Intelligent monitoring system and method for tunnel concrete pouring process

Abstract

The application discloses a tunnel concrete pouring process intelligent monitoring system and method, relates to the technical field of tunnel concrete pouring process intelligent monitoring, and comprises a following type pouring position visual monitoring unit, an equipment parameter acquisition unit, a pouring position scanning unit, a pouring instruction data acquisition module and a computer-based pouring process intelligent analysis unit. The monitoring of the whole pouring process is divided into two parts, namely, visual monitoring of pouring actions and concrete quality monitoring after pouring is completed; the visual monitoring of pouring actions is from working visual pictures of the end of a concrete output pipe and internal visual pictures of an automatic pouring lining trolley which are acquired by the following type pouring position visual monitoring unit, and an intelligent analysis computer analyzes whether there are cracks, cavities and layers based on pouring position scanning data. The whole range intelligent monitoring from the pouring process to pouring quality is realized, and the concrete pouring quality of a tunnel concrete layer-by-window pouring process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent monitoring of tunnel concrete pouring process, in particular to a tunnel concrete pouring process intelligent monitoring system and method. BACKGROUND

[0002] Tunnel concrete layer-by-layer window-by-window pouring technology is a fine construction method, mainly used in the pouring process of tunnel lining. The following are the main steps and characteristics of this technology:

[0003] The tunnel concrete layer-by-layer window-by-window pouring system usually includes an automatic lining pouring trolley, a concrete tank truck and a drag pump feeding device. After the automatic lining pouring trolley moves to the pouring position and stops, the concrete distribution system delivers concrete to each pouring window through the concrete tank truck and the drag pump feeding device. The concrete output pipe of the concrete distribution system automatically connects with the pouring port at different positions on the automatic lining pouring trolley, and the concrete is input from the pouring port to realize pouring. During construction, the side mold is poured layer by layer and window by window from left to right and from bottom to top, and after the side mold pouring construction is completed, the pouring is switched to the vault window. Tunnel concrete layer-by-layer window-by-window pouring technology can solve the segregation and chevron cold joint phenomenon in the concrete pouring process and improve the internal pouring quality of concrete.

[0004] In summary, tunnel concrete layer-by-layer window-by-window pouring technology is an efficient and high-quality construction method, especially suitable for tunnel lining pouring projects.

[0005] Currently, there is no intelligent monitoring system for tunnel concrete layer-by-layer window-by-window pouring system to intelligently monitor the pouring process. SUMMARY

[0006] In order to solve the intelligent monitoring problem of tunnel concrete layer-by-layer window-by-window pouring process, the present application provides a tunnel concrete pouring process intelligent monitoring system and method. The following technical solutions are adopted:

[0007] The application discloses a kind of intelligent monitoring systems of tunnel concrete pouring process, including follow-up pouring site visual monitoring unit, equipment parameter acquisition unit, pouring site scanning unit, pouring instruction data acquisition module and computer-based pouring process intelligent analysis unit, the follow-up pouring site visual monitoring unit follow-up acquisition concrete output pipe end of work visual picture and automatic pouring lining trolley internal visual picture, the equipment parameter acquisition unit acquires the working parameter of each device of tunnel concrete layering window-by-window pouring system, the pouring site scanning unit carries out pouring site scanning to the pouring area corresponding to the last pouring port after the concrete output pipe completes the butt joint of the concrete pouring of one pouring port to next pouring port, pouring instruction data acquisition module acquires the pouring instruction data of pouring central control computer, the pouring process intelligent analysis unit is connected with follow-up pouring site visual monitoring unit, equipment parameter acquisition unit, pouring site scanning unit and pouring instruction data acquisition module communication respectively, based on visual picture analysis result, the working parameter analysis result of each device, pouring site scanning result and pouring instruction data analysis result draw the result whether normal of pouring process, if not normal, then carry out alarm.

[0008] Optionally, for monitoring tunnel concrete layering window-by-window pouring system each component pouring process.

[0009] By adopting the above technical scheme, monitoring tunnel concrete layering window-by-window pouring system each component is automatic pouring lining trolley, drag pump feeding equipment and concrete distribution system, in the pouring process, pouring lining trolley reaches specified position, drag pump feeding equipment pumps concrete slurry for concrete distribution system, and the concrete output pipe of concrete distribution system is butt-jointed in different pouring ports in sequence for pouring under the driving of power component according to set pouring instruction.

[0010] The monitoring of the whole pouring process is divided into two parts, one is the visual monitoring of pouring action, and the other is the concrete quality monitoring after pouring is completed.

