Mass concrete intelligent control and consolidation quality intelligent evaluation method

Abstract

The present application relates to concrete construction intelligent control, sensing and measuring technical field, specifically relates to a kind of mass concrete vibration intelligent control and consolidation quality intelligent evaluation method, as follows specifically: using eccentric vibration system design vibrating rod driven by electric motor;Using inertial navigation technology to insert the high-precision attitude positioning of vibrating rod in concrete structure, real-time positioning capture is carried out to vibrating rod;Raft foundation concrete component is regarded as the research entity of energy distribution system, obtains the geographic coordinates of research entity, and establishes the relative coordinate system of three-dimensional model, then carries out coordinate alignment, after grid division to three-dimensional model, the energy absorption value of unit volume concrete is calculated;Create vibrating energy distribution visualization platform to monitor vibrating compacting condition in real time.The vibrating rod of the present application can realize individual vibrating behavior calibration and monitoring, and the vibrating state is visualized by energy conservation law and vibration energy theory.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of concrete vibration, and in particular to a large-volume concrete vibration intelligent control and consolidation quality intelligent evaluation method. BACKGROUND

[0002] The current concrete vibration quality depends on the experience and skills of workers, and the vibration process cannot be finely controlled. If the vibration is insufficient, local vibration leakage and under-vibration may occur, resulting in structural problems such as clinker, cracks, exposed reinforcement and honeycomb surface; if the vibration is excessive, it may cause separation of concrete aggregate and slurry, concentration of aggregate in the bottom area, surface slurry, insufficient interlayer adhesion, and segregation, thereby affecting the concrete construction quality. A large number of theoretical researches and tests show that there are many technical problems to be solved in the current cast-in-place concrete member vibration, including difficulty in real-time monitoring of the working state of the vibration rod, difficulty in parameter feedback control adjustment, high cost of vibration rod positioning technology, and monitoring accuracy easily affected by the environment, resulting in that the concrete member quality evaluation is mostly implemented in the concrete molding stage, and the vibration process quality control cannot be accurately realized.

[0003] Based on digital technology, the vibration rod positioning monitoring technology and the concrete molding quality evaluation technology are developed from the industry demand and characteristics, the deep integration of engineering construction and intelligent technology is promoted, and the defects of the existing related equipment, such as complex hardware structure composition, high cost, low technology integration degree, easy to be affected by the working environment, poor applicability and poor fine control, are overcome.

[0004] Therefore, the present application proposes a large-volume concrete vibration intelligent control and consolidation quality intelligent evaluation method to solve the above problems. SUMMARY

[0005] The present application is developed to overcome the deficiencies of the prior art, and a large-volume concrete vibration intelligent control and consolidation quality intelligent evaluation method is developed. The designed vibration rod can realize individual vibration behavior calibration and monitoring, and the vibration state can be visualized through the law of conservation of energy and vibration energy theory.

[0006] The technical scheme for solving the technical problems of the present application is a large-volume concrete vibration intelligent control and consolidation quality intelligent evaluation method, comprising the following steps:

[0007] A large-volume concrete vibration intelligent control and consolidation quality intelligent evaluation method comprises the following steps:

[0008] S1, a vibration rod is designed by using an eccentric vibration system driven by an electric motor;

[0009] S2, using inertial navigation technology to insert the concrete structure of the vibrating rod for high-precision attitude positioning, specifically through the three-axis acceleration sensor and three-axis gyroscope installed along the basic axis of the vibrating rod to measure and calculate the attitude, speed and position of the vibrating rod, real-time positioning capture of the vibrating rod, comparison of the state of the vibrating rod with the industry standard, alarm of the abnormal state of the vibrating rod, and use of timing beat technology to guide the vibrating rod to insert and pull out at a uniform speed;

[0010] S3, taking the raft foundation concrete member as the research entity of the energy distribution system, obtaining the geographic coordinates of the research entity, performing three-dimensional modeling, establishing a relative coordinate system, aligning the geographic coordinates of the entity with the relative coordinates through coordinate conversion, dividing the three-dimensional model into grids, combining the aligned coordinates with the vibration energy transfer model, and calculating the energy absorption value of unit volume of concrete;

[0011] S4, developing a vibrating energy distribution visualization platform based on WebGL architecture, visualizing the energy absorption value of unit volume of concrete, and real-time displaying the vibrating and compacting state of the raft foundation concrete member and quantitatively evaluating the concrete consolidation quality.

[0012] S1 is as follows:

[0013] The vibrating rod comprises a handheld handle (2), a motor (5) and a vibrating rod body (8), the handheld handle (2) is provided with a handle sleeve (1), the handheld handle (2) is connected with the motor (5), the motor (5) is externally provided with a protective shell (3), a buffer pad (4) is arranged between the protective shell (3) and the motor (5), a buffer plate (6) is arranged at the bottom of the motor (5), the motor (5) is connected with the vibrating rod body (8), a receiver (7) is arranged at the upper end of the vibrating rod body (8), an outer rubber sleeve (9) and an inner rubber sleeve (10) are arranged on the outer side of the vibrating rod body (8), a three-axis acceleration sensor (11) and a three-axis gyroscope (13) are arranged between one side of the outer rubber sleeve (9) and the inner rubber sleeve (10), and an optical cable (12) is arranged on the other side, and the optical cable (12) is connected with the receiver (7).

[0014] S2 is as follows:

[0015] The three-axis acceleration sensor and the three-axis gyroscope respectively extract speed and angular velocity, calculate the attitude and position information of the vibrating rod according to the speed and angular velocity, and then position the vibrating rod, and transmit the position information of the vibrating rod to the cloud database in real time, determine the attitude information of the vibrating rod according to the roll angle , pitch angle and yaw angle , and calculate the position information of the vibrating rod according to the three-axis acceleration measured by the three-axis acceleration sensor , , and The coordinates for the horizontal, vertical, and depth directions of the vibrator;

[0016] After locating the vibrator based on its posture and position information, the state of the vibrator is determined. The state of the vibrator is then compared with industry standard parameters and electronic control theory. Specifically, through timing and position monitoring technology, abnormal states of the vibrator are monitored and alarms are triggered. Abnormal states of the vibrator include excessive deviation of the vibration point, failure to meet vibration time standards, and non-compliant insertion and extraction speeds.

