Gap Detection Method, Gap Detection System and Device

Abstract

Embodiments of the present disclosure disclose a gap detection method, a gap detection system, and a device. A specific implementation of the method includes: locating the marker board for the ground images in the ground image group to obtain a marker board position group; controlling the diagonal support assembly to finely adjust the position of the laminated precast shear wall according to the marker board position group and a preset height; in response to the completion of the position fine adjustment and after injecting a preset injection amount of concrete filler into the laminated precast shear wall in layers, performing ultrasonic scanning and infrared image acquisition on the laminated precast shear wall; generating joint gap information according to the ultrasonic signal, the infrared image, and a pre-trained joint gap positioning model. This implementation realizes the accurate identification and positioning of possible gaps at the joint between the laminated precast shear wall and the concrete filler.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of building construction and the field of computer technology, and particularly to a gap detection method, a gap detection system and a device. Background Art

[0002] A laminated precast shear wall is a precast shear wall mainly composed of an inner leaf panel, an outer leaf panel, truss reinforcement and a thermal insulation layer. It can quickly build a house in a form of assembly, and has the advantages of reliable quality, convenient construction, energy conservation and environmental protection. However, when injecting concrete into the laminated precast shear wall, due to the shrinkage of the concrete filler, there may be gaps between the concrete filler and the inner wall of the laminated precast shear wall, which affects the pouring compactness and further affects the safety of the building structure. At present, a concrete vibrator is usually used to vibrate the injected concrete filler to reduce the probability of gaps. However, there may still be gaps when using the vibration method, and it is impossible to accurately identify and locate the gaps.

[0003] The above information disclosed in this background art section is only used to enhance the understanding of the background of the inventive concept, and thus, it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0004] The content part of the present disclosure is used to introduce the inventive concept in a brief form, and these inventive concepts will be described in detail in the following detailed implementation part. The content part of the present disclosure is not intended to identify the key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0005] Some embodiments of the present disclosure propose a gap detection method, a gap detection system and a device to solve the technical problems mentioned in the above background art section.

[0006] In a first aspect, some embodiments of the present disclosure provide a gap detection method, which is applied to the joint of a laminated precast shear wall and a concrete filler. The method includes: performing marker board positioning on the ground images in a ground image group to obtain a marker board position group, where the ground image group is collected when the height of the laminated precast shear wall from the ground is a preset height, and the number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground; in response to that all the marker board positions in the marker board position group are located within a preset area included in the corresponding ground image, and an inclined support assembly is fixed on the outer side of the outer leaf board included in the laminated precast shear wall, controlling the inclined support assembly to perform position fine-tuning on the laminated precast shear wall according to the marker board position group and the preset height; in response to the completion of the position fine-tuning, and after injecting a preset injection amount of concrete filler into the laminated precast shear wall in layers, performing ultrasonic scanning and infrared image acquisition on the laminated precast shear wall to obtain ultrasonic signals and infrared images; generating joint gap information according to the ultrasonic signals, the infrared images and a pre-trained joint gap positioning model, where the joint gap information includes: joint gap position and joint gap grade.

[0007] In a second aspect, some embodiments of the present disclosure provide a gap detection system, which is applied to the gap detection method in the first aspect. The system includes: a detection assembly, where the detection assembly includes: a clamping assembly, an electronic level, a horizontal indicator light, an infrared sensor and a camera. The clamping assembly is of a U-shaped structure and includes: a first clamping flap and a second clamping flap. The first clamping flap and the second clamping flap are locked by a locking bolt. When the detection assembly is horizontally clamped on the outer leaf board included in the laminated precast shear wall, the first clamping flap is located on the outer side of the outer leaf board and the infrared sensor and the camera face downward; an inclined support assembly, where the inclined support assembly includes: a first fixing buckle, a second fixing buckle, a third fixing buckle, a first inclined support rod, a second inclined support rod and a fixing buckle guide rail. The first fixing buckle is arranged on the outer side of the outer leaf board, the second fixing buckle is arranged on the outer side of the outer leaf board, the third fixing buckle is fixed on the fixing buckle guide rail, the rod length of the second inclined support rod is less than the rod length of the first inclined support rod, the first inclined support rod and the second inclined support rod are both telescopic rods, the first inclined support rod is obliquely arranged between the ground and the laminated precast shear wall through the first fixing buckle and the third fixing buckle, and the second inclined support rod is obliquely arranged between the ground and the laminated precast shear wall through the second fixing buckle and the third fixing buckle; a marker board, where the marker board is used for auxiliary positioning of the laminated precast shear wall.

[0008] In a third aspect, some embodiments of the present disclosure provide a gap detection device, which is applied to the joint of a laminated precast shear wall and a concrete filling. The device includes: a marker board positioning unit configured to perform marker board positioning on ground images in a ground image group to obtain a marker board position group, where the ground image group is collected when the height of the laminated precast shear wall from the ground is a preset height, and the number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground; a control unit configured to, in response to that all the marker board positions in the marker board position group are located within a preset area included in the corresponding ground image, and an inclined support assembly is fixed to the outer side of the outer leaf board included in the laminated precast shear wall, control the inclined support assembly to perform position fine-tuning on the laminated precast shear wall according to the marker board position group and the preset height; a scanning and acquisition unit configured to, in response to the completion of position fine-tuning and after injecting a preset injection amount of concrete filling into the laminated precast shear wall in layers, perform ultrasonic scanning and infrared image acquisition on the laminated precast shear wall to obtain ultrasonic signals and infrared images; a generation unit configured to generate joint gap information according to the ultrasonic signals, the infrared images, and a pre-trained joint gap positioning model, where the joint gap information includes: joint gap positions and joint gap grades.

[0009] In a fourth aspect, some embodiments of the present disclosure provide an electronic device, including: one or more processors; a storage device storing one or more programs thereon, which, when executed by the one or more processors, cause the one or more processors to implement the method described in any implementation manner of the first aspect above.

[0010] In a fifth aspect, some embodiments of the present disclosure provide a computer-readable medium storing a computer program thereon, where the program, when executed by a processor, implements the method described in any implementation manner of the first aspect above.

[0011] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: Through the gap detection method of some embodiments of the present disclosure, accurate identification and positioning of possible gaps at the joint between the laminated precast shear wall and the concrete filling are achieved. Specifically, first, the marker board positioning is performed on the ground images in the ground image group to obtain the marker board position group. Among them, the ground image group is collected when the height of the laminated precast shear wall from the ground is the preset height, and the number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground. Secondly, in response to that all the marker board positions in the marker board position group are located within the preset area included in the corresponding ground image, and an inclined support assembly is fixed on the outer side of the outer leaf board included in the laminated precast shear wall, according to the marker board position group and the preset height, the inclined support assembly is controlled to perform position fine-tuning on the laminated precast shear wall. In practice, during the hoisting process of the laminated precast shear wall, workers usually need to manually fine-tune the placement position of the laminated precast shear wall, which will increase the construction risk of the workers. Therefore, through the preset marker board, by means of marker board positioning, the position of the laminated precast shear wall is fine-tuned according to the marker board position and the preset height. Compared with the manual adjustment method, it can not only reduce the error existing in the placement of the shear wall, but also reduce the construction risk. Then, in response to the completion of the position fine-tuning, and after injecting a preset injection amount of concrete filling into the laminated precast shear wall in layers, ultrasonic scanning and infrared image acquisition are performed on the laminated precast shear wall to obtain ultrasonic signals and infrared images. In this way, the filling condition inside the laminated precast shear wall after filling the concrete filling is obtained in the dimensions of ultrasonic signals and infrared images. Finally, according to the ultrasonic signals, the infrared images and the pre-trained joint gap positioning model, joint gap information is generated, where the joint gap information includes: joint gap position and joint gap grade. Thus, accurate identification and positioning of the gaps existing at the joint are achieved. In summary, the present disclosure realizes accurate identification and positioning of possible gaps at the joint between the laminated precast shear wall and the concrete filling. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] [[ID=,5]]In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages and aspects of the various embodiments of the present disclosure will become more obvious. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the elements and elements are not necessarily drawn to scale.