[0011] The visual monitoring of pouring action comes from the work visual picture of the end of concrete output pipe and the internal visual picture of automatic pouring lining trolley collected by follow-up pouring site visual monitoring unit, and the pouring process intelligent analysis unit can analyze the position of concrete output pipe through the internal visual picture of automatic pouring lining trolley, and can analyze the position where concrete output pipe should exist based on the running parameters at the current time point of concrete distribution system and the pouring instruction data at the current time point, and outputs the monitoring result of pouring error if the positions do not match.

[0012] If correct, the working visual picture of the end of the concrete output pipe is collected, the visual feature algorithm is used to extract the pipe butt joint misalignment visual feature and the slurry leakage visual feature, if the butt joint misalignment visual feature exists, the butt joint misalignment monitoring result is output, if the slurry leakage visual feature exists, the slurry leakage monitoring result is output;

[0013] If the position of the concrete output pipe matches, and the pipe butt joint misalignment visual feature and the slurry leakage visual feature do not exist, the normal pouring monitoring result is output.

[0014] When the next pouring opening pouring is carried out after the pouring of one pouring opening is completed, the pouring position scanning unit at the concrete forming surface corresponding to the previous pouring opening starts to work, the intelligent analysis computer interacts with the pouring position scanner to analyze whether there is a crack, a cavity or a layering based on the pouring position scanning data, and if there is, the pouring quality unqualified monitoring result is output.

[0015] Thus, the all-around intelligent monitoring of the pouring process and the pouring quality is realized, and the concrete pouring quality of the tunnel concrete layering window-by-window pouring process is improved.

[0016] Optionally, the following pouring position visual monitoring unit comprises a visual support, a motorized pan-tilt, a following visual camera, a top panoramic camera, a chip-based visual shooting controller and a camera end wireless communication module, one end of the visual support is installed on the outer wall of the end of the concrete output pipe, the base of the motorized pan-tilt is installed on the other end of the visual support, the following visual camera is installed on the rotating part of the motorized pan-tilt, the visual shooting controller controls the action of the motorized pan-tilt, so that the lens of the following visual camera is aligned with the end of the concrete output pipe, the top panoramic camera shoots the overall picture inside the automatic pouring lining trolley, the data output ends of the following visual camera and the top panoramic camera are respectively connected with the pouring process intelligent analysis unit through the camera end wireless communication module to interact with the visual picture data.

[0017] By using the above technical solution, the visual support of the following pouring position visual monitoring unit is installed on the end of the concrete output pipe, when the concrete output pipe moves under the drive of the power cart of the concrete distribution system and the electric rotating mechanism, the motorized pan-tilt and the following visual camera installed thereon will move synchronously with the concrete output pipe, the chip-based visual shooting controller controls the following visual camera to align the shooting focus with the end of the concrete output pipe, when the end of the concrete output pipe is butt jointed with the pouring opening for pouring, the real-time monitoring of the working visual picture of the end of the concrete output pipe can analyze whether there is butt joint misalignment, slurry leakage and other conditions affecting the pouring quality.

[0018] The top panoramic camera shoots the overall picture inside the automatic pouring lining trolley, and the position of the concrete output pipe can be obtained through visual analysis.

[0019] Optionally, the device parameter acquisition unit comprises three device operation parameter collectors and three device end wireless communication modules, the data acquisition interfaces of the three device operation parameter collectors are connected with the operation parameter output ports of the automatic lining trolley, the pump feeding device and the concrete distribution system respectively, the data output ends of the three device operation parameter collectors are connected with the pouring process intelligent analysis unit through the three device end wireless communication modules respectively, and the operation parameters of the automatic lining trolley, the pump feeding device and the concrete distribution system are interacted.

[0020] By adopting the above technical scheme, the device parameter acquisition unit aims to collect the operation parameters of the automatic lining trolley, the pump feeding device and the concrete distribution system, and provide data for the subsequent pouring process intelligent analysis unit to analyze the pouring action.

[0021] Optionally, the pouring site scanning unit comprises an electric telescopic support, an electric linear slide, a concrete scanner and a scanning end wireless communication module, the base end of the electric telescopic support is installed on the side of the concrete output pipe, the track of the electric linear slide is installed on the telescopic end of the electric telescopic support, the base of the concrete scanner is installed on the sliding block of the electric linear slide, the scanning head of the concrete scanner is driven to scan the pouring site of the poured concrete within the set range under the combined action of the electric telescopic support and the electric linear slide, the data output port of the concrete scanner is connected with the pouring process intelligent analysis unit through the scanning end wireless communication module, and the pouring site scanning data is interacted.

[0022] By adopting the above technical scheme, the electric telescopic support is also installed on the concrete output pipe, the electric linear slide and the concrete scanner are located on the side of the poured concrete when the concrete output pipe moves to the next pouring position, the sliding block of the electric linear slide can drive the concrete scanner to move, so as to realize the automatic scanning of the pouring site, and the data obtained by the concrete scanner can provide data for the subsequent pouring process intelligent analysis unit to analyze whether the pouring quality is qualified.