[0017] The calculation process for the attitude and position information of the vibratory rod is as follows:

[0018] (1) Attitude information:

[0019] Assuming the length of the vibratory rod is L, and the initial position of the vibratory rod is set to the end point of the previous vibration process, let the initial position point be... The direction vector is After the vibratory rod starts working, its initial position changes. The positioning point of the vibratory rod after rotation is calculated. Specifically, the rotation matrix is ​​determined based on the attitude information, and then the rotation matrix and direction vector are used to determine the positioning point. Calculate the direction vector of the vibrator during operation, and then based on the initial position point. The position of the vibrator after operation is determined by the direction vector during operation, and the calculation formula is as follows:

[0020] ,

[0021] ,

[0022] ,

[0023] in, express The rotation matrix at time step, express The direction vector at time, express The position of the vibrating rod at all times. express The pitch angle at any moment, express Yaw angle at any moment express The roll angle at any given moment;

[0024] (2) Location information:

[0025] 1) The actual acceleration is obtained by measuring the acceleration in three axes using a triaxial accelerometer. The calculation formula is as follows:

[0026] ,

[0027] ,

[0028] ,

[0029] wherein, , and represent the actual acceleration values in X, Y, Z axes respectively, , and represent the measured raw accelerations in X, Y, Z axes respectively, , and represent the offset values in X, Y, Z axes respectively, represents the sensitivity constant, , and represent the acceleration errors in X, Y, Z axes respectively;

[0030] 2) The final landing solution of the sensor in a vibration period is:

[0031] ,

[0032] ,

[0033] ,

[0034] wherein, , and represent the final landings in X, Y, Z axes respectively, , and represent the initial positions in X, Y, Z axes respectively, represents the period size.

[0035] The alignment of the coordinates is as follows:

[0036] A commercial concrete raft foundation concrete component is used as an energy distribution vibration research entity, and the geographic coordinates of the vibration research entity are obtained, a three-dimensional twin model of the vibration research entity is created through BIM, and a relative coordinate system of the model relative to the vibration entity is established; wherein the geographic coordinates of the vibration research entity specifically adopt Beijing 1954 GKZone projection coordinate system, which is obtained through field RTK measurement and Arcgis analysis;

[0037] The geographic coordinates of the vibrating research entity are corrected with the relative coordinate system of the three-dimensional twin model, the coordinates of the three-dimensional twin model are calibrated to the Beijing 1954 GK Zone projection coordinate system, and the center point of the vibrating research entity is taken as the origin of the relative coordinate system of the three-dimensional twin model, denoted as The vibrating rod acts on the vibrating research entity, and the coordinate system of the vibrating rod is denoted as the relative coordinate system of the three-dimensional twin model. The geographic coordinates of the vibrating research entity are converted with the relative coordinate system of the vibrating rod to obtain the point coordinates of the three-dimensional twin model of the BIM-created vibrating research entity, and the calculation formula is as follows:

[0038] ,

[0039] ,

[0040] wherein, represents the point coordinates in the relative coordinate system of the three-dimensional twin model, i.e. the aligned coordinates, , and represent the coordinates on the X, Y and Z axes respectively; represents the offset of the origin of the relative coordinate system in the projection coordinate system, , and represent the offset on the X, Y and Z axes respectively; represents the scale factor; represents the rotation orthogonal matrix, is the rotation factor element in the row and column of the matrix , , ; , and represent the point coordinates on the X, Y and Z axes in the Beijing 1954 GK Zone projection coordinate system respectively; , and represent the barycentric coordinates on the X, Y and Z axes in the projection coordinate system respectively.

[0041] The energy absorption value calculation process of unit volume concrete is as follows:

[0042] The three-dimensional twin model is imported through the model loader, the model is divided into a plurality of 1.5m x 1.5cm grids by using unstructured grid division, and a spherical calculation domain is constructed with the vibrating point as the center. The spherical calculation domain is the effective area for calculating the energy absorption value, and the calculation formula of the spherical calculation domain is as follows:

[0043] ,

[0044] wherein, represents a spherical calculation domain; represents a calculation radius; represents a position vector of an arbitrary point, represents a position vector of a vibrating rod working point, and are located in the spherical calculation domain under the relative coordinate system of the three-dimensional twin model; represents a Euclidean norm;

[0045] The relevant vibration parameters are called from the database by using Java language, the energy absorption rate of the concrete is calculated, and the calculation process is as follows:

[0046] (1) The output power of the vibrating rod is calculated : ;

[0047] wherein, represents a motor efficiency coefficient, represents a motor input electric power;

[0048] (2) The vibration energy received by the concrete single point is calculated :

[0049] ,

[0050] ,

[0051] wherein, represents at the moment, , represents a concrete energy absorption coefficient, represents a concrete energy average absorption coefficient; , represents a material constant; represents a change amount of the exciting force at the vibrating point;

[0052] (3) The energy absorption density of unit volume of concrete is:

[0053] ,

[0054] wherein, represents the energy absorption density of unit volume of concrete; represents an effective action volume; represents a vibrating influence radius; represents an insertion depth.