[0013] Figure 1 is a flowchart of some embodiments of the gap detection method according to the present disclosure;

[0014] Figure 2 is a side view of the laminated precast shear wall;

[0015] Figure 3 It is the top view of the detection component;

[0016] Figure 4 It is the bottom view of the detection component;

[0017] Figure 5 It is a schematic diagram of the positional relationship among the diagonal bracing component, the composite precast shear wall, and the detection component from a side view angle;

[0018] Figure 6 It is a schematic diagram of the positional relationship among the diagonal bracing component, the composite precast shear wall, the detection component, and the marking plate from a top view angle;

[0019] Figure 7 It is a simplified schematic diagram of the positional relationship between the diagonal bracing component and the composite precast shear wall from a side view angle;

[0020] Figure 8 It is a schematic diagram of the generation process of the joint gap information;

[0021] Figure 9 It is a schematic structural diagram of some embodiments of the gap detection device according to the present disclosure;

[0022] Figure 10 It is a schematic structural diagram of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed implementation manners

[0023] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0024] In addition, it should be noted that for the sake of convenience of description, only the parts related to the relevant invention are shown in the drawings. Without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

[0025] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of the functions executed by these devices, modules or units or their interdependent relationships.

[0026] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0027] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0028] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] Referring to Figure 1 , a flowchart 100 of some embodiments of the gap detection method according to the present disclosure is shown. The gap detection method is applied to the joint of a laminated precast shear wall and a concrete filler, and includes the following steps:

[0030] Step 101, perform marker board positioning on the ground images in the ground image group to obtain a marker board position group.

[0031] In some embodiments, the execution subject of the gap detection method (e.g., a computing device) can perform marker board positioning on the ground images in the ground image group to obtain a marker board position group. Among them, the ground image group is collected when the height of the laminated precast shear wall from the ground is a preset height. The number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground. Among them, the laminated precast shear wall can be a precast shear wall composed of an inner leaf board, an outer leaf board, truss reinforcement, and a thermal insulation layer. The marker boards can be pre-placed at the corresponding placement positions of the laminated precast shear wall. The marker board position represents the position coordinates of the marker board in the corresponding ground image. In practice, the Tiny-YOLO network can be used to perform marker board positioning on the ground image to obtain the marker board position. In practice, when the lifting of the laminated precast shear wall has not started, 1 detection component can be fixed on each side of the outer leaf board included in the laminated precast shear wall to measure the height from the ground, and 2 ground images can be collected respectively through the detection components fixed on both sides of the outer leaf board when the height from the ground is the preset height, as the above-mentioned ground image group. In particular, 2 groups of marker boards are respectively arranged at the placement positions of the laminated precast shear wall, and each group of marker boards includes 2 marker boards. Among them, each group of marker boards corresponds to 1 detection component. Therefore, when the laminated precast shear wall is at the preset height from the ground, normally each ground image collected contains 2 marker boards.

[0032] As an example, refer to Figure 2Side view of the composite precast shear wall shown, where the composite precast shear wall is composed of an inner leaf 1, an outer leaf 2, truss reinforcement 3, and a thermal insulation layer 4. Specifically, the thermal insulation layer 4 is attached to the inner side of the outer leaf 2, and the truss reinforcement 3 is used to be arranged between the inner leaf 1 and the outer leaf 2. In particular, the materials used in the composite precast shear wall and their material properties comply with relevant design standards and design specifications. In addition, the thermal insulation layer 4 may not be provided in the composite precast shear wall. For example, the composite precast shear wall may be a double-sided composite shear wall. In addition, the detection component 5 can be clamped to the inner leaf 1. When two detection components 5 are respectively clamped on both sides of the inner leaf 1, the two detection components 5 are both horizontally arranged and at the same horizontal height.

[0033] As another example, see Figure 3 Top view of the detection component shown, and Figure 4 Bottom view of the detection component shown, where the above detection component includes: a clamping component, an electronic level ( Figure 3 and Figure 4 not shown in the figure), a horizontal indicator light 9, an infrared sensor 10, and a camera 11. Among them, the above clamping component is a U-shaped structure. The above clamping component includes: a first clamping flap 6 and a second clamping flap 7. Among them, the first clamping flap 6 and the second clamping flap 7 are locked by a locking bolt 8. In particular, through holes with internal threads are provided at corresponding positions of the first clamping flap 6 and the second clamping flap 7. The locking bolt 8 has external threads. In addition, two locking bolts 8 can be provided on the outer side of the second clamping flap 7. Among them, one locking bolt 8 is used for locking between the first clamping flap 6 and the second clamping flap 7. The other locking bolt 8 passes through the through hole with internal threads so that the second clamping flap 7 is closely attached to the outer leaf. In particular, rubber gaskets 12 are provided on the inner sides of the first clamping flap 6 and the second clamping flap 7 to improve the degree of fitting with the outer leaf. In particular, the horizontal indicator light 9 may include: three indicator light beads, namely indicator light bead A, indicator light bead B, and indicator light bead C. Among them, when indicator light bead A lights up, it indicates that the first clamping component tilts to the left. When indicator light bead B lights up, it indicates that the first clamping component clamps horizontally. When indicator light bead C lights up, it indicates that the first clamping component tilts to the right. The horizontal indicator light 9 can control the lighting and extinguishing of the indicator light beads through the electronic level embedded in the first clamping flap 6. The infrared sensor 10 and the camera 11 are arranged on the first clamping flap 6. The infrared sensor 10 and the horizontal indicator light 9 are arranged back to back. The infrared sensor 10 and the camera 11 are arranged in the same direction. Therefore, when the above detection component is horizontally clamped to the outer leaf included in the composite precast shear wall, the first clamping flap 6 is located on the outer side of the outer leaf and the orientations of the infrared sensor 10 and the camera 11 are downward.

[0034] It should be noted that the above computing device can be hardware or software. When the computing device is hardware, it can be implemented as a distributed cluster composed of multiple servers or terminal devices, or as a single server or a single terminal device. When the computing device is embodied as software, it can be installed in the above-listed hardware devices. It can be implemented as, for example, multiple software or software modules for providing distributed services, or as a single software or software module. No specific limitation is made here.