[0023] Optionally, the pouring instruction data acquisition module comprises an instruction data collector and an instruction data acquisition end wireless communication module, the data input end of the instruction data collector is connected with the serial port of the pouring central control computer, and the data output end of the instruction data collector is connected with the pouring process intelligent analysis unit through the instruction data acquisition end wireless communication module, and the pouring instruction data is interacted.

[0024] By adopting the above technical scheme, the instruction data obtained by the pouring instruction data acquisition module can provide data for the subsequent pouring process intelligent analysis unit to analyze whether the pouring action is correct.

[0025] Optionally, the intelligent analysis unit for the pouring process includes an intelligent analysis end wireless communication module and an intelligent analysis computer. The intelligent analysis end wireless communication module is wirelessly connected to the camera end wireless communication module, three device end wireless communication modules, the scanning end wireless communication module and the instruction data acquisition end wireless communication module respectively. The intelligent analysis computer is communicatively connected to the intelligent analysis end wireless communication module. The intelligent analysis computer determines whether the pouring process is normal based on the visual image analysis results, the working parameter analysis results of each device, the pouring part scanning results and the pouring instruction data analysis results.

[0026] By adopting the above technical solutions, intelligent analysis computers can realize a series of data analyses such as efficient visual analysis and instruction analysis.

[0027] Optionally, it also includes an audible and visual alarm and an emergency stop switch. The intelligent analysis computer controls the execution of the audible and visual alarm and controls the execution of the concrete distribution system through the emergency stop switch.

[0028] By adopting the above technical solution, the function of the sound and light alarm is to alarm when some defect scenes occur in the pouring process, so that the staff can pay attention and make adjustments. The function of the emergency stop switch is to control the shutdown of the concrete distribution system when a pouring error occurs, thereby avoiding major pouring quality accidents.

[0029] A method for intelligently monitoring a tunnel concrete pouring process, using an intelligent monitoring system for a tunnel concrete pouring process to monitor the pouring process of each component of a layered, window-by-window tunnel concrete pouring system, includes the following steps:

[0030] Intelligently analyze the visual images inside the automatic pouring lining trolley collected by the computer interactive follow-up pouring site visual monitoring unit, extract the position characteristics of the concrete output pipe, and analyze whether the position of the concrete output pipe matches the current operating parameters of the concrete distribution system and the pouring instruction data at the current time. If the position does not match, the monitoring result of pouring error is output;

[0031] If it is correct, the working visual picture of the concrete output pipe end is collected, and the visual feature algorithm is used to extract the visual features of the pipe joint misalignment and the visual features of the slurry leakage. If the visual features of the joint misalignment exist, the monitoring results of the joint misalignment are output; if the visual features of the slurry leakage exist, the monitoring results of the slurry leakage are output;

[0032] If the positions of the concrete output pipes match and there are no visual features of pipe docking misalignment or leakage, the monitoring result of pouring is output as normal;

[0033] When the next pouring opening is poured after the pouring of one pouring opening is completed, the pouring position scanning unit at the concrete forming surface corresponding to the previous pouring opening starts to work, and the intelligent analysis computer interacts with the concrete scanner to analyze the pouring position scanning data, and based on the pouring position scanning data, it is analyzed whether there are cracks, cavities, and stratification, and if there are, the monitoring result of unqualified pouring quality is output.

[0034] Optionally, when the intelligent analysis computer outputs the monitoring result of butt joint misalignment, the monitoring result of slurry leakage, and the monitoring result of unqualified pouring quality, the intelligent analysis computer controls the sound and light alarm to start sound and light alarm, and when the intelligent analysis computer outputs the monitoring result of pouring error, the intelligent analysis computer controls the emergency stop switch to make the concrete distribution system stop.

[0035] In summary, the present application has the following at least one beneficial technical effect:

[0036] The present application can provide a tunnel concrete pouring process intelligent monitoring system and method, and the monitoring of the whole pouring process is divided into two parts, one is visual monitoring of pouring action, and the other is concrete quality monitoring after pouring is completed;

[0037] The visual monitoring of pouring action comes from the working visual picture of the end of the concrete output pipe and the internal visual picture of the automatic pouring lining trolley collected by the following pouring position visual monitoring unit, the position of the concrete output pipe is obtained by the automatic pouring lining trolley internal visual picture analysis unit, and the position where the concrete output pipe should exist is obtained based on the running parameters at the current time point of the concrete distribution system and the pouring instruction data at the current time point, and if the positions do not match, the monitoring result of pouring error is output;

[0038] If correct, the working visual picture of the end of the concrete output pipe is collected, the visual feature algorithm is used to extract the pipe butt joint misalignment visual feature and the slurry leakage visual feature, if the butt joint misalignment visual feature exists, the monitoring result of butt joint misalignment is output, and if the slurry leakage visual feature exists, the monitoring result of slurry leakage is output;

[0039] If the position of the concrete output pipe matches, and there is no pipe butt joint misalignment visual feature and slurry leakage visual feature, the monitoring result of normal pouring is output.