[0055] S4 is specifically as follows:

[0056] S4.1, using three-dimensional grid discretization method, the raft foundation concrete components are further subdivided more detailed grid, and set the scanning path, the formula is as follows:

[0057] ,

[0058] ,

[0059] ,

[0060] wherein, is the length of the test block, is the width of the test block, is the height of the test block; is the number of grids in X, Y, Z directions; , and represent the length, width and height of a single grid;

[0061] S4.2, calculate the energy absorption density of each grid unit:

[0062] ,

[0063] wherein, is the vibration time of the th grid, is the volume of the th grid, is the energy of the th grid, is the energy absorption density of the th grid per unit volume of concrete;

[0064] S4.3, based on the regression analysis of field test data, determine the minimum energy absorption threshold of concrete vibration:

[0065] ,

[0066] wherein, is the minimum energy threshold, is the density of concrete, is the slump, is the temperature of concrete, is the mix ratio coefficient;

[0067] determine the minimum energy absorption threshold of concrete over-vibration:

[0068] ,

[0069] wherein, is the over-vibration coefficient, is the material brittleness factor, is the compressive strength of the concrete, is the tensile strength of the concrete;

[0070] S4.4, the state of each grid is determined by defining the judgment condition of the concrete vibration sufficiency, the energy of the grid is compared with the minimum energy absorption threshold and the minimum energy absorption threshold, the color is represented by using the smooth transition, the five typical vibration quality states of severe under-vibration, moderate under-vibration, vibration compaction, moderate over-vibration and severe over-vibration are used, the vibration compaction effect is displayed in real time, and the judgment condition of the concrete vibration sufficiency is defined as follows:

[0071] ,

[0072] Based on the WebGL-based browser-side three-dimensional rendering, dynamic detail control is carried out through LOD, HSL color space is adopted for smooth transition, the visual energy distribution heat map is obtained, and the HLS color assignment algorithm corresponding to the judgment condition of the concrete vibration sufficiency is as follows:

[0073] .

[0074] The effects provided in the summary are only the effects of the embodiments, and are not all the effects of the application, and the above technical solutions have the following advantages or beneficial effects:

[0075] The application provides a large-volume concrete vibration intelligent control and consolidation quality intelligent evaluation method, through a vibrator model test, influences of vibration frequency and amplitude of a vibrator, a rod body and an action radius on vibration quality are researched, optimal vibration parameters of the vibrator are determined, and a vibrator position and attitude positioning system calculation method is established; work states of the vibrator can be monitored in real time, and parameters of the vibrator are adjusted in a feedback control mode, three-axis acceleration sensors and three-axis gyroscopes are installed on the vibrator, positioning and high-precision detection of the vibrator are realized, and then vibration quality of the vibrator on the concrete is controlled; through a timing beat technology, a vibrator fast insertion and slow pulling monitoring system is established, a reasonable concrete vibration construction method is formed, uniformity of energy input is ensured, vibration compaction consistency and construction fine control effect are improved.

[0076] By studying the total output energy of the concrete vibrator and the vibration loss energy, the concrete material absorption energy is determined, the concrete absorption power is taken as the basic research object, the concrete vibration energy distribution model from the material to the component level is established, the coordinates of the model are aligned with the entity geographic coordinates, the actual structure can be accurately matched by unstructured grid division, the manual mapping and repeated checking time are reduced, and the boundary threshold of the concrete energy absorption under different vibration degrees is further calculated to display the typical vibration quality state with smooth transition color, combined with the LOD dynamic detail control technology, the energy distribution thermograph is rendered in real time, the vibration effect is intuitively displayed, and quantitative evaluation of the concrete consolidation quality is realized.

[0077] The present application realizes the leap from extensive experience operation to fine control of concrete vibration through the closed-loop system of intelligent sensing, dynamic modeling and visualization platform, can improve the vibration quality and efficiency of concrete, and makes the risks existing in the vibration process controllable through intelligent sensing. BRIEF DESCRIPTION OF DRAWINGS

[0078] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application together with the embodiments thereof, and explain the technical features of the present application, but do not constitute a limitation on the present application.

[0079] Figure 1 The present application is a method flowchart.

[0080] Figure 2 It is a structural diagram of the vibrator.

[0081] Figure 3 It is a glass box composed of experimental materials for vibrator positioning test.

[0082] Figure 4 It is a four-prism track design of a steel box.

[0083] Figure 5 It is a grid divided by three-dimensional grid discretization method.

[0084] Figure 6 It is a comprehensive vibration quality diagram.

[0085] Figure 7 It is a visual energy distribution thermograph. DETAILED DESCRIPTION

[0086] In order to clearly illustrate the technical features of the present application, the present application will be described in detail below with reference to the specific embodiments and the accompanying drawings.

[0087] Embodiment 1

[0088] A mass concrete vibration intelligent control and consolidation quality intelligent evaluation method, comprising the following steps:

[0089] S1, a vibrating rod is designed by using an eccentric vibration system driven by an electric motor;

[0090] S2, an inertial navigation technology is used to position the vibrating rod inserted into the concrete structure with high precision, specifically, the attitude, speed and position of the vibrating rod are measured and calculated by a three-axis acceleration sensor and a three-axis gyroscope installed along the basic axis of the vibrating rod, the vibrating rod is positioned and captured in real time, the state of the vibrating rod is compared with the industry standard, the abnormal state of the vibrating rod is alarmed, and the timing beat technology is used to guide the vibrating rod to be inserted and pulled out at a uniform speed;

[0091] S3, the raft foundation concrete component is taken as a research entity of the energy distribution system, the geographic coordinates of the research entity are obtained, a three-dimensional model is made, a relative coordinate system is established, the geographic coordinates of the entity are aligned with the relative coordinates by the coordinate conversion method, the three-dimensional model is meshed, the aligned coordinates are combined with the vibration energy transmission model, and the energy absorption value of unit volume of concrete is calculated;

[0092] S4, a vibrating energy distribution visualization platform is developed based on the WebGL architecture, the energy absorption value of unit volume of concrete is visualized, the vibrating and compacting state of the raft foundation concrete component is displayed in real time, and the concrete consolidation quality is quantitatively evaluated.

