouring control module, which is connected to the material distribution module and the model comparison module respectively, and is used to adjust the material discharge height of the feeder 1 to the concrete discharge heterogeneous area;

[0052] In practice, the unloading height of the feeder 1 can be adjusted by adjusting the angle between the feeder 1 and the horizontal ground. The unloading height is the height of the end of the feeder from the horizontal ground. This is understandable to those skilled in the art and will not be elaborated here.

[0053] a control calibration module, which is connected to the material distribution module and the pouring control module respectively, and is used to determine whether to set a number of auxiliary vibration time periods at preset time intervals during the pouring of the concrete material anisotropic area according to the comparison of the characteristic sub-models corresponding to the concrete material anisotropic area adjusted at the material discharge height at a number of moments;

[0054] The duration of each auxiliary vibration time period is determined according to the number of characteristic sub-models in the concrete feeding heterogeneous area.

[0055] Specifically, the preset time intervals of several auxiliary vibration time periods can be set by technicians in this field according to the slump of concrete. Preferably, at an ambient temperature of 3°C-8°C, the preset time interval for low-fluidity concrete with a slump of 40 mm can be 25 minutes.

[0056] Specifically, the present invention does not limit the specific structure of the feeder 1. Preferably, the present invention can use a belt feeder to transport concrete. The belt feeder is a commonly used mechanical equipment in concrete pouring construction and will not be described in detail here.

[0057] Specifically, the present invention does not limit the specific structure of the unloading mechanism, which includes a unloading bin 2 and a conduit 3 connected to the unloading bin 2 for pouring concrete into the pouring area. The unloading mechanism used in combination with the belt conveyor is well known to those skilled in the art and will not be described in detail here.

[0058] Specifically, the pre-screening module in the present invention includes a three-dimensional laser scanner for scanning steel bars and a data processor connected to the three-dimensional laser scanner. The data processor performs pre-processing operations such as denoising and filtering on the scanned point cloud data, and then separates the steel bar point cloud from the point clouds of other objects through a point cloud segmentation algorithm. Next, several key positions are selected as marking points on the steel bar distribution model, and the three-dimensional coordinates of these marking points are extracted.

[0059] Specifically, the model comparison module in the present invention may be a data processor for processing the three-dimensional coordinates of the point cloud data on the model, which will not be described in detail here.

[0060] Specifically, the pouring control module in the present invention can be constructed using logic components, and the logic components can be field programmable logic components, microprocessors, processors used in computers, etc., which will not be described in detail here.

[0061] Specifically, the present invention does not limit the specific structure of the control calibration module, which itself can use a field programmable logic component, a microprocessor, a processor used in a computer, etc., which will not be described in detail here.

[0062] Specifically, the pre-screening module is used to screen the feature sub-models, wherein:

[0063] The pre-screening module is used to determine a number of marking points on the steel bar distribution model and obtain the three-dimensional coordinates of each marking point, cluster each marking point into a number of characteristic marking point groups according to the three-dimensional coordinates of each marking point, and determine a corresponding characteristic sub-model according to each characteristic marking point group;

[0064] The three-dimensional coordinates of each marking point include a vertical coordinate Z perpendicular to the horizontal ground direction, a horizontal coordinate X along the horizontal ground direction, and a vertical coordinate Y perpendicular to the horizontal and vertical coordinates respectively. Each characteristic marking point group includes several marking points whose only vertical coordinates are different in the three-dimensional coordinates.

[0065] Specifically, the present invention screens characteristic sub-models through a pre-screening module. In the actual concrete pouring process, the low slump characteristic of concrete makes the steel bars perpendicular to the horizontal ground most affected by the concrete flow, which is prone to steel bar displacement. The present invention performs three-dimensional coordinate analysis of the marking points on the steel bar distribution model to accurately find those marking point groups that only have different vertical coordinates in the three-dimensional coordinates, and then determine the steel bar sub-model in the direction perpendicular to the horizontal ground, which is convenient for further analysis of the screened sub-models and improves the data representation of determining the area where concrete feeding affects the displacement of steel bars.