[0040] When the next pouring opening is poured after the pouring of one pouring opening is completed, the pouring position scanning unit at the concrete forming surface corresponding to the previous pouring opening starts to work, and the intelligent analysis computer interacts with the concrete scanner to analyze the pouring position scanning data, and based on the pouring position scanning data, it is analyzed whether there are cracks, cavities, and stratification, and if there are, the monitoring result of unqualified pouring quality is output.

[0041] The whole range of intelligent monitoring from the pouring process to the pouring quality is realized, and the concrete pouring quality of the tunnel concrete stratified window-by-window pouring process is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the communication connections of components of an intelligent monitoring system for tunnel concrete pouring process according to the present invention;

[0043] Figure 2 The present invention is a schematic diagram of the hardware structure of a follow-up pouring part visual monitoring unit and a pouring part scanning unit of an intelligent monitoring system for a tunnel concrete pouring process.

[0044] Description of the drawings: 1. Follow-up visual monitoring unit for pouring parts; 11. Visual bracket; 12. Electric pan-tilt head; 13. Follow-up visual camera; 14. Top panoramic camera; 15. Visual shooting controller; 16. Camera-side wireless communication module; 2. Equipment parameter acquisition unit; 21. Equipment operation parameter collector; 22. Equipment-side wireless communication module; 3. Pouring part scanning unit; 31. Electric telescopic bracket; 32. Electric linear slide; 33. Concrete scanner; 34. Scanning-side wireless communication module; 4. Pouring instruction data acquisition module; 41. Instruction data collector; 42. Instruction data acquisition-side wireless communication module; 51. Intelligent analysis-side wireless communication module; 52. Intelligent analysis computer; 5. Intelligent analysis unit for pouring process; 6. Sound and light alarm; 7. Emergency stop switch; 100. Concrete output pipe; 101. Pouring central control computer. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below with reference to the accompanying drawings.

[0046] The embodiment of the present invention discloses an intelligent monitoring system and method for a tunnel concrete pouring process.

[0047] Reference Figure 1 and Figure 2In embodiment 1, an intelligent monitoring system for tunnel concrete pouring process is provided, comprising a follow-up pouring site visual monitoring unit 1, an equipment parameter collection unit 2, a pouring site scanning unit 3, a pouring instruction data collection module 4, and a computer-based pouring process intelligent analysis unit 5. The follow-up pouring site visual monitoring unit 1 collects the working visual image of the end of the concrete output pipe 100 and the visual image inside the automatic pouring lining trolley. The equipment parameter collection unit 2 collects the working parameters of each device in the tunnel concrete layered window-by-window pouring system. The pouring site scanning unit 3 completes a pouring port on the concrete output pipe 100. After the concrete pouring moves to the next pouring port and completes the docking, the pouring area corresponding to the previous pouring port is scanned, and the pouring instruction data acquisition module 4 collects the pouring instruction data of the pouring central control computer 101. The pouring process intelligent analysis unit 5 is respectively communicated with the follow-up pouring part visual monitoring unit 1, the equipment parameter acquisition unit 2, the pouring part scanning unit 3 and the pouring instruction data acquisition module 4. Based on the visual image analysis results, the working parameter analysis results of each device, the pouring part scanning results and the pouring instruction data analysis results, it is concluded whether the pouring process is normal. If it is abnormal, an alarm is issued.

[0048] Example 2 is used to monitor the pouring process of each component of the tunnel concrete layer-by-layer window pouring system.

[0049] The monitoring tunnel concrete layered and window-by-window pouring system consists of an automatic pouring lining trolley, a drag pump feeding device, and a concrete distribution system. During the pouring process, the pouring lining trolley arrives at the designated position, and the drag pump feeding device pumps concrete slurry to the concrete distribution system. Driven by the power component, the concrete output pipe 100 of the concrete distribution system sequentially connects to different pouring ports to perform pouring according to the set pouring instructions.

[0050] The monitoring of the entire pouring process is divided into two parts: one is the visual monitoring of the pouring action, and the other is the monitoring of the concrete quality after the pouring is completed;

[0051] Visual monitoring of the pouring action is achieved by collecting visual images of the concrete delivery pipe 100 end and the interior of the automatic pouring lining trolley from the follow-up pouring position visual monitoring unit 1. The pouring process intelligent analysis unit 5 can analyze the interior of the automatic pouring lining trolley to determine the position of the concrete delivery pipe 100. It can also analyze the current operating parameters of the concrete distribution system and the pouring instruction data at the current time to determine the expected position of the concrete delivery pipe 100. If the positions do not match, a monitoring result indicating a pouring error is output.