[0093] In the specific implementation, S1 is specifically as follows:

[0094] The vibrating rod comprises a handheld handle (2), an electric motor (5) and a vibrating rod body (8), a handle sleeve (1) is arranged on the handheld handle (2), the handheld handle (2) is connected with the electric motor (5), a protective shell (3) is arranged outside the electric motor (5), a buffer pad (4) is arranged between the protective shell (3) and the electric motor (5), a buffer plate (6) is arranged at the bottom of the electric motor (5), the electric motor (5) is connected with the vibrating rod body (8), a receiver (7) is arranged at the upper end of the vibrating rod body (8), an outer rubber sleeve (9) and an inner rubber sleeve (10) are arranged outside the vibrating rod body (8), a three-axis acceleration sensor (11) and a three-axis gyroscope (13) are arranged between one side of the outer rubber sleeve (9) and the inner rubber sleeve (10), an optical cable (12) is arranged on the other side, and the optical cable (12) is connected with the receiver (7) at the same time.

[0095] In the specific implementation, S2 is specifically as follows:

[0096] The three-axis acceleration sensor and the three-axis gyroscope respectively extract speed and angular velocity, the attitude and position information of the vibrating rod are calculated according to the speed and angular velocity, the vibrating rod is positioned, and the position information of the vibrating rod is transmitted to the cloud database in real time, the roll angle , the pitch angle and the yaw angle The posture information of the vibrating rod is determined, and the position information of the vibrating rod is calculated according to the acceleration of three axes measured by the three-axis acceleration sensor , , and are the coordinates of the vibrating rod in the horizontal, vertical and depth directions;

[0097] After the vibrating rod is positioned according to the posture information and the position information of the vibrating rod, the state of the vibrating rod is determined, and the state of the vibrating rod is compared with the industry standard parameters and the electronic control theory. Specifically, the abnormal state of the vibrating rod is monitored and alarmed through timing rhythm and position monitoring technology. The abnormal state of the vibrating rod includes excessive deviation of the vibrating point, non-compliance of the vibrating time and non-compliance of the insertion and extraction speed.

[0098] In the specific implementation, the calculation process of the posture information and the position information of the vibrating rod is as follows:

[0099] (1) Posture information:

[0100] Suppose the length of the vibrating rod body is L, and the initial position of the vibrating rod is set as the end point position of the last vibrating process. Let the initial position point be , the direction vector be , and the initial position point changes after the vibrating rod works. The positioning point of the vibrating rod after rotation is calculated. Specifically, the rotation matrix is determined according to the posture information, and then the direction vector of the vibrating rod during work is calculated according to the rotation matrix and the direction vector . Then, the position of the vibrating rod after work is determined according to the initial position point and the direction vector during work. The calculation formula is as follows:

[0101] ,

[0102] ,

[0103] ,

[0104] Among them, represents the rotation matrix at time , represents the direction vector at time , represents the position of the vibrating rod at time , represents the pitch angle at time , represents the yaw angle at time , represents the roll angle at time ;

[0105] (2) Position information:

[0106] 1) The actual acceleration is obtained by measuring the acceleration in three axes with a three-axis acceleration sensor, and the calculation formula is as follows:

[0107]

[0108]

[0109]

[0110] wherein, and respectively represent the actual acceleration values in the X, Y, and Z axes, and respectively represent the original accelerations measured in the X, Y, and Z axes, and respectively represent the offsets in the X, Y, and Z axes, represents a sensitivity constant, and respectively represent the acceleration errors in the X, Y, and Z axes;

[0111] 2) The final landing solution of the sensor in a vibration cycle is:

[0112]

[0113]

[0114]

[0115] wherein, and respectively represent the final landings in the X, Y, and Z axes, and respectively represent the initial positions in the X, Y, and Z axes, represents the cycle size.

[0116] Based on the UWB positioning system and the data transmission module, the position of the vibrating rod, the effective vibration duration, the moving distance and speed of the rod body, and other data are transmitted to the edge server through the 5G network and saved to the cloud database.

[0117] In the specific implementation, the alignment of the coordinates is as follows:

[0118] ​​​​​​​​​​​​The commercial concrete pouring raft foundation concrete component is used as an energy distribution vibration research entity, geographical coordinates of the vibration research entity are obtained, a three-dimensional twin model of the vibration research entity is created through BIM, and a relative coordinate system of the model relative to the vibration entity is established; wherein, the geographical coordinates of the vibration research entity are specifically Beijing 1954 GK Zone projection coordinates, which are obtained through field RTK measurement and Arcgis analysis;

[0119] The geographical coordinates of the vibration research entity are compared with the relative coordinate system of the three-dimensional twin model, the coordinates of the three-dimensional twin model are calibrated to the Beijing 1954 GK Zone projection coordinate system, the center point of the vibration research entity is taken as the origin of the relative coordinate system of the three-dimensional twin model, and is recorded as The vibration rod acts on the vibration research entity, the coordinate system of the vibration rod is recorded as the relative coordinate system of the three-dimensional twin model, the geographical coordinates of the vibration research entity are converted with the relative coordinate system of the vibration rod, the point coordinates in the relative coordinate system of the three-dimensional twin model created by BIM for the vibration research entity are obtained, and the calculation formula is as follows:

[0120] ,

[0121] ,

[0122] wherein, represents the point coordinates in the relative coordinate system of the three-dimensional twin model, i.e. the aligned coordinates, , and represent the coordinates on the X, Y and Z axes respectively; represents the offset of the origin of the relative coordinate system in the projection coordinate system, , and represent the offset on the X, Y and Z axes respectively; represents a scale factor; represents a rotation orthogonal matrix, is a rotation factor element in the row and the column of the matrix , , ; , and represent the point coordinates on the X, Y and Z axes in the Beijing 1954 GK Zone projection coordinate system respectively; , and represent the barycentric coordinates on the X, Y and Z axes in the projection coordinate system respectively.