[0066] Specifically, the model comparison module is used to determine the horizontal coordinate, vertical coordinate and vertical coordinate of each mark point in the characteristic sub-model before pouring, and the maximum horizontal coordinate value X in the pouring start time period. max , maximum value of vertical coordinate Y max With the maximum value of the vertical coordinate Z max ;

[0067] The pouring start time period is a time period of preset duration starting from the pouring start time.

[0068] Specifically, the model comparison module is used to determine the shaking of the model, wherein:

[0069] The model comparison module determines the absolute value of the difference between the horizontal coordinate of each marked point before pouring and the maximum horizontal coordinate in the time period starting from pouring as the horizontal coordinate change, determines the absolute value of the difference between the vertical coordinate of each marked point before pouring and the maximum vertical coordinate in the time period starting from pouring as the vertical coordinate change, and determines the absolute value of the difference between the vertical coordinate of each marked point before pouring and the maximum vertical coordinate in the time period starting from pouring as the vertical coordinate change, and calculates the average value Xc of the horizontal coordinate change, the average value Yc of the vertical coordinate change, and the average value Zc of the vertical coordinate change of several marked points.

[0070] Specifically, see Figure 3 As shown, it is a logic flow chart of determining the concrete feeding heterogeneous area by the model comparison module of an embodiment of the present invention, wherein the model comparison module determines the characteristic sub-model whose maximum value among the average value Xc of the horizontal coordinate change, the average value Yc of the vertical coordinate change and the average value Zc of the vertical coordinate change exceeds the preset coordinate change threshold C0 as the heterogeneous sub-model, and determines the casting area with the heterogeneous sub-model as the concrete feeding heterogeneous area;

[0071] If the average value Xc of the horizontal coordinate change, the average value Yc of the vertical coordinate change and the average value Zc of the vertical coordinate change do not exceed the preset coordinate change threshold C0, the model comparison module determines that the feature sub-model is not a heterogeneous sub-model.

[0072] In the present invention, the value of the preset coordinate change threshold C0 is obtained by pre-calculation. The three-dimensional coordinate changes of several marking points on the characteristic sub-models of several casting areas before and after casting are pre-calculated, and the average value of the three-dimensional coordinate changes is calculated. The average value of the three-dimensional coordinate changes is determined as the preset coordinate change threshold C0. Preferably, the value of the preset coordinate change threshold C0 is 8 mm.

[0073] Specifically, the present invention determines the heterogeneous area of ​​concrete feeding by calculating the average value of the horizontal coordinate change, the average value of the vertical coordinate change and the average value of the vertical coordinate change of several marking points in the time period before pouring and the beginning of pouring. It can be understood that the three-dimensional coordinates of the marking points in the time period at the beginning of pouring will fluctuate due to the impact of concrete pouring. By respectively calculating the average value of the change in the horizontal, vertical and vertical directions, the position change of the characteristic sub-model before and after pouring can be more comprehensively reflected. By comparing the maximum value of the average value of the change in the three directions with the preset coordinate change threshold, the characteristic sub-models with the most significant changes in a certain direction, that is, the heterogeneous sub-models, can be accurately screened out. In this way, the misjudgment caused by considering only the change in a single direction can be avoided, and the accuracy of quickly determining the area where the concrete feeding affects the displacement of the steel bars is achieved.

[0074] Specifically, the pouring control module controls the feeder 1 to lower the discharge height of the concrete discharge anisotropic area, and the reduction amount of the discharge height is positively correlated with the average value of the coordinate change amount.

[0075] Specifically, the present invention controls the feeder 1 to lower the discharge height of the concrete in the anisotropic area through the pouring control module. Those skilled in the art will understand that by lowering the discharge height of the concrete pouring, it is possible to avoid the low slump concrete from generating greater flow potential energy under a larger height drop state, reduce the impact of the concrete pouring on the steel bars, improve the stability of the steel bar position during the concrete pouring process, and improve the quality and durability of the cast structure.

[0076] Specifically, the control calibration module is used to determine the comparison of the characteristic sub-models, wherein:

[0077] The control calibration module completes adjustment in response to the material discharge height, obtains the characteristic sub-models corresponding to several moments, calculates the horizontal coordinate standard deviation Xc0 according to the horizontal coordinates of several marked points on each characteristic sub-model, calculates the vertical coordinate standard deviation Yc0 according to the vertical coordinates of several marked points on each characteristic sub-model, and calculates the vertical coordinate standard deviation Zc0 according to the vertical coordinates of several marked points on each characteristic sub-model.