[0052] If it is correct, the collected working visual picture of the end of the concrete output pipe 100 is used to extract the visual features of the pipe joint misalignment and the visual features of the slurry leakage using a visual feature algorithm. If the visual features of the joint misalignment exist, the monitoring results of the joint misalignment are output; if the visual features of the slurry leakage exist, the monitoring results of the slurry leakage are output;

[0053] If the positions of the concrete output pipes 100 match and there are no visual features of pipe docking misalignment or leakage, the monitoring result of pouring is output as normal;

[0054] When pouring at one pouring port is completed and pouring at the next pouring port is started, the pouring part scanning unit 3 at the concrete forming surface corresponding to the previous pouring port starts working, and the intelligent analysis computer 52 interacts with the pouring part scanning data of the concrete scanner 33, and analyzes whether there are cracks, voids, and stratification based on the pouring part scanning data. If so, the monitoring result of unqualified pouring quality is output.

[0055] This enables all-round intelligent monitoring of the pouring process and pouring quality, and improves the concrete pouring quality of the tunnel concrete layer-by-window pouring process.

[0056] Example 3, the follow-up casting site visual monitoring unit 1 includes a visual bracket 11, an electric pan-tilt head 12, a follow-up visual camera 13, a top panoramic camera 14, a chip-based visual shooting controller 15 and a camera-end wireless communication module 16. One end of the visual bracket 11 is installed on the outer wall of the end of the concrete output pipe 100, the base of the electric pan-tilt head 12 is installed on the other end of the visual bracket 11, the follow-up visual camera 13 is installed on the rotating part of the electric pan-tilt head 12, the visual shooting controller 15 controls the movement of the electric pan-tilt head 12 to make the lens of the follow-up visual camera 13 align with the end of the concrete output pipe 100, and the top panoramic camera 14 shoots the global picture inside the automatic casting lining trolley. The data output ends of the follow-up visual camera 13 and the top panoramic camera 14 are respectively wirelessly connected to the casting process intelligent analysis unit 5 through the camera-end wireless communication module 16 to exchange visual picture data.

[0057] The visual support 11 of the follow-up casting site visual monitoring unit 1 is installed at the end of the concrete output pipe 100. When the concrete output pipe 100 moves under the drive of the power trolley and electric rotating mechanism of the concrete distribution system, the electric pan / tilt platform 12 and the follow-up visual camera 13 installed thereon will move synchronously with the concrete output pipe 100. The chip-based visual shooting controller 15 controls the follow-up visual camera 13 to focus the shooting on the end of the concrete output pipe 100. When the end of the concrete output pipe 100 is docked with the pouring port for pouring, the real-time monitoring of the working visual image of the end of the concrete output pipe 100 can analyze whether there is any docking misalignment, slurry leakage, and other conditions that affect the pouring quality.

[0058] The top panoramic camera 14 takes a global picture of the inside of the automatic lining trolley, and the position of the concrete output pipe 100 can be obtained through visual analysis.

[0059] In Example 4, the device parameter acquisition unit 2 includes three device operation parameter collectors 21 and three device end wireless communication modules 22. The data acquisition interfaces of the three device operation parameter collectors 21 are respectively connected with the operation parameter output ports of the automatic lining trolley, the drag pump feeding device, and the concrete distribution system. The data output ends of the three device operation parameter collectors 21 are respectively connected with the intelligent analysis unit 5 of the pouring process through the three device end wireless communication modules 22, to interact the operation parameters of the automatic lining trolley, the drag pump feeding device, and the concrete distribution system.

[0060] The purpose of the device parameter acquisition unit 2 is to collect the operation parameters of the automatic lining trolley, the drag pump feeding device, and the concrete distribution system, to provide data for the subsequent intelligent analysis unit 5 of the pouring process to analyze the pouring action.

[0061] In Example 5, the pouring position scanning unit 3 includes an electric telescopic support 31, an electric linear slide 32, a concrete scanner 33, and a scanning end wireless communication module 34. The base end of the electric telescopic support 31 is installed on the side of the concrete output pipe 100. The track of the electric linear slide 32 is installed on the telescopic end of the electric telescopic support 31. The base of the concrete scanner 33 is installed on the sliding block of the electric linear slide 32. The scanning head of the concrete scanner 33 is driven to scan the pouring position of the poured concrete within a set range under the combined action of the electric telescopic support 31 and the electric linear slide 32. The data output port of the concrete scanner 33 is connected with the intelligent analysis unit 5 of the pouring process through the scanning end wireless communication module 34, to interact the pouring position scanning data.