[0123] In the specific implementation, the energy absorption value of unit volume of concrete is calculated as follows:

[0124] The three-dimensional twin model is imported through the model loader, the model is divided by unstructured grid, the three-dimensional twin model is divided into several 1.5m*1.5cm grids, and a spherical calculation domain is constructed with the vibrating point as the center. The spherical calculation domain is the effective area for calculating the energy absorption value, and the calculation formula of the spherical calculation domain is as follows:

[0125] ,

[0126] Among them, represents the spherical calculation domain; represents the calculation radius; represents the position vector of any point, represents the position vector of the vibrating rod working point, and are located in the spherical calculation domain under the relative coordinate system of the three-dimensional twin model; represents the Euclidean norm;

[0127] The relevant vibration parameters are called from the database by using Java language, the energy absorption rate of the concrete is calculated, and the calculation process is as follows:

[0128] (1) Calculate the output power of the vibrating rod : ;

[0129] Among them, represents the motor efficiency coefficient, represents the motor input electric power;

[0130] (2) Calculate the vibration energy received by the concrete single point :

[0131] ,

[0132] ,

[0133] Among them, represents moment, , represents the concrete energy absorption coefficient, represents the average energy absorption coefficient of concrete; , represents the material constant, and is set to , ; represents the change amount of the exciting force at the vibrating point;

[0134] (3) The energy absorption density of unit volume of concrete is:

[0135] ,

[0136] wherein, represents the energy absorption density of unit volume of concrete, with the unit of (J / m³); represents the effective action volume, with the unit of (m 3 ); represents the vibration influence radius, with the unit of (m); represents the insertion depth, with the unit of (m).

[0137] In the specific implementation, S4 is specifically as follows:

[0138] S4.1, a three-dimensional grid discretization method is used to perform more detailed grid division on the raft foundation concrete component again, and a scanning path is set, and the calculation formula is as follows:

[0139] ,

[0140] ,

[0141] ,

[0142] wherein, is the length of the test block, is the width of the test block, is the height of the test block; is the number of grids in the X, Y and Z directions; , and represent the length, width and height of a single grid;

[0143] S4.2, the energy absorption density of each grid unit is calculated:

[0144] ,

[0145] wherein, represents the vibration time of the i-th grid, represents the volume of the i-th grid, represents the energy of the i-th grid, represents the energy absorption density of unit volume of concrete of the i-th grid; S4.3, based on the regression analysis of the field test data, the minimum energy absorption threshold of the concrete vibration sufficiency is determined:

[0146]

[0147] , ​​​​

[0148] wherein, is the minimum energy threshold, is the concrete density (kg / m³), is the slump (mm), T is the concrete temperature (℃), is the mix ratio coefficient;

[0149] determining the minimum energy absorption threshold of concrete over-vibration:

[0150] ,

[0151] wherein, is the over-vibration coefficient, is the material brittleness factor, is the compressive strength of concrete, is the tensile strength of concrete;

[0152] S4.4, determine the state of each grid by defining the judgment condition of concrete vibration sufficiency, compare the energy of the grid with the minimum energy absorption threshold and the minimum energy absorption threshold, use the color of smooth transition to represent the five typical vibration quality states of severe under-vibration, moderate under-vibration, vibration compaction, moderate over-vibration and severe over-vibration, and display the vibration compaction effect in real time, and the judgment condition of concrete vibration sufficiency is as follows:

[0153] ,

[0154] Based on the WebGL-based browser-side three-dimensional rendering, dynamic detail control is performed through LOD, HSL color space smooth transition is adopted, the visual energy distribution heat map is obtained, and the HLS color assignment algorithm corresponding to the judgment condition of concrete vibration sufficiency is as follows:

[0155] .

[0156] Example 2

[0157] In order to better prove the effect of the vibration intelligent control of the present application, vibration rod positioning test and vibration performance test are carried out.

[0158] (1) Vibration rod positioning test:

[0159] In this test, spiral and four-pyramid steel skeletons are placed in the organic glass steel box, and spiral hoops are welded on the skeletons, the vibration rod is inserted into the spiral hoop by calculating the tangent spiral and four-pyramid feature point coordinates, and the positioning data and feature point positioning data results are compared and tested, and the vibration rod positioning sensor parameters are corrected.

[0160] 1) Test materials:

[0161] For example,Figure 3 As shown in the figure, a glass box made of test materials for positioning test of vibrating rod, 4 pieces of 700mmx1300mm rectangular organic glass with a thickness of 80mm and 1 piece of 800mmx800mm rectangular organic glass;

[0162] Equilateral angle steel: Q235A, size L45x45x6;

[0163] HPB300 steel bar: 8 pieces of 1.5mΦ20 steel bar, 24 pieces of 1.5mΦ6 steel bar, 8 pieces of 0.6mΦ6 steel bar, 4 pieces of 1.2mΦ6 steel bar, and several meters of Φ4 steel wire.

[0164] 2) Test scheme:

[0165] Steel box design: organic glass is fixed on the steel box by bolts;

[0166] Channel design: use Φ4 steel wire to bend and process to form 4 spring-shaped inner channels with an outer diameter of about 60mm, reinforce the outer side of the spring-shaped inner channel structure with a Φ20 steel bar and three Φ6 steel bars, and fix them by spot welding;

[0167] Steel frame design: design a 600mmx600mmx1200mm cuboid steel frame welded by Φ6 steel bars;

[0168] Four-pyramid track design: as shown in the figure, place one end of the designed four channels at points C, F, I and L of the steel box respectively, and weld the other end to the midpoint O of the top surface, set points A~G, a total of 12 feature points; Figure 4

[0169] Tangent spiral track design: weld one end of the four channels to the top edge midpoint of the steel frame, and weld the other end to the adjacent bottom edge midpoint on the right side, and set 1-16 feature coordinate points.