[0035] In some optional implementation manners of some embodiments, the above execution subject performs marker board positioning on the ground images in the ground image group to obtain a marker board position group, which may include the following steps:

[0036] First step, splice the ground images in the ground image group to obtain a spliced ground image.

[0037] In practice, since there are 2 detection components symmetrically arranged horizontally on both sides of the outer vane plate and each detection component includes a camera, 2 ground images (ground image group) will be collected. Therefore, the ground images in the ground image group can be spliced according to the positional relationship between the corresponding detection components to obtain a spliced ground image.

[0038] Second step, perform binarization processing on the above spliced ground image to generate a binarized ground image.

[0039] In practice, the spliced ground image is a color image conforming to the RGB (Red-Green-Blue) standard, and the marker board is a black positioning board. In order to reduce the data processing volume, it is necessary to perform binarization processing on the above spliced ground image to generate a binarized ground image. Specifically, when determining the binarization threshold, the binarization threshold can be automatically determined by the Otsu algorithm.

[0040] Third step, perform edge detection on the above binarized ground image to obtain a set of connected regions.

[0041] Among them, a connected region is a closed region surrounded by the detected edges. In practice, first, an edge detection algorithm based on the Canny operator can be used to extract the edges in the binarized ground image. Then, the region surrounded by the closed edges is used as the connected region to obtain the above set of connected regions.

[0042] Fourth step, for each connected region in the above set of connected regions, generate region features corresponding to the connected region.

[0043] Among them, the region features include: region area, region boundary perimeter, circularity value, and polygon approximation value. In practice, the region area can be characterized by the number of pixel points in the connected region. The region boundary perimeter can be the perimeter of the closed edge enclosing the connected region. The circularity value characterizes the degree to which the connected region approaches a theoretical circle. The polygon approximation value characterizes the number of vertices when the closed edge of the connected region is approximated by a polygon.

[0044] As an example, see the following partial code for determining the polygon approximation value:

[0045]

[0046] Among them, arcLength() is used to calculate the region boundary perimeter of the connected region. "peri" represents the region boundary perimeter. approxPolyDP() is used to approximately generate a polygon curve with a specified precision. "peri" characterizes the vertex set of the polygon curve. "Vertices" represents the polygon approximation value.

[0047] As another example, see the following partial code for determining the circularity value:

[0048]

[0049] Among them, contourArea() is used to calculate the connected region area. "area" represents the region area. "circularity" represents the circularity value.

[0050] In particular, since the circularity value is often a decimal (floating point number). Therefore, uniformly convert the region area, region boundary perimeter, circularity value, and polygon approximation value included in the region features to floating point numbers.

[0051] In the fifth step, according to the region features corresponding to the connected regions, perform region clustering on the connected regions in the above connected region set to obtain a set of connected region groups, and each connected region in the connected region group corresponds to the same class center.

[0052] In practice, since the size of the marking plate is consistent (region area, region boundary perimeter, circularity value, polygon approximation value), when performing region clustering, the connected regions corresponding to the marking plate will be in the same connected region group. Therefore, an algorithm such as the K-means clustering algorithm can be used to perform region clustering on the connected regions in the above connected region set by calculating the Euclidean distance between the region features.

[0053] In the sixth step, according to the circularity value and polygon approximation value included in the region features corresponding to the connected regions, and the number of connected regions in the connected region group, screen out the connected region groups that meet the screening conditions from the above set of connected region groups as the target connected region groups.

[0054] In practice, since the sizes of the marking plates are the same and they are all rectangular in shape. At the same time, the number of pre-set marking plates is known. Therefore, the target connected region group representing the marking plates can be screened out by combining the roundness value, polygon approximation value corresponding to the connected region, and the number of connected regions in the connected region group. For example, the marking plates are rectangular, and 2 groups of marking plates are respectively arranged at the placement positions of the laminated precast shear walls, and each group of marking plates includes 2 marking plates. Therefore, the polygon approximation value is approximately 4. The number of target connected regions in the target connected region group is 4.

[0055] Step 7: Take the region center positions of the target connected regions in the target connected region group as the marking plate positions to obtain the above-mentioned marking plate position group.

[0056] In practice, in the construction scenario, there are protrusions such as gravel, which may cause misidentification of the connected regions corresponding to non-marking plates when performing edge detection to extract connected regions. Therefore, by constructing region features to describe the region characteristics of the connected regions, and through region clustering and screening conditions, the marking plate position group is determined. Compared with the extraction method based on the machine learning network, the extraction speed is faster and the data processing volume is relatively smaller.

[0057] In some optional implementation manners of some embodiments, before the above-mentioned execution subject controls the above-mentioned diagonal bracing component to perform position fine-tuning on the above-mentioned laminated precast shear wall according to the above-mentioned marking plate position group and the above-mentioned preset height in response to that the marking plate positions in the above-mentioned marking plate position group are all located in the preset region included in the corresponding ground image, and the outer leaf of the above-mentioned laminated precast shear wall is fixedly provided with a diagonal bracing component, the following steps are further included:

[0058] In response to the existence of a target marking plate position in the above-mentioned marking plate position group, according to the above-mentioned target marking plate position, the position of the above-mentioned laminated precast shear wall is adjusted by a tower crane, and the marking plate position group is updated according to the updated marking plate position corresponding to the above-mentioned target marking plate position.

[0059] Among them, the above-mentioned target marker board position indicates that the marker board is located within a non-preset area included in the corresponding ground image. In practice, when the position of the composite precast shear wall is correct, the marker board should be approximately located at the center of the ground image. Therefore, the central area of the ground image can be the preset area. When the position of the marker board is not within the preset area, it indicates that there is a large deviation in the composite precast shear wall. Therefore, it is necessary to adjust the position of the composite precast shear wall by a tower crane. Specifically, since the height of the camera from the ground is known (preset height), the marker board position represents the position coordinates of the marker board in the corresponding ground image. Therefore, according to the distance between the optical center of the camera and the target marker board position, and the angle between the line connecting the optical center and the target marker board position and the vertical direction (or horizontal direction), the actual movement amount in the actual three-dimensional space (geodetic coordinate system) is obtained through the principle of similar triangles. Based on this, the tower crane controls the position adjustment of the composite precast shear wall according to the actual movement amount, and takes the actual movement amount as an increment to superimpose on the target marker board position to obtain the updated marker board position corresponding to the above-mentioned target marker board position, so as to update the marker board position group.

[0060] Step 102: In response to the marker board positions in the marker board position group all being located within the preset area included in the corresponding ground image, and an inclined support assembly being fixed to the outside of the outer leaf board included in the composite precast shear wall, control the inclined support assembly to finely adjust the position of the composite precast shear wall according to the marker board position group and the preset height.