[0062] The electric telescopic support 31 is also installed on the concrete output pipe 100. When the concrete output pipe 100 completes the current pouring and moves to the next pouring position, the electric linear slide 32 and the concrete scanner 33 are located on the side of the poured concrete. The sliding block of the electric linear slide 32 can drive the concrete scanner 33 to move, so as to realize the automatic scanning of the pouring position. The data obtained by the concrete scanner 33 can provide data for the subsequent intelligent analysis unit 5 of the pouring process to analyze whether the pouring quality is qualified.

[0063] The pouring instruction data acquisition module 4 of embodiment 6 includes an instruction data collector 41 and an instruction data acquisition end wireless communication module 42. The data input end of the instruction data collector 41 is in serial communication connection with the pouring control computer 101. The data output end of the instruction data collector 41 is in wireless communication connection with the pouring process intelligent analysis unit 5 through the instruction data acquisition end wireless communication module 42, and the pouring instruction data is interacted.

[0064] The instruction data obtained by the pouring instruction data acquisition module 4 can provide data for whether the subsequent pouring action is correct for the pouring process intelligent analysis unit 5.

[0065] The pouring process intelligent analysis unit 5 of embodiment 7 includes an intelligent analysis end wireless communication module 51 and an intelligent analysis computer 52. The intelligent analysis end wireless communication module 51 is in wireless communication connection with the camera end wireless communication module 16, the three device end wireless communication modules 22, the scanning end wireless communication module 34 and the instruction data acquisition end wireless communication module 42 respectively. The intelligent analysis computer 52 is in communication connection with the intelligent analysis end wireless communication module 51. The intelligent analysis computer 52 obtains the result of whether the pouring process is normal based on the visual picture analysis result, the working parameter analysis result of each device, the pouring part scanning result and the pouring instruction data analysis result.

[0066] The intelligent analysis computer 52 can realize a series of data analysis such as efficient visual analysis and instruction analysis.

[0067] Embodiment 8 further includes an audible and light alarm 6 and an emergency stop switch 7. The intelligent analysis computer 52 controls the execution action of the audible and light alarm 6, and controls the execution action of the concrete placing system through the emergency stop switch 7.

[0068] The function of the audible and light alarm 6 is to alarm when some defect scenarios in the pouring process occur, so that the staff pay attention to adjust. The function of the emergency stop switch 7 is to control the concrete placing system to stop when pouring errors occur, so as to avoid large pouring quality accidents.

[0069] The intelligent analysis end wireless communication module 51 of embodiment 9 is in wireless communication with the camera end wireless communication module 16, the three device end wireless communication modules 22, the scanning end wireless communication module 34 and the instruction data acquisition end wireless communication module 42 based on the 4G / 5G wireless network in the area.

[0070] Embodiment 10 is a tunnel concrete pouring process intelligent monitoring method. A tunnel concrete pouring process intelligent monitoring system is used to monitor the pouring process of each component of the tunnel concrete layer-by-layer window pouring system, including the following steps:

[0071] The intelligent analysis computer 52 interacts with the visual monitoring unit 1 of the follow-up pouring site to collect the internal visual image of the automatic pouring lining trolley, extracts the position characteristics of the concrete output pipe 100, analyzes whether the position of the concrete output pipe 100 matches based on the running parameters at the current time point of the concrete distribution system and the pouring instruction data at the current time point, and outputs a monitoring result of pouring error if the position does not match;

[0072] If correct, the working visual image of the end of the concrete output pipe 100 is collected, the visual feature algorithm is used to extract the pipe docking misalignment visual feature and the slurry leakage visual feature, a monitoring result of docking misalignment is output if the docking misalignment visual feature exists, and a monitoring result of slurry leakage is output if the slurry leakage visual feature exists.

[0073] If the position of the concrete output pipe 100 matches, and there is no pipe docking misalignment visual feature and no slurry leakage visual feature, a monitoring result of normal pouring is output.

[0074] When the next pouring at a pouring opening is carried out after the pouring at a pouring opening is completed, the pouring site scanning unit 3 starts to work at the concrete forming surface corresponding to the last pouring opening, the intelligent analysis computer 52 interacts with the pouring site scanning data of the concrete scanner 33, and analyzes whether there is a crack, a cavity or a layering based on the pouring site scanning data, and outputs a monitoring result of unqualified pouring quality if there is.

[0075] The visual feature algorithm is used to extract the visual features of pipe docking misalignment and slurry leakage from the working visual image of the end of the concrete output pipe 100, which can be carried out according to the following steps:

[0076] Gray scale conversion: convert the color image into a gray scale image to simplify the subsequent processing.

[0077] Noise elimination: use filtering techniques such as Gaussian filtering and median filtering to remove image noise.