[0078] Specifically, see Figure 4 As shown, it is a logic flow chart of the control calibration module of the embodiment of the present invention for determining whether to set a number of auxiliary vibration time periods, wherein the control calibration module is used to determine whether to set a number of auxiliary vibration time periods, wherein:

[0079] The control calibration module is used to compare the maximum value among the horizontal coordinate standard deviation Xc0, the vertical coordinate standard deviation Yc0 and the vertical coordinate standard deviation Zc0 with a preset coordinate change standard deviation reference value ΔC;

[0080] If the maximum value among the horizontal coordinate standard deviation, the vertical coordinate standard deviation and the vertical coordinate standard deviation is greater than the coordinate change standard deviation reference value, the control calibration module determines to set a number of auxiliary vibration time periods at preset time intervals during the process of pouring concrete into the heterogeneous area;

[0081] If the horizontal coordinate standard deviation, the vertical coordinate standard deviation and the vertical coordinate standard deviation are all less than or equal to the coordinate change standard deviation reference value, the control calibration module determines that there is no need to set the auxiliary vibration time period.

[0082] In implementation, the value of the preset coordinate change standard deviation reference value ΔC is pre-calculated, and the three-dimensional coordinate changes corresponding to several marking points on the characteristic sub-model of several concrete feeding anisotropic areas at several moments after the feeding height is adjusted are pre-calculated, and the average value of the standard deviation of the three-dimensional coordinate change is calculated, and the average value of the standard deviation of the three-dimensional coordinate change is determined as the preset coordinate change standard deviation reference value ΔC. Preferably, the value of the preset coordinate change standard deviation reference value ΔC is 3mm.

[0083] Specifically, the control calibration module is used to determine the duration of the auxiliary vibration time period, wherein:

[0084] The duration of the auxiliary vibration time period is positively correlated with the number of characteristic sub-models in the concrete feeding heterogeneous area.

[0085] Specifically, the present invention determines whether to set a number of auxiliary vibration time periods through the comparison of characteristic sub-models. It can be understood that by calculating the standard deviation of the horizontal coordinate, the vertical coordinate and the vertical coordinate, the degree of discreteness of the characteristic sub-model in different directions can be reflected. If the standard deviation is large, it indicates that the stability of the characteristic sub-model is poor, and there are still obvious unevenness or instability factors in the concrete feeding anisotropic area. It is necessary to set the auxiliary vibration time period in time, so that the local flow of concrete around the steel bars can be enhanced by timely vibration during the pouring process, and the slight displacement of the steel bars can be corrected. The more steel bars in the pouring area that are susceptible to the concrete pouring, the longer the vibration time is required to adjust the abnormal displacement of the steel bars, thereby improving the stability of the steel bar position during the concrete pouring process and improving the quality and durability of the cast structure.

[0086] Specifically, the control calibration module is also used to control the feeder 1 to suspend operation during the auxiliary vibration time period, and issue a prompt to vibrate the current concrete feeding anomaly area.

[0087] Specifically, the control calibration module can issue a prompt by connecting a buzzer.

[0088] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A low-slump concrete intelligent pouring system for diversion tunnels, characterized in that: include: A material distribution module, comprising a conveyor for conveying concrete to a preset material discharge height above a pouring point and a material discharge mechanism connected to the conveyor for pouring concrete to a preset pouring area; A pre-screening module is used to scan the steel bars in each casting area to obtain the steel bar distribution model of each casting area, and to screen the characteristic sub-model according to the point cloud data of a number of marking points on each steel bar distribution model; A model comparison module, which is connected to the pre-screening module, is used to determine the concrete feeding heterogeneous area according to the model shaking of the characteristic sub-model of each pouring area before and after pouring; A pouring control module, which is connected to the material distribution module and the model comparison module respectively, and is used to adjust the material feeding height of the feeder to the concrete feeding heterogeneous area; a control calibration module, which is connected to the material distribution module and the pouring control module respectively, and is used to determine whether to set a number of auxiliary vibration time periods at preset time intervals during the pouring of the concrete material anisotropic area according to the comparison of the characteristic sub-models corresponding to the concrete material anisotropic area adjusted at the material discharge height at a number of moments; The duration of each auxiliary vibration time period is determined according to the number of characteristic sub-models in the concrete feeding heterogeneous area.

2. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 1 is characterized in that: The pre-screening module is used to screen the feature sub-model, wherein: The pre-screening module is used to determine a number of marking points on the steel bar distribution model and obtain the three-dimensional coordinates of each marking point, cluster each marking point into a number of characteristic marking point groups according to the three-dimensional coordinates of each marking point, and determine a corresponding characteristic sub-model according to each characteristic marking point group; The three-dimensional coordinates of each marking point include a vertical coordinate perpendicular to the horizontal ground direction, a horizontal coordinate along the horizontal ground direction, and a vertical coordinate perpendicular to the horizontal and vertical coordinates respectively. Each characteristic marking point group includes several marking points whose only vertical coordinates are different in the three-dimensional coordinates.

3. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 2 is characterized in that: The model comparison module is used to determine the horizontal coordinate, vertical coordinate and vertical coordinate of each marked point in the characteristic sub-model before pouring, and the maximum horizontal coordinate, maximum vertical coordinate and maximum vertical coordinate in the pouring start time period; The pouring start time period is a time period of preset duration starting from the pouring start time.

4. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 3 is characterized in that: The model comparison module is used to determine the shaking of the model, wherein: The model comparison module determines the absolute value of the difference between the horizontal coordinate of each marked point before pouring and the maximum horizontal coordinate in the time period starting from pouring as the horizontal coordinate change, determines the absolute value of the difference between the vertical coordinate of each marked point before pouring and the maximum vertical coordinate in the time period starting from pouring as the vertical coordinate change, and determines the absolute value of the difference between the vertical coordinate of each marked point before pouring and the maximum vertical coordinate in the time period starting from pouring as the vertical coordinate change, and calculates the average value of the horizontal coordinate change, the average value of the vertical coordinate change and the average value of the vertical coordinate change of several marked points.

5. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 4 is characterized in that: The model comparison module determines the characteristic sub-model whose maximum value among the average value of the horizontal coordinate change, the average value of the vertical coordinate change and the average value of the vertical coordinate change exceeds the preset coordinate change threshold as an anisotropic sub-model, and determines the casting area where the anisotropic sub-model exists as the concrete feeding anisotropic area.

6. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 5 is characterized in that: The pouring control module controls the feeder to lower the concrete feeding height of the anisotropic area, and the reduction amount of the concrete feeding height is positively correlated with the average value of the coordinate change amount.

7. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 6 is characterized in that: The control calibration module is used to determine the comparison of the characteristic sub-models, wherein: The control calibration module completes adjustment in response to the material discharge height, obtains the characteristic sub-models corresponding to several moments, calculates the horizontal coordinate standard deviation according to the horizontal coordinates of several marked points on each characteristic sub-model, calculates the vertical coordinate standard deviation according to the vertical coordinates of several marked points on each characteristic sub-model, and calculates the vertical coordinate standard deviation according to the vertical coordinates of several marked points on each characteristic sub-model.

8. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 7 is characterized in that: The control calibration module is used to determine whether to set a number of auxiliary vibration time periods, wherein: The control calibration module is used to compare the maximum value of the horizontal coordinate standard deviation, the vertical coordinate standard deviation and the vertical coordinate standard deviation with a preset coordinate change standard deviation reference value; If the maximum value among the horizontal coordinate standard deviation, the vertical coordinate standard deviation and the vertical coordinate standard deviation is greater than the coordinate change standard deviation reference value, the control calibration module determines to set a number of auxiliary vibration time periods at preset time intervals during the pouring of concrete in the heterogeneous area.

9. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 8, characterized in that: The control calibration module is used to determine the duration of the auxiliary vibration time period, wherein: The duration of the auxiliary vibration time period is positively correlated with the number of characteristic sub-models in the concrete feeding heterogeneous area.

10. The low-slump concrete intelligent pouring system for diversion tunnel according to claim 9, characterized in that: The control calibration module is also used to control the feeder to suspend operation during the auxiliary vibration time period and issue a prompt to vibrate the current concrete feeding anomaly area.

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