[0061] In some embodiments, the above-mentioned execution subject can, in response to the marker board positions in the marker board position group all being located within the preset area included in the corresponding ground image, and an inclined support assembly being fixed to the outside of the outer leaf board included in the composite precast shear wall, control the inclined support assembly to finely adjust the position of the composite precast shear wall according to the marker board position group and the preset height. In practice, when the marker board positions are all located within the preset area included in the corresponding ground image, it indicates that only minor adjustments are needed. At this time, it is obviously no longer applicable to use a tower crane for large-scale adjustments. Therefore, it is necessary to control the inclined support assembly to finely adjust the position of the composite precast shear wall according to the inclined support assembly, the marker board position group, and the preset height. The main body of the inclined support assembly is composed of inclined support rods. Specifically, the telescopic amount and displacement amount of the hydraulic rod can be obtained through geometric relationships by means of the outer leaf board, the marker board position group, the preset height, and the position and inclination angle of the inclined support assembly. Thus, the inclined support assembly is controlled to finely adjust the position of the composite precast shear wall.

[0062] As an example, refer to Figure 5 the schematic diagram of the positional relationship among the inclined support assembly, the composite precast shear wall, and the detection assembly under the side view angle shown, and Figure 6Schematic diagram of the positional relationship among the diagonal support assembly, the composite precast shear wall, the detection assembly, and the marking plate from the top-down perspective shown, where, first, the diagonal support assembly includes: a first fixing buckle 13, a second fixing buckle 14, a third fixing buckle 15, a first diagonal support rod 16, a second diagonal support rod 17, and a fixing buckle guide rail 18. Among them, the first fixing buckle 13 is arranged on the outer leaf panel 1. The second fixing buckle 14 is arranged on the outer side of the outer leaf panel. Among them, the setting height of the second fixing buckle 14 is lower than that of the first fixing buckle 13. The third fixing buckle 15 is fixed on the above-mentioned fixing buckle guide rail 16. The rod length of the second diagonal support rod 17 is less than that of the first diagonal support rod 16. The above-mentioned first diagonal support rod 16 and the above-mentioned second diagonal support rod 17 are both telescopic rods. Specifically, they are both hydraulic telescopic rods, that is, the telescoping of the hydraulic telescopic rods can be controlled by electrical signals. The first diagonal support rod 16 is obliquely arranged between the ground and the composite precast shear wall through the above-mentioned first fixing buckle 13 and the above-mentioned third fixing buckle 15. The above-mentioned second diagonal support rod 17 is obliquely arranged between the ground and the composite precast shear wall through the above-mentioned second fixing buckle 14 and the above-mentioned third fixing buckle 15. Secondly, in order to effectively fine-tune the position of the composite precast shear wall, at least two sets of diagonal support assemblies can be set. Among them, Figure 6 Two sets of horizontally arranged diagonal support assemblies are shown. According to actual needs, for example, to provide greater diagonal support force, more sets of diagonal support assemblies can be set, which is not limited here. Next, two detection assemblies 5 are horizontally symmetrically arranged on both sides of the outer leaf panel 1, and each detection assembly 5 includes a camera. Therefore, two ground images (ground image group) will be collected. Therefore, the ground images in the ground image group can be stitched according to the positional relationship between the corresponding detection assemblies 5 to obtain the stitched ground image. In addition, two sets of marking plates 19 are respectively arranged at the placement positions of the composite precast shear wall, and each set of marking plates includes two marking plates 19.

[0063] In some optional implementation manners of some embodiments, the above-mentioned execution body, in response to that the marking plate positions in the marking plate position group are all located within the preset area included in the corresponding ground image, and the diagonal support assembly is fixed on the outer side of the outer leaf panel included in the above-mentioned composite precast shear wall, controls the above-mentioned diagonal support assembly to perform position fine-tuning on the above-mentioned composite precast shear wall according to the above-mentioned marking plate position group and the above-mentioned preset height, including the following steps:

[0064] The first step is to perform movement amount projection according to the above-mentioned marking plate position group and the above-mentioned preset height to determine the first movement amount and the second movement amount.

[0065] Among them, the above-mentioned first movement amount represents the movement amount of the above-mentioned composite precast shear wall along the first direction, and the above-mentioned second movement amount represents the movement amount of the above-mentioned composite precast shear wall along the second direction.

[0066] As an example, further refer to Figure 6 , in the top-down view, with the moving direction of the third fixing buckle on the fixing buckle guide rail as the X-axis, the direction perpendicular to the moving direction of the third fixing buckle on the fixing buckle guide rail as the Y-axis, and the direction along the gravity of the laminated precast shear wall as the Z-axis to establish a coordinate system (where the Z-axis is not shown in Figure 6 ). Therefore, the fine-tuning of the position of the laminated precast shear wall can be decomposed into moving components along the X-axis, Y-axis, and Z-axis respectively. Specifically, since the height of the camera from the ground is known (preset height), the position of the marker plate represents the position coordinates of the marker plate in the corresponding ground image. Therefore, according to the distance between the optical center of the camera and the position of the marker plate, and the angle between the line connecting the optical center and the position of the marker plate and the vertical direction (or horizontal direction), the actual movement amount in the actual three-dimensional space (earth coordinate system) is obtained through the principle of similar triangles, and used as the first movement amount and the second movement amount.

[0067] As an example, assume that the movement amounts of the marker plate along the X-axis and Y-axis from the position of the marker plate in the ground image to the preset area are x1 and y1 respectively. According to the distance from the optical center to the center of the CMOS (Complementary Metal-Oxide-Semiconductor), and the distance of the camera from the ground (preset height), through the principle of similar triangles, the movement amount of the laminated precast shear wall along the X-axis direction can be obtained as the first movement amount, and the movement amount of the laminated precast shear wall along the Y-axis direction can be obtained as the second movement amount.

[0068] In the second step, determine the above preset height as the third movement amount.

[0069] Among them, the third movement amount represents the movement amount along the third direction, and the above first direction, the above second direction, and the above third direction are perpendicular to each other in direction. In practice, the first direction is parallel to the X-axis. The second direction is parallel to the Y-axis. The third movement direction is parallel to the Z-axis.

[0070] In the third step, through the fixing buckle guide rail and the above-mentioned diagonal support assembly, control the laminated precast shear wall to move the above first movement amount along the above first direction.

[0071] Among them, the diagonal support assembly and the fixing buckle guide rail are connected by a fixing buckle, and the fixing buckle guide rail is arranged on the ground. At this time, it is not necessary to adjust the support angles and the changes in the rod lengths of the first diagonal support rod and the second diagonal support rod included in the diagonal support assembly. Only need to control the laminated precast shear wall to horizontally move the above first movement amount along the above first direction through the fixing buckle guide rail and the above-mentioned diagonal support assembly.

[0072] Fourthly, in response to the completion of the movement along the first direction, determine the first angle change amount and the first rod telescopic amount corresponding to the diagonal support assembly according to the first initial angle, the first initial rod length corresponding to the diagonal support assembly, and the second movement amount.