[0078] Contrast enhancement: enhance the contrast of the image by histogram equalization and other methods to highlight the features.

[0079] Edge detection: use Canny, Sobel and other edge detection algorithms to find the pipe edge.

[0080] Contour recognition: recognize the pipe contour through a contour detection algorithm such as the findContours OpenCV function.

[0081] Calculate the geometric center of the contour to determine the theoretical docking position of the pipe.

[0082] Detect the actual docking position and calculate the deviation from the theoretical position.

[0083] Analyze the continuity of the edge to identify the misalignment area.

[0084] Use feature matching algorithms (such as SIFT, SURF) to identify and match feature points at the interface.

[0085] Calculate the positional deviation between matching points to assess the degree of misalignment at the interface.

[0086] Use color segmentation techniques to separate the image into concrete, paste, and other parts.

[0087] Analyze texture features to distinguish normal concrete from abnormal textures caused by paste leakage.

[0088] Apply morphological operations (such as dilation, erosion, opening, closing) to separate and highlight the paste leakage area. Use connected component analysis to identify and label the paste leakage area.

[0089] Calculate the area, perimeter, shape factor, and other features of the paste leakage area.

[0090] Analyze the distribution and morphology of the paste leakage area to determine the extent and scope of the paste leakage.

[0091] When the intelligent analysis computer 52 outputs the monitoring results of misalignment at the interface, paste leakage, and unqualified pouring quality, the intelligent analysis computer 52 controls the sound and light alarm 6 to turn on the sound and light alarm. When the intelligent analysis computer 52 outputs the monitoring results of pouring errors, it controls the emergency stop switch 7 to actuate the concrete distribution system to stop.

[0092] The above are preferred embodiments of the present application, but do not limit the protection scope of the present application. Therefore, any equivalent changes made in accordance with the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An intelligent monitoring system for tunnel concrete pouring process, characterized by: The invention comprises a follow-up pouring position visual monitoring unit (1), an equipment parameter collection unit (2), a pouring position scanning unit (3), a pouring instruction data collection module (4) and a computer-based pouring process intelligent analysis unit (5), wherein the follow-up pouring position visual monitoring unit (1) collects the working visual picture of the end of the concrete output pipe (100) and the visual picture inside the automatic pouring lining trolley in a follow-up manner, the equipment parameter collection unit (2) collects the working parameters of each device of the tunnel concrete layered window-by-window pouring system, and the pouring position scanning unit (3) moves to the concrete output pipe (100) after the concrete pouring of one pouring port is completed. After the next pouring port is docked, the pouring area corresponding to the previous pouring port is scanned for the pouring part, and the pouring instruction data acquisition module (4) acquires the pouring instruction data of the pouring central control computer (101). The pouring process intelligent analysis unit (5) is respectively connected to the follow-up pouring part visual monitoring unit (1), the equipment parameter acquisition unit (2), the pouring part scanning unit (3) and the pouring instruction data acquisition module (4). Based on the visual image analysis results, the working parameter analysis results of each device, the pouring part scanning results and the pouring instruction data analysis results, it is determined whether the pouring process is normal. If it is abnormal, an alarm is issued; The following type casting part visual monitoring unit (1) comprises a visual support (11), an electric pan-tilt platform (12), a following type visual camera (13), a top panoramic camera (14), a chip-based visual shooting controller (15) and a camera end wireless communication module (16), wherein one end of the visual support (11) is mounted on the outer wall of the end of the concrete output pipe (100), the base of the electric pan-tilt platform (12) is mounted on the other end of the visual support (11), the following type visual camera (13) is mounted on the rotating part of the electric pan-tilt platform (12), the visual shooting controller (15) controls the movement of the electric pan-tilt platform (12) so that the lens of the following type visual camera (13) is aligned with the end of the concrete output pipe (100), the top panoramic camera (14) shoots the global picture inside the automatic casting lining trolley, and the data output ends of the following type visual camera (13) and the top panoramic camera (14) are respectively wirelessly connected to the casting process intelligent analysis unit (5) through the camera end wireless communication module (16) to exchange visual picture data.

2. The intelligent monitoring system for tunnel concrete pouring process according to claim 1, characterized in that: Used to monitor the pouring process of each component of the tunnel concrete layer-by-layer window pouring system.

3. The intelligent monitoring system for tunnel concrete pouring process according to claim 2, characterized in that: The equipment parameter acquisition unit (2) includes three equipment operation parameter collectors (21) and three equipment-side wireless communication modules (22). The data acquisition interfaces of the three equipment operation parameter collectors (21) are respectively connected to the operation parameter output ports of the automatic pouring lining trolley, the drag pump feeding equipment and the concrete distribution system. The data output ends of the three equipment operation parameter collectors (21) are respectively wirelessly connected to the pouring process intelligent analysis unit (5) through the three equipment-side wireless communication modules (22), and the operation parameters of the automatic pouring lining trolley, the drag pump feeding equipment and the concrete distribution system are exchanged.