[0170] 3) Test steps and analysis method:

[0171] Four-pyramid track design: preset 13 points, coordinates: O(30, 30, 120), A(30, 20, 80), B(30, 10, 40), C(30, 0, 0), D(40, 30, 80), E(50, 30, 40), F(60, 30, 0), G(30, 40, 80), H(30, 50, 40), I(30, 60, 0), G(20, 30, 80), K(10, 30, 40), L(0, 30, 0).

[0172] ​Tangent helix track design, coordinates: 1 (30, 0, 0), 2 (40, 10, 40), 3 (50, 20, 80), 4 (60, 30, 120), 5 (60, 30, 0), 6 (50, 40, 40), 7 (40, 50, 80), 8 (30, 60, 120), 9 (30, 60, 0), 10 (30, 50, 40), 11 (10, 40, 80), 12 (0, 30, 120), 13 (0, 30, 0), 14 (10, 20, 40), 15 (20, 10, 80), 16 (30, 0, 120).

[0173] Place the channel device (steel frame) in the steel box, ensuring that there are no interfering objects around it, and place the vibrating rod at the starting position determined in advance.

[0174] Move the vibrating rod and start collecting positioning sensor data. Record the position coordinates.

[0175] Compare the actual position with the preset position to ensure the accuracy of the sensor data.

[0176] 4) Test conditions:

[0177] Vibrating rod positioning test in empty state;

[0178] Positioning test in water environment: Conduct positioning tests on four-pyramid track and tangent helix track. Collect data from test points, analyze the linear relationship between the depth of each test point and the sensor reading, and combine the inertial navigation attitude data to obtain the actual position of the test point. Compare the actual value with the theoretical value to evaluate the positioning accuracy.

[0179] Positioning test in ceramsite environment: Conduct positioning tests on the body diagonal track. Determine the actual position by combining the depth of each test point with the inertial navigation attitude data. Compare the actual value with the theoretical value to determine whether the positioning scheme meets the requirements in the ceramsite environment.

[0180] Positioning test in concrete environment: Based on the real-time attitude of the vibrator during the vibrating process, it can intuitively reflect whether the vibrator deviates from the actual measurement angle.

[0181] 5) Experimental results:

[0182] In water environment, the positioning test points of four-pyramid track deviate from the actual value by more than 30mm, and the positioning test points of tangent helix track deviate from the actual value by 35.5mm. Only 3 out of 32 test points deviate by more than 3cm, verifying the accuracy of the positioning scheme and measurement elements in static load and water environment.

[0183] In ceramsite environment, the positioning test points of body diagonal track deviate by a maximum of 1.89mm, and 5 out of 12 test points deviate by less than 1mm, indicating that the vibrating rod combination positioning can meet the target requirements in ceramsite environment.

[0184] The positioning test of tetrahedral pyramid orbit, tangent helix orbit and body diagonal orbit studies the performance of the positioning scheme under different orbit structures. The test results of different orbits help to optimize the positioning scheme and improve the applicability of the positioning system for specific engineering scenarios and orbit requirements.

[0185] The positioning system of the vibrating rod is tested during the pouring of the test piece. 32 test points are set at a specific interval on a 900mm high component. The test results show that the deviation of all test points is within 5°, meeting the monitoring requirements of the vibrating inclination angle.

[0186] The above conclusions show that the combined positioning of the vibrating rod meets the target requirements in the unloaded, water and ceramsite environments, providing reliable positioning support for construction operations in actual environments. The test successfully designs and tests the vibrating rod positioning system and related control methods, and obtains quality performance data of concrete under different vibrating conditions through various test methods. The test results provide a basis for a deep understanding of the influence of vibrating parameters on the quality of concrete, and help to optimize the concrete vibrating process.

[0187] (2) Study on the influence of vibrating frequency and amplitude of vibrating rod on the quality of test piece:

[0188] Through the first three stages of test, the vibrating rod sensor parameters are corrected, and the influence of vibrating frequency and amplitude of vibrating rod on the quality of concrete is studied to provide parameter setting methods for developers.

[0189] 1) Test materials and equipment:

[0190] The test equipment uses the multiscale Voxel-1000 series industrial CT of Xijing University. The industrial CT system is composed of an X-ray source, a detector, a rotating platform and data processing software. During scanning, the object is placed on the rotating platform and rotates around its axis by continuous rotation. At the same time, the X-ray source emits an X-ray beam through the object, and the detector records the intensity change of the beam after passing through the object. Through multiple angle scanning and data acquisition, the computer can reconstruct the three-dimensional structure of the object and generate a high-resolution voxel data set.

[0191] 2) Test design and steps:

[0192] Test design: Study the influence of different frequencies and amplitudes on the quality of C30, C40 concrete standard cubic test pieces with slump of 90mm and 120mm. The test uses CT scanning test and strength test. Through three-dimensional modeling of materials, a model of the influence of different frequency and amplitude settings on porosity is constructed to provide a reference for establishing the constitutive model of the component.

[0193] Test piece production steps:

[0194] a. The specification requires that the layered thickness should not be less than 20 cm and not more than 50 cm, and the test takes 30 cm as a layer, and the entire component is poured in three layers;

[0195] b. After pouring each layer, a vibrating rod is used for vibration and compaction, the vibrating rod needs to be inserted into the previous layer by at least 5 cm, and a screed is used for surface leveling;

[0196] c. After pouring, the entire column is fully cured, the column surface is kept moist during the curing period to prevent rapid water evaporation and ensure that the concrete can develop sufficient strength;

[0197] d. During the period from pouring the test piece to the completion of the test piece curing, ultrasonic pore measurement and sample photographing are performed every 7 days, a total of 5 times;

[0198] e. CT scanning test is performed on the test piece, the test piece is loaded by a jack, the mechanical sensor observes the pressure, when the test piece reaches the predetermined load, the loading is stopped, and the CT dynamic detection device is placed in the CT scanner for scanning, the CT image is saved and the CT value is recorded;

[0199] f. The scanning sections of the test piece at each stress stage are divided into XY cross sections and YZ longitudinal sections, every 25 mm along the Z axis direction from top to bottom is a scanning section, respectively XY-1, XY-2, XY-3, XY-4 and XY-5, every 25 mm along the X axis direction from top to bottom is a scanning section, respectively YZ-1, YZ-2, YZ-3, YZ-4 and YZ-5, the CT scanning section grid is divided into 9 grids, the area of each region is 2500 mm 2 (50 mm x 50 mm), the grid divided by the three-dimensional grid discretization method is shown in Figure 5 , the comprehensive vibration quality diagram is shown in Figure 6 , according to Figure 6 , the visual energy distribution thermograph as shown in Figure 7 can be further generated.