[0073] As an example, refer to Figure 7 the schematic diagram of the positional relationship between the diagonal support assembly and the laminated precast shear wall under the simplified side view angle shown in the figure, where Figure 7 the left side represents the positional relationship between a diagonal support assembly and the laminated precast shear wall under the side view angle after the completion of the movement along the first direction. Figure 7 The right side represents the positional relationship between a diagonal support assembly and the laminated precast shear wall under the side view angle after the completion of the movement along the second direction. Specifically, since the diagonal support assembly includes: a first diagonal support rod and a second diagonal support rod, therefore, the first initial angle includes 2 angle values, which are respectively " " and " ". Among them, " " represents the included angle value between the first diagonal support rod and the horizontal ground. " " represents the included angle value between the second diagonal support rod and the horizontal ground. Similarly, the first initial rod length includes 2 initial rod length values, which are respectively " " and " ". Among them, " " represents the current rod length of the first diagonal support rod. " " represents the current rod length of the second diagonal support rod. "Point A" is the connection point between the first fixed buckle corresponding to the first diagonal support rod and the outer leaf board included in the laminated precast shear wall. "Point B" is the connection point between the second fixed buckle corresponding to the second diagonal support rod and the outer leaf board included in the laminated precast shear wall. "Point C" is the connection point between the third fixed buckle and the ground. " " represents the second movement amount. The first angle change amount includes 2 angle change amounts, which are respectively " " and " " (not shown in the figure). Among them, " " represents the angle change amount of the first diagonal support rod. " " represents the angle change amount of the second diagonal support rod. The first rod telescopic amount includes 2 rod telescopic amounts, which are respectively " " and " " (not shown in the figure). Among them, " " represents the rod telescopic amount of the first diagonal support rod. " " represents the rod telescopic amount of the second diagonal support rod. " " represents the rod length of the first diagonal support rod after horizontally moving the first movement amount along the first direction. " It represents the rod length of the first diagonal support rod after horizontally moving the second displacement amount along the above-mentioned first direction. It represents the included angle value between the first diagonal support rod and the horizontal ground after horizontally moving the second displacement amount along the above-mentioned first direction. It represents the included angle value between the second diagonal support rod and the horizontal ground after horizontally moving the second displacement amount along the above-mentioned first direction. It represents the horizontal component of " " or It represents the horizontal component of " " or. Therefore, according to the trigonometric relationship between the rod length and the included angle, the first angle change amount and the first rod telescopic amount can be obtained.

[0074] Taking the first diagonal support rod included in the diagonal support assembly as an example, the angle change amount " " and the rod telescopic amount " " corresponding to the first diagonal support rod can be obtained through the following set of formulas:

[0075]

[0076] Taking the second diagonal support rod included in the diagonal support assembly as an example, the angle change amount " " and the rod telescopic amount " " corresponding to the second diagonal support rod can be obtained through the following set of formulas:

[0077]

[0078] Fifth step, according to the above-mentioned first angle change amount and the above-mentioned first rod telescopic amount, through the above-mentioned diagonal support assembly, control the above-mentioned laminated precast shear wall to move the second displacement amount along the above-mentioned second direction.

[0079] Sixth step, in response to the completion of the movement along the above-mentioned second direction, according to the second initial angle and the second initial rod length corresponding to the diagonal support assembly and the above-mentioned third displacement amount, determine the second angle change amount and the second rod telescopic amount corresponding to the diagonal support assembly.

[0080] Among them, the second initial angle represents the included angle between the diagonal support assembly and the ground after moving the second displacement amount along the above-mentioned second direction. The second initial rod length represents the support rod length of the diagonal support assembly after moving the second displacement amount along the above-mentioned second direction. In practice, referring to the calculation process of determining the second angle change amount and the second rod telescopic amount in the above-mentioned fourth step, according to the trigonometric relationship between the rod length and the included angle, the second angle change amount and the second rod telescopic amount can be obtained, which will not be elaborated here.

[0081] Step 7: According to the above-mentioned second angular change amount and the second rod telescopic amount, through the above-mentioned diagonal support assembly, control the above-mentioned composite precast shear wall to move the above-mentioned third moving amount along the above-mentioned third direction.

[0082] Step 103: In response to the completion of the position fine-tuning and after injecting a preset injection amount of concrete filler into the composite precast shear wall in layers, perform ultrasonic scanning and infrared image acquisition on the composite precast shear wall to obtain ultrasonic signals and infrared images.

[0083] In some embodiments, the above-mentioned execution entity can, in response to the completion of the position fine-tuning and after injecting a preset injection amount of concrete filler into the composite precast shear wall in layers, perform ultrasonic scanning and infrared image acquisition on the composite precast shear wall to obtain ultrasonic signals and infrared images. In practice, after injecting a preset injection amount of concrete filler into the composite precast shear wall in layers through a concrete pump truck, the outer leaf of the composite precast shear wall can be scanned by an ultrasonic radar, and the outer leaf image of the composite precast shear wall can be acquired by an infrared camera, so as to obtain ultrasonic signals and infrared images.

[0084] Step 104: Generate joint gap information according to the ultrasonic signal, the infrared image, and a pre-trained joint gap positioning model.

[0085] In some embodiments, the above-mentioned execution entity can generate joint gap information according to the ultrasonic signal, the infrared image, and a pre-trained joint gap positioning model. Among them, the joint gap information includes: the joint gap position and the joint gap grade. The joint gap grade can represent the gap specification grade of the joint. In practice, first, the infrared image and the ultrasonic signal can be spatially aligned to form a dual-channel input including an infrared image channel and an ultrasonic signal channel. Then, the ultrasonic signal and the infrared image are respectively subjected to feature extraction and joint gap positioning through a convolutional neural network model (CNN, Convolutional Neural Networks) and a Faster R-CNN (Faster Region-based Convolutional Neural Networks) network model to obtain joint gap information. Among them, the convolutional neural network model and the Faster R-CNN network model serve as the joint gap positioning model.

[0086] Optionally, the joint gap positioning model includes: an ultrasonic signal feature extraction module, an infrared image feature extraction module, a feature embedding module, a feature decoding module, a joint gap position locator, and a joint gap level classifier. In practice, the ultrasonic signal feature extraction module uses an RNN (Recurrent Neural Networks) model. The infrared image feature extraction module uses a residual neural network model. The feature embedding module divides the ultrasonic signal features extracted by the ultrasonic signal feature extraction module and the infrared features extracted by the infrared image feature extraction module into blocks according to their positions, obtaining an ultrasonic signal feature block matrix and an infrared image feature block matrix. Then, for each block region, a block vector (U, I, P) is constructed according to the position relationship. Among them, U represents the ultrasonic signal feature block corresponding to the block region. I represents the infrared image feature block corresponding to the block region, and P represents the position vector corresponding to the block region. Then, the feature embedding module embeds the ultrasonic signal feature block, the position vector, and the infrared image feature corresponding to the block region to obtain a block vector, and further obtains a block vector matrix. The feature decoding module is based on the Transformer structure with an attention mechanism. Specifically, the feature decoding module is composed of a multi-head attention mechanism module and a feed-forward network. The joint gap position locator uses a Faster R-CNN Head as the positioning head to output the joint gap position. The joint gap level classifier includes three fully connected layers and an activation function. Among them, the three fully connected layers are used for adjusting the feature dimension, and the activation function uses the Softmax function. The joint gap positioning model of the present disclosure realizes accurate joint gap recognition by combining ultrasonic signals and infrared images. In particular, considering that ultrasonic signals and infrared images are two different modalities of data, the conventional method of extracting features one by one and obtaining two sets of positioning positions and then screening fails to effectively consider the feature correlation between the two different modalities of data. Therefore, the joint gap positioning model of the present disclosure first performs preliminary feature extraction of ultrasonic signals and infrared images through the ultrasonic signal feature extraction module and the infrared image feature extraction module respectively. Then, through the feature embedding module, according to the position relationship, the infrared image features (blocks) and ultrasonic signal feature blocks corresponding to the same position are position-bound and embedded. Then, the decoder performs overall feature processing on the multi-modal embedded features. Finally, the joint gap position locator and the joint gap level classifier output the positioning position (joint gap position) and the gap level (joint gap level). For example, the gap level can include: a first-level gap level and a second-level gap level. Among them, the first-level gap level indicates the existence of a relatively large gap. The second-level gap level indicates the existence of a relatively small gap.