4. The intelligent monitoring system for tunnel concrete pouring process according to claim 3, characterized in that: The pouring part scanning unit (3) comprises an electric telescopic bracket (31), an electric linear slide (32), a concrete scanner (33) and a scanning end wireless communication module (34), wherein the base end of the electric telescopic bracket (31) is mounted on the side of the concrete output pipe (100), the track of the electric linear slide (32) is mounted on the telescopic end of the electric telescopic bracket (31), and the base of the concrete scanner (33) is mounted on the slider of the electric linear slide (32). Under the combined action of the electric telescopic bracket (31) and the electric linear slide (32), the scanning head of the concrete scanner (33) is driven to scan the poured concrete within a set range to scan the pouring part. The data output port of the concrete scanner (33) is wirelessly connected to the pouring process intelligent analysis unit (5) through the scanning end wireless communication module (34), and the pouring part scanning data is exchanged.

5. The intelligent monitoring system for tunnel concrete pouring process according to claim 4, characterized in that: The pouring instruction data acquisition module (4) includes an instruction data collector (41) and an instruction data acquisition terminal wireless communication module (42). The data input terminal of the instruction data collector (41) is connected to the serial port of the pouring central control computer (101) for communication, and the data output terminal of the instruction data collector (41) is connected to the pouring process intelligent analysis unit (5) for wireless communication via the instruction data acquisition terminal wireless communication module (42) to exchange pouring instruction data.

6. The intelligent monitoring system for tunnel concrete pouring process according to claim 5, characterized in that: The pouring process intelligent analysis unit (5) includes an intelligent analysis end wireless communication module (51) and an intelligent analysis computer (52). The intelligent analysis end wireless communication module (51) is wirelessly connected to the camera end wireless communication module (16), three device end wireless communication modules (22), a scanning end wireless communication module (34) and an instruction data acquisition end wireless communication module (42), respectively. The intelligent analysis computer (52) is communicatively connected to the intelligent analysis end wireless communication module (51). The intelligent analysis computer (52) determines whether the pouring process is normal based on the visual image analysis results, the working parameter analysis results of each device, the pouring part scanning results and the pouring instruction data analysis results.

7. The intelligent monitoring system for tunnel concrete pouring process according to claim 6, characterized in that: It also includes an audible and visual alarm (6) and an emergency stop switch (7), wherein the intelligent analysis computer (52) controls the execution of the audible and visual alarm (6) and controls the execution of the concrete distribution system through the emergency stop switch (7).

8. An intelligent monitoring method for a tunnel concrete pouring process, characterized by: The intelligent monitoring system for tunnel concrete pouring process according to claim 7 is used to monitor the pouring process of each component of the tunnel concrete layer-by-layer window pouring system, comprising the following steps: The intelligent analysis computer (52) collects the internal visual images of the automatic pouring lining trolley by the interactive follow-up pouring position visual monitoring unit (1), extracts the position characteristics of the concrete output pipe (100), analyzes whether the position of the concrete output pipe (100) matches based on the operating parameters of the concrete distribution system at the current time point and the pouring instruction data at the current time point, and outputs a monitoring result of pouring error if the position does not match; If the position of the concrete output pipe (100) matches, and there is no visual feature of pipe docking misalignment or leakage, then the monitoring result of pouring being normal is output; If correct, the collected working visual picture of the end of the concrete output pipe (100) is used to extract the visual features of the pipe joint misalignment and the visual features of the slurry leakage using a visual feature algorithm; if the visual features of the joint misalignment exist, the monitoring results of the joint misalignment are output; if the visual features of the slurry leakage exist, the monitoring results of the slurry leakage are output; When pouring at one pouring port is completed and pouring at the next pouring port is started, the pouring position scanning unit (3) starts working at the concrete forming surface corresponding to the previous pouring port, and intelligently analyzes the pouring position scanning data of the interactive concrete scanner (33) of the computer (52). Based on the pouring position scanning data, it analyzes whether there are cracks, voids, and delaminations. If so, it outputs a monitoring result indicating that the pouring quality is unqualified.

9. The intelligent monitoring method for tunnel concrete pouring process according to claim 8, characterized in that: When the intelligent analysis computer (52) outputs the monitoring result of docking misalignment, the monitoring result of slurry leakage, or the monitoring result of unqualified pouring quality, the intelligent analysis computer (52) controls the sound and light alarm (6) to turn on the sound and light alarm. When the intelligent analysis computer (52) outputs the monitoring result of pouring error, the emergency stop switch (7) is controlled to operate to stop the concrete distribution system.

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