[0200] In terms of porosity, the overall cross-sectional porosity is between 1.0% and 3.0%, the average porosity is 1.92%, and the porosity of each layer reflects a clear three-peak characteristic, the porosity of the first and second peaks is about 2.6%, and the porosity of the third peak is about 3%, the maximum porosity of the three is relatively small compared to the average porosity, indicating that the test piece quality is good, the material inside each cross section is very dense at different positions, and the structure is very stable.

[0201] The core sample CT scanning test successfully obtains the key information of the internal pore and particle distribution of the concrete, which provides intuitive and accurate data for evaluating the quality of the concrete, helps to deeply understand the relationship between the internal structure and performance of the concrete, and based on the test results, the concrete mix proportion design and construction process can be subsequently optimized in a targeted manner, such as adjusting the vibration parameters, improving the raw material selection, etc., so as to reduce the pore, optimize the particle distribution, and further improve the overall quality of the concrete, and provide more reliable material support for the building engineering.

[0202] Although the specific embodiments of the application are described above with reference to the drawings, they are not a limitation on the scope of protection of the application. Various modifications or variations made by those skilled in the art on the basis of the technical solutions of the application without creative labor are still within the scope of protection of the application.

Claims

1. A mass concrete vibration intelligent control and consolidation quality intelligent evaluation method, characterized in that, Comprise the following steps: S1, the eccentric vibration system is designed by using the electric motor to drive the vibrating rod; S2, the vibrating rod inserted into the concrete structure is high-precision attitude positioning by using inertial navigation technology, specifically by measuring and calculating the attitude, speed and position of the vibrating rod through the three-axis acceleration sensor and three-axis gyroscope installed along the basic axis of the vibrating rod, the vibrating rod is positioned in real time, the state of the vibrating rod is compared with the industry standard, the abnormal state of the vibrating rod is alarmed, and the timing beat technology is used to guide the vibrating rod to insert and pull out at a uniform speed; S2 is as follows: The triaxial acceleration sensor and the triaxial gyroscope respectively perform speed extraction and angular velocity extraction, the attitude and position information of the vibrating rod are calculated according to the speed and the angular velocity, the vibrating rod is positioned, and the position information of the vibrating rod is transmitted to a cloud database in real time, the attitude information of the vibrating rod is determined according to the rolling angle , the pitch angle and the yaw angle of the vibrating rod, the position information of the vibrating rod is calculated according to the three axial accelerations measured by the triaxial acceleration sensor, and the coordinates of the vibrating rod in the horizontal, vertical and depth directions are , , and . After the vibrating rod is positioned according to the attitude information and position information of the vibrating rod, the state of the vibrating rod is determined, the state of the vibrating rod is compared with the industry standard parameters and electronic control theory, and the abnormal state of the vibrating rod is monitored and alarmed, the abnormal state of the vibrating rod includes that the vibration point deviation is too large, the vibration time is not up to standard and the insertion and pulling speed is not in line with the regulation; The calculation process of the attitude information and position information of the vibrating rod is as follows: (1) attitude information: Suppose the length of the vibrating rod body is L, the initial position of the vibrating rod is set as the end point position of the last vibrating process, the initial position point is set as , the direction vector is , after the vibrating rod works, the initial position point changes, the positioning point of the vibrating rod after rotation is calculated, specifically, the rotation matrix is determined according to the attitude information, then the direction vector of the vibrating rod when working is calculated according to the rotation matrix and the direction vector , and then the position of the vibrating rod after working is determined according to the initial position point and the direction vector when working, and the calculation formula is as follows: ， ， ， wherein denotes a rotation matrix at the time instant denotes a direction vector at the time instant denotes a position of the vibrator at the time instant denotes a pitch angle at the time instant denotes a yaw angle at the time instant denotes a roll angle at the time instant (2) position information: 1) The actual acceleration is obtained by measuring the acceleration in three axial directions through the three-axis acceleration sensor, and the calculation formula is as follows: ， ， ， wherein, , and respectively represent actual acceleration values on X, Y, Z axes, , and respectively represent measured raw accelerations on X, Y, Z axes, , and respectively represent offset amounts on X, Y, Z axes, represents a sensitivity constant, , and respectively represent acceleration errors on X, Y, Z axes; 2) The final position solution of the sensor in a vibration period is: ， ， ， wherein, , and represent the final position on the X, Y, Z axes, respectively, , and represent the initial position on the X, Y, Z axes, respectively, represents the period size; S3, the raft foundation concrete component is taken as the research entity of the energy distribution system, the geographic coordinates of the research entity are obtained, the corresponding three-dimensional model is established, the relative coordinate system is created, the geographic coordinates of the entity are aligned with the relative coordinates through the coordinate conversion method, the three-dimensional model is meshed, the aligned coordinates are combined with the vibration energy transmission model, and the energy absorption value of unit volume of concrete is calculated; S4, a vibrating energy distribution visualization platform is developed based on WebGL architecture, the energy absorption value of unit volume of concrete is visualized, the vibrating and compacting state of the raft foundation concrete component is displayed in real time, and the concrete consolidation quality is quantitatively evaluated.