[0087] In some alternative implementations of some embodiments, the above-mentioned execution entity generates joint gap information based on the above-mentioned ultrasonic signal, the above-mentioned infrared image, and a pre-trained joint gap positioning model, including:

[0088] First step, the above-mentioned ultrasonic signal feature extraction module extracts features from the above-mentioned ultrasonic signal to generate ultrasonic signal features.

[0089] As an example, refer to Figure 8 the schematic diagram of the generation process of the joint gap information shown in the figure. Among them, the above-mentioned execution entity extracts features from the above-mentioned ultrasonic signal 801 through the ultrasonic signal feature extraction module 803 to generate ultrasonic signal features 805.

[0090] Second step, the above-mentioned infrared image feature extraction module extracts image features from the above-mentioned infrared image to generate infrared image features.

[0091] As an example, further refer to Figure 8 the figure, where the above-mentioned execution entity extracts image features from the above-mentioned infrared image 802 through the above-mentioned infrared image feature extraction module 804 to generate infrared image features 806. In particular, the ultrasonic signal feature extraction module 803 and the infrared image feature extraction module 804 can perform feature extraction in parallel to accelerate the feature extraction speed.

[0092] Third step, the above-mentioned feature embedding module embeds the ultrasonic signal features and the above-mentioned infrared image features to obtain embedded features.

[0093] As an example, further refer to Figure 8 the figure. Since the ultrasonic signal is obtained by scanning the outer vane, and the infrared image is an image of the outer vane, a block vector (U, I, P) is constructed for each block region according to the position relationship. Where U represents the ultrasonic signal feature block corresponding to the block region. I represents the infrared image feature block corresponding to the block region, and P represents the position vector corresponding to the block region. Then, the feature embedding module 807 embeds the ultrasonic signal feature block, the position vector, and the infrared image feature block corresponding to the block region to obtain a block vector, and further obtains a block vector matrix (embedded features 808).

[0094] Fourth step, the above-mentioned feature decoding module decodes the above-mentioned embedded features to obtain decoded features.

[0095] As an example, then refer to Figure 8 the figure. The above-mentioned execution entity can decode the above-mentioned embedded features 808 through the feature decoding module 809 to obtain decoded features 810.

[0096] Step 5: Perform joint gap positioning based on the decoded features and the above-mentioned joint gap position locator to obtain the joint gap position included in the above-mentioned joint gap information.

[0097] As an example, continue to refer to Figure 8 , the above-mentioned execution entity can perform joint gap positioning through the decoded feature 810 and the above-mentioned joint gap position locator 811 to obtain the joint gap position 813 included in the above-mentioned joint gap information.

[0098] Step 6: Generate the joint gap grade included in the above-mentioned joint gap information according to the local feature corresponding to the above-mentioned joint gap position in the decoded feature and the above-mentioned joint gap grade classifier.

[0099] As an example, further refer to Figure 8 , the above-mentioned execution entity can generate a joint gap grade vector 814 according to the local feature corresponding to the above-mentioned joint gap position in the decoded feature and the above-mentioned joint gap grade classifier 812, and then obtain the joint gap grade. Among them, the joint gap grade vector 814 includes the confidence levels corresponding to different grades.

[0100] Optionally, the above method further includes:

[0101] Step 1: Generate a concrete filling visualization diagram for the above-mentioned laminated precast shear wall according to the above-mentioned joint gap information.

[0102] In practice, the position corresponding to the joint gap position included in the joint gap information in the infrared image can be framed and the joint gap grade can be marked as the concrete filling visualization diagram.

[0103] Step 2: Send the above-mentioned concrete filling visualization diagram to the control terminal.

[0104] Among them, the above-mentioned control terminal is used to control the injection of concrete filler into the above-mentioned laminated precast shear wall.

[0105] The above embodiments of the present disclosure have the following beneficial effects: Through the gap detection method of some embodiments of the present disclosure, accurate identification and positioning of possible gaps at the joint between the laminated precast shear wall and the concrete filler are achieved. Specifically, first, the marker board positioning is performed on the ground images in the ground image group to obtain the marker board position group, where the ground image group is collected when the height of the laminated precast shear wall from the ground is the preset height, and the number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground. Secondly, in response to that all the marker board positions in the marker board position group are located within the preset area included in the corresponding ground image, and the diagonal support assembly is fixed on the outer side of the outer leaf board included in the laminated precast shear wall, according to the marker board position group and the preset height, the diagonal support assembly is controlled to perform position fine-tuning on the laminated precast shear wall. In practice, during the hoisting process of the laminated precast shear wall, workers usually need to manually fine-tune the placement position of the laminated precast shear wall, which will increase the construction risk of workers. Therefore, the present disclosure uses the preset marker board, through the marker board positioning method, to perform position fine-tuning of the laminated precast shear wall according to the marker board position and the preset height. Compared with the manual adjustment method, it can not only reduce the error in the placement of the shear wall, but also reduce the construction risk. Then, in response to the completion of the position fine-tuning, and after injecting the preset injection amount of concrete filler into the laminated precast shear wall in layers, ultrasonic scanning and infrared image acquisition are performed on the laminated precast shear wall to obtain ultrasonic signals and infrared images. In this way, the filling condition inside the laminated precast shear wall after filling the concrete filler is obtained in the dimensions of ultrasonic signals and infrared images. Finally, according to the ultrasonic signals, the infrared images and the pre-trained joint gap positioning model, joint gap information is generated, where the joint gap information includes: joint gap position and joint gap level. Thus, accurate identification and positioning of the gaps existing at the joint are achieved. In summary, the present disclosure realizes accurate identification and positioning of possible gaps at the joint between the laminated precast shear wall and the concrete filler.

[0106] Further, the present disclosure provides a gap detection system, which is applied to the joint between the laminated precast shear wall and the concrete filler and is applied to the aforementioned gap detection method. Specifically, referring to Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 . Among them, the gap detection system includes: a detection component 5, a diagonal support component and a marker board 19.

[0107] Among them, the above detection component includes: a clamping component, an electronic level, a horizontal indicator light 9, an infrared sensor 10, and a camera 11. Among them, the above clamping component is of a U-shaped structure, and the above clamping component includes: a first clamping flap 6 and a second clamping flap 7. Among them, the above first clamping flap 6 and the above second clamping flap 7 are locked by a locking bolt 8. Among them, when the detection component is horizontally clamped to the outer leaf panel included in the laminated precast shear wall, the first clamping flap 6 is located outside the outer leaf panel and the infrared sensor 10 and the camera 11 face downward.