2. The method according to claim 1, characterized in that, S1 is as follows: The vibrating rod comprises a handheld handle (2), an electric motor (5) and a vibrating rod body (8), a handle sleeve (1) is arranged on the handheld handle (2), the handheld handle (2) is connected with the electric motor (5), a protective shell (3) is arranged outside the electric motor (5), a buffer pad (4) is arranged between the protective shell (3) and the electric motor (5), a buffer plate (6) is arranged at the bottom of the electric motor (5), the electric motor (5) is connected with the vibrating rod body (8), a receiver (7) is arranged at the upper end of the vibrating rod body (8), an outer rubber sleeve (9) and an inner rubber sleeve (10) are arranged outside the vibrating rod body (8), a three-axis acceleration sensor (11) and a three-axis gyroscope (13) are arranged between one side of the outer rubber sleeve (9) and the inner rubber sleeve (10), and an optical cable (12) is arranged on the other side, and the optical cable (12) is connected with the receiver (7).

3. The method according to claim 2, characterized in that, The alignment of the coordinates is as follows: The commercial concrete raft foundation concrete component is used as an energy distribution vibration research entity, geographical coordinates of the vibration research entity are obtained, a three-dimensional twin model of the vibration research entity is created through BIM, and a relative coordinate system of the model relative to the vibration entity is established; wherein, the geographical coordinates of the vibration research entity are specifically Beijing 1954 GK Zone projection coordinates, which are obtained through field RTK measurement and Arcgis analysis; The geographic coordinates of the vibrating research entity are calibrated with the relative coordinate system of the three-dimensional twin model, the coordinates of the three-dimensional twin model are calibrated in the Beijing 1954 GK Zone projection coordinate system, and the center point of the vibrating research entity is taken as the origin of the relative coordinate system of the three-dimensional twin model, denoted as The vibrating rod acts on the vibrating research entity, and the coordinate system of the vibrating rod is denoted as the relative coordinate system of the three-dimensional twin model. The geographic coordinates of the vibrating research entity are converted with the relative coordinate system of the vibrating rod to obtain the point coordinates of the three-dimensional twin model of the BIM-created vibrating research entity in the relative coordinate system, and the calculation formula is as follows: ， ， wherein, represents the point coordinates in the three-dimensional twin model relative coordinate system, i.e., the coordinates after alignment, , and represent the coordinates on the X, Y, Z axes, respectively; represents the offset of the relative coordinate system origin in the projection coordinate system, , and represent the offset on the X, Y, Z axes, respectively; represents the scale factor; represents the rotation orthogonal matrix, is the rotation factor element in the row and the column of the matrix , , ; , and represent the point coordinates on the X, Y, Z axes in the Beijing 1954 GK Zone projection coordinate system, respectively; , and represent the barycentric coordinates on the X, Y, Z axes in the projection coordinate system, respectively.

4. The method according to claim 3, characterized in that, The energy absorption value of unit volume concrete is calculated as follows: The three-dimensional twin model is imported through the model loader, the model is divided into a plurality of 1.5m*1.5cm grids through unstructured mesh division, a spherical calculation domain is constructed with the vibration point as the center, the spherical calculation domain is an effective area for calculating the energy absorption value, and the calculation formula of the spherical calculation domain is as follows: ， wherein represents a spherical computational domain; represents a computational radius; represents a position vector of an arbitrary point, represents a position vector of the working point of the vibrating rod, and are located within the spherical computational domain under the relative coordinate system of the three-dimensional twin model; represents the Euclidean norm; The relevant vibration parameters are called from the database through Java language, the energy absorption rate of the concrete is calculated, and the calculation process is as follows: (1) calculating the output power of the vibrator : ; wherein, represents the motor efficiency coefficient, represents the motor input electric power; (2) Calculate the vibration energy received by the concrete single point : ， ， wherein represents time, , represents a concrete energy absorption coefficient, represents a concrete energy average absorption coefficient; , represents a material constant; represents a variation amount of the exciting force at the vibration point; (3) The energy absorption density of unit volume concrete is: ， wherein, represents the energy absorption density per unit volume of concrete; represents the effective volume of action; represents the radius of influence of the vibration; represents the depth of insertion.

5. The method according to claim 4, characterized in that, S4 is specifically as follows: S4.1, the raft foundation concrete component is further divided into grids through a three-dimensional grid discretization method, a scanning path is set, and the calculation formula is as follows: ， ， ， wherein, is the length of the test block, is the width of the test block, is the height of the test block; is the number of grids in the X, Y, Z directions; , and denotes the length, width, height of a single grid; S4.2, the energy absorption density of each grid unit is calculated: ， wherein, represents the vibration time of the grid, represents the volume of the grid, represents the energy of the grid, represents the energy absorption density per unit volume of concrete of the grid; S4.3, based on regression analysis of field test data, the minimum energy absorption threshold of concrete vibration is determined: ， wherein, is a minimum energy threshold, is a concrete density, is a slump, is a concrete temperature, is a mix ratio coefficient; The minimum energy absorption threshold of concrete over-vibration is determined: ， wherein, is the over-vibration coefficient, is the material brittleness factor, is the compressive strength of the concrete, is the tensile strength of the concrete; S4.4, the state of each grid is determined by defining the judgment condition of concrete vibration sufficiency, the energy of the grid is compared with the minimum energy absorption threshold and the minimum energy absorption threshold, the color is used to represent five typical vibration quality states of serious under-vibration, moderate under-vibration, vibration compaction, moderate over-vibration and serious over-vibration, the vibration compaction effect is displayed in real time, and the judgment condition of concrete vibration sufficiency is as follows: ， Based on WebGL browser three-dimensional rendering, dynamic detail control is performed through LOD, HSL color space smooth transition is used, a visual energy distribution heat map is obtained, and the HLS color assignment algorithm corresponding to the judgment condition of concrete vibration sufficiency is as follows: 。

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