[0108] Among them, the above diagonal support component includes: a first fixed buckle 13, a second fixed buckle 14, a third fixed buckle 15, a first diagonal support rod 16, a second diagonal support rod 17, and a fixed buckle guide rail 18. Among them, the above first fixed buckle 13 is arranged on the outside of the outer leaf panel. The above second fixed buckle 14 is arranged on the outside of the outer leaf panel. The above third fixed buckle 15 is fixed on the above fixed buckle guide rail 18. The rod length of the second diagonal support rod 17 is less than the rod length of the first diagonal support rod 16. The above first diagonal support rod 16 and the above second diagonal support rod 17 are both telescopic rods. The above first diagonal support rod 16 is obliquely arranged between the ground and the laminated precast shear wall through the above first fixed buckle 13 and the above third fixed buckle 15. The above second diagonal support rod 17 is obliquely arranged between the ground and the laminated precast shear wall through the above second fixed buckle 14 and the above third fixed buckle 15.

[0109] Among them, the above marking plate 19 is used for auxiliary positioning of the laminated precast shear wall.

[0110] Optionally, both the detection component and the diagonal support component further include: a wireless communication component.

[0111] Among them, the control instructions and the component status between the detection component and the diagonal support component are mutually transmitted through the wireless communication component. In addition, considering the limitation of the transmission power of the wireless communication component, it may affect the transmission of control instructions and component status with the tower crane. Therefore, the gap detection system may further include: a signal repeater for wireless signal enhancement and long-distance transmission of signals.

[0112] Further reference Figure 9 , as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a gap detection device. These device embodiments correspond to Figure 1 the method embodiments shown, and the gap detection device can be specifically applied to various electronic devices.

[0113] Such as Figure 9As shown, the gap detection device 900 of some embodiments includes: a marker board positioning unit 901, a control unit 902, a scanning and acquisition unit 903, and a generation unit 904. Among them, the marker board positioning unit 901 is configured to perform marker board positioning on the ground images in the ground image group to obtain a marker board position group, where the ground image group is acquired when the height of the precast shear wall from the ground is a preset height, and the number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground; the control unit 902 is configured to, in response to that all the marker board positions in the marker board position group are located within the preset area included in the corresponding ground image, and an inclined support assembly is fixed to the outer side of the outer leaf board included in the precast shear wall, control the inclined support assembly to perform position fine-tuning on the precast shear wall according to the marker board position group and the preset height; the scanning and acquisition unit 903 is configured to, in response to the completion of the position fine-tuning and after injecting a preset injection amount of concrete filler into the precast shear wall in layers, perform ultrasonic scanning and infrared image acquisition on the precast shear wall to obtain ultrasonic signals and infrared images; the generation unit 904 is configured to generate joint gap information according to the ultrasonic signals, the infrared images, and a pre-trained joint gap positioning model, where the joint gap information includes: joint gap positions and joint gap grades.

[0114] It can be understood that the units described in the gap detection device 900 correspond to the respective steps in the method described in the reference Figure 1 description. Therefore, the operations, features, and beneficial effects described above for the method also apply to the gap detection device 900 and the units included therein, and will not be elaborated herein.

[0115] Next, refer to Figure 10 , which shows a schematic structural diagram of an electronic device (for example, a computing device) suitable for implementing some embodiments of the present disclosure. Figure 10 The electronic device shown is only an example and should not impose any limitation on the functions and usage scopes of the embodiments of the present disclosure. As Figure 10As shown in the figure, the computer device includes a processor, a memory, and a network interface connected via a system bus. Among them, the memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium can store an operating system and computer programs. The computer programs include program instructions, which, when executed, can cause the processor to execute any of the above methods. The processor is used to provide computing and control capabilities to support the operation of the entire computer device. The internal memory provides an environment for the operation of the computer programs in the non-volatile storage medium, and when the computer programs are executed by the processor, the processor can be caused to execute any of the above methods. The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 10 the structure shown in is only a block diagram of some structures related to the solution of the present disclosure, and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0116] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0117] Wherein, in one embodiment, the above-mentioned processor is used to run a computer program stored in a memory to implement the following steps: perform marker board positioning on the ground images in the ground image group to obtain a marker board position group, wherein the above-mentioned ground image group is collected when the height of the precast shear wall from the ground is a preset height, and the number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground; in response to that all the marker board positions in the marker board position group are located within the preset area included in the corresponding ground image, and an inclined support assembly is fixed on the outer side of the outer leaf board included in the above-mentioned precast shear wall, according to the above-mentioned marker board position group and the above-mentioned preset height, control the above-mentioned inclined support assembly to perform position fine-tuning on the above-mentioned precast shear wall; in response to the completion of the position fine-tuning, and after injecting a preset injection amount of concrete filler into the above-mentioned precast shear wall in layers, perform ultrasonic scanning and infrared image acquisition on the above-mentioned precast shear wall to obtain ultrasonic signals and infrared images; generate joint gap information according to the above-mentioned ultrasonic signals, the above-mentioned infrared images and a pre-trained joint gap positioning model, wherein the above-mentioned joint gap information includes: joint gap position and joint gap grade.

[0118] The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and the computer program includes program instructions, and the method implemented when the program instructions are executed may refer to the various embodiments of the above-mentioned method of the present disclosure.

[0119] Wherein, the above-mentioned computer-readable storage medium may be an internal storage unit of the above-mentioned computer device in the foregoing embodiment, such as the hard disk or memory of the above-mentioned computer device. The above-mentioned computer-readable storage medium may also be an external storage device of the above-mentioned computer device, such as a plug-in hard disk equipped on the above-mentioned computer device, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0120] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0121] The above description is only some preferred embodiments of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the embodiments of the present disclosure that have similar functions.

Claims

1. A gap detection method is applied to the joint of a laminated precast shear wall and a concrete filler, characterized in that, Including: Performing marker board positioning on the ground images in the ground image group to obtain a marker board position group, where the ground image group is collected when the height of the laminated precast shear wall from the ground is a preset height, and the number of marker board positions in the marker board position group is the same as the number of marker boards pre-laid on the ground; In response to that all the marker board positions in the marker board position group are located within the preset area included in the corresponding ground image, and an inclined support assembly is fixed on the outer side of the outer leaf board included in the laminated precast shear wall, controlling the inclined support assembly to perform position fine-tuning on the laminated precast shear wall according to the marker board position group and the preset height; In response to the completion of the position fine-tuning and after injecting a preset injection amount of concrete filler into the laminated precast shear wall in layers, performing ultrasonic scanning and infrared image acquisition on the laminated precast shear wall to obtain ultrasonic signals and infrared images; Generating joint gap information according to the ultrasonic signals, the infrared images and a pre-trained joint gap positioning model, where the joint gap information includes: joint gap position and joint gap grade.

2. The method according to claim 1, characterized in that, Before the step of in response to that all the marker board positions in the marker board position group are located within the preset area included in the corresponding ground image, and an inclined support assembly is fixed on the outer side of the outer leaf board included in the laminated precast shear wall, controlling the inclined support assembly to perform position fine-tuning on the laminated precast shear wall according to the marker board position group and the preset height, the method further includes: In response to the existence of a target marker board position in the marker board position group, performing position adjustment on the laminated precast shear wall by a tower crane according to the target marker board position, and updating the marker board position group according to the updated marker board position corresponding to the target marker board position, where the target marker board position indicates that the marker board is located in a non-preset area included in the corresponding ground image.

3. The method according to claim 2, characterized in that The method further includes: Generating a concrete filling visualization diagram for the laminated precast shear wall according to the joint gap information; Sending the concrete filling visualization diagram to a control terminal, where the control terminal is used to control the injection of the concrete filler into the laminated precast shear wall.

4. The method according to claim 3, characterized in that The step of performing marker board positioning on the ground images in the ground image group to obtain a marker board position group includes: Performing image stitching on the ground images in the ground image group to obtain a stitched ground image; Performing binarization processing on the stitched ground image to generate a binarized ground image; Performing edge detection on the binarized ground image to obtain a set of connected regions, where a connected region is a closed region surrounded by the detected edges; For each connected region in the set of connected regions, generating a region feature corresponding to the connected region, where the region feature includes: region area, region boundary perimeter, roundness value, polygon approximation value; Performing region clustering on the connected regions in the set of connected regions according to the region features corresponding to the connected regions to obtain a set of connected region groups, and each connected region in the connected region group corresponds to the same class center; According to the region features corresponding to the connected regions, including the roundness value and the polygonal approximation value, and the number of connected regions in the connected region group, a connected region group that meets the screening conditions is screened out from the connected region group set as a target connected region group; The center position of the target connected area in the target connected area group is used as the marker plate position to obtain the marker plate position group.

5. The method according to claim 4, wherein In response to the marker plate positions in the marker plate position group being all located within a preset area included in the corresponding ground image, and the outer side of the outer blade of the composite prefabricated shear wall being fixed with an oblique support assembly, controlling the oblique support assembly to perform fine position adjustment on the composite prefabricated shear wall according to the marker plate position group and the preset height, including: Performing a movement projection based on the marker plate position group and the preset height to determine a first movement and a second movement, wherein the first movement represents the movement of the composite prefabricated shear wall along the first direction, and the second movement represents the movement of the composite prefabricated shear wall along the second direction; Determining the preset height as a third movement amount, wherein the third movement amount represents a movement amount along a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other; Controlling the movement of the composite prefabricated shear wall along the first direction by the first movement amount through a fixed buckle guide rail and the oblique support assembly, wherein the oblique support assembly and the fixed buckle guide rail are connected by a fixed buckle, and the fixed buckle guide rail is set on the ground; In response to the completion of the movement along the first direction, determining a first angle change amount and a first rod extension amount corresponding to the oblique support assembly according to a first initial angle and a first initial rod length corresponding to the oblique support assembly and the second movement amount; According to the first angle change and the first rod extension and contraction amount, controlling the composite prefabricated shear wall to move along the second direction by the second movement amount through the oblique support assembly; In response to the completion of the movement in the second direction, a second angle change amount and a second rod extension amount corresponding to the oblique support assembly are determined according to a second initial angle and a second initial rod length corresponding to the oblique support assembly and the third movement amount, wherein the second initial angle represents an angle between the oblique support assembly and the ground after the oblique support assembly moves the second movement amount in the second direction, and the second initial rod length represents a length of the support rod after the oblique support assembly moves the second movement amount in the second direction; According to the second angle change and the second rod extension and contraction amount, the composite prefabricated shear wall is controlled to move along the third direction by the third movement amount through the oblique support assembly.

6. The method according to claim 5, characterized in that The joint gap positioning model includes: an ultrasonic signal feature extraction module, an infrared image feature extraction module, a feature embedding module, a feature decoding module, a joint gap position locator, and a joint gap grade classifier. The joint gap information is generated according to the ultrasonic signal, the infrared image, and the pre-trained joint gap positioning model, including: Extracting features from the ultrasonic signal using the ultrasonic signal feature extraction module to generate ultrasonic signal features; Extracting image features from the infrared image using the infrared image feature extraction module to generate infrared image features; Embedding the ultrasonic signal features and the infrared image features using the feature embedding module to obtain embedded features; Decoding the embedded features by the feature decoding module to obtain decoded features; performing joint gap positioning according to the decoded features and the joint gap position locator to obtain the joint gap position included in the joint gap information; A joint gap level included in the joint gap information is generated according to the local feature corresponding to the joint gap position in the decoded feature and the joint gap level classifier.

7. A gap detection system that applies the gap detection method according to any one of claims 1 to 6, characterized in that, include: A detection assembly, wherein the detection assembly comprises: a clamping assembly, an electronic level, a level indicator light, an infrared sensor, and a camera, wherein the clamping assembly is a U-shaped structure, and comprises: a first clamping petal and a second clamping petal, wherein the first clamping petal and the second clamping petal are locked by a locking bolt, wherein when the detection assembly is horizontally clamped on an outer blade included in the composite prefabricated shear wall, the first clamping petal is located outside the outer blade and the infrared sensor and the camera are facing downward; An oblique support assembly, wherein the oblique support assembly comprises: a first fixing buckle, a second fixing buckle, a third fixing buckle, a first oblique support rod, a second oblique support rod and a fixing buckle guide rail, wherein the first fixing buckle is arranged on the outside of the outer blade, the second fixing buckle is arranged on the outside of the outer blade, the third fixing buckle is fixed to the fixing buckle guide rail, the rod length of the second oblique support rod is less than the rod length of the first oblique support rod, the first oblique support rod and the second oblique support rod are both telescopic rods, the first oblique support rod is obliquely arranged between the ground and the composite prefabricated shear wall through the first fixing buckle and the third fixing buckle, and the second oblique support rod is obliquely arranged between the ground and the composite prefabricated shear wall through the second fixing buckle and the third fixing buckle; A marking plate, wherein the marking plate is used to assist in positioning the composite prefabricated shear wall.

8. A gap detection device is applied to the joint of a laminated precast shear wall and a concrete filler, and is characterized in that include: a marker plate positioning unit configured to perform marker plate positioning on a ground image in the ground image group to obtain a marker plate position group, wherein the ground image group is acquired when the height of the composite prefabricated shear wall from the ground is a preset height, and the number of marker plate positions in the marker plate position group is the same as the number of marker plates pre-laid on the ground; a control unit configured to, in response to the marker plate positions in the marker plate position group being all located within a preset area included in the corresponding ground image, and the outer side of the outer blade of the composite prefabricated shear wall being fixed with an oblique support assembly, control the oblique support assembly to fine-tune the position of the composite prefabricated shear wall according to the marker plate position group and the preset height; a scanning and acquisition unit configured to, in response to completion of position fine-tuning and layered injection of a preset amount of concrete filler into the composite prefabricated shear wall, perform ultrasonic scanning and infrared image acquisition on the composite prefabricated shear wall to obtain an ultrasonic signal and an infrared image; The generating unit is configured to generate joint gap information according to the ultrasonic signal, the infrared image and a pre-trained joint gap positioning model, wherein the joint gap information includes: a joint gap position and a joint gap level.

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