Concrete vibration sufficiency judgment method and system based on multi-sensor fusion

Abstract

The invention discloses a concrete vibration sufficiency judgment method and system based on multi-sensor fusion. The method comprises the steps that first information of a vibration rod in concrete and second information in the concrete are obtained; the first information is motion state information; the second information is hydration reaction state information and comprises temperature change in the concrete; fusing the first information and the second information to obtain a fusion result; vibration sufficiency judgment is conducted according to the fusion result, and a vibration sufficiency judgment result is obtained; according to vibration sufficiency judgment, weighted decision fusion is carried out on the first information and the second information according to a preset weight, and judgment is carried out in combination with a self-adaptive threshold value and a state machine model; and generating operation guidance information based on the global region or the local sub-region according to the vibration sufficiency judgment result. According to the method, intelligent and accurate judgment on the concrete vibration sufficiency is achieved, the vibration effect can be evaluated more comprehensively and objectively, under-vibration or over-vibration is effectively avoided, and the concrete engineering quality is improved.

Description

Technical Field

[0001] This invention relates to the field of concrete construction technology, and specifically to a method and system for judging the adequacy of concrete vibration based on multi-sensor fusion. Background Technology

[0002] In building construction, concrete vibration is a crucial process for ensuring structural density and integrity. It primarily uses external mechanical vibration to remove air bubbles trapped in the concrete, ensuring it fills every corner of the formwork and achieves the designed strength. Currently, construction workers generally rely on their personal experience to judge whether vibration is sufficient, primarily based on subjective feelings such as observing the surface of the concrete forming a paste, the cessation of air bubble overflow, and the feel of the vibrator. This traditional method is highly dependent on the worker's skill level and working condition, lacking objective and unified quantitative standards. This results in poor vibration quality stability, easily leading to quality defects such as honeycombing, pitting, and voids due to under-vibration or over-vibration, directly threatening the safety of the engineering structure and failing to meet the needs of modern digital and intelligent construction management.

[0003] Existing technologies also include some methods that attempt to improve this, such as simply monitoring the running time or operating current of the vibrator. However, these single parameters cannot accurately and comprehensively reflect the actual compaction process inside the concrete. Vibration time is affected by factors such as concrete mix proportions, slump, and ambient temperature, and cannot be used as a universal standard. While changes in operating current are related to the load, they cannot distinguish whether the concrete has encountered reinforcing steel or has truly compacted.

[0004] Therefore, existing methods have failed to fundamentally solve the problem of accurately and quantitatively judging the complex state of "sufficient vibration". The fundamental problem lies in the lack of synchronous perception and fusion analysis of multi-dimensional information such as the movement trajectory of the vibrator (uniformity of coverage) and changes in the internal state of the concrete (such as temperature rise caused by heat of hydration), resulting in one-sided judgment and the inability to achieve intelligent guidance.

[0005] In view of the above, this application is hereby submitted. Summary of the Invention

[0006] The technical problem this invention aims to solve is that existing concrete vibration operations either rely excessively on manual experience, leading to unstable vibration quality, defects, and difficulty in adapting to digital and intelligent management requirements; or rely on a single parameter, which cannot accurately and comprehensively reflect the actual compaction process inside the concrete. These existing methods cannot accurately and quantitatively judge the adequacy of concrete vibration. The purpose of this invention is to provide a method and system for judging the adequacy of concrete vibration based on multi-sensor fusion. Based on multi-sensor fusion technology, it acquires the motion state information of the vibrator and the compaction state information inside the concrete, and deeply fuses and intelligently analyzes these multi-source heterogeneous data to achieve intelligent and accurate judgment of the adequacy of concrete vibration, and provides corresponding operational guidance information. This invention solves the problems of excessive reliance on operator experience, strong subjectivity in judgment, unstable vibration quality, defects such as honeycomb and pitting, and difficulty in adapting to digital and intelligent management requirements in existing technologies. It can more comprehensively and objectively evaluate the vibration effect, effectively avoid under-vibration or over-vibration, and improve the quality of concrete engineering.

[0007] This invention is achieved through the following technical solution:

[0008] In a first aspect, the present invention provides a method for determining the adequacy of concrete vibration based on multi-sensor fusion, the method comprising:

[0009] The system acquires first information about the vibrator in the concrete and second information about the interior of the concrete. The first information is motion state information, including the three-dimensional motion trajectory of the vibrator, vibration frequency, amplitude uniformity, and coverage integrity of the vibration area. The second information is hydration reaction state information, including temperature changes inside the concrete.

[0010] The first and second information are fused to obtain a fusion result; and the sufficiency of vibration is judged based on the fusion result to obtain a sufficiency judgment result; the sufficiency judgment of vibration is to perform weighted decision fusion of the first and second information according to preset weights, and to make a judgment in combination with an adaptive threshold and a state machine model;

[0011] And based on the results of the vibration adequacy assessment, operational guidance information is generated based on the global region or local sub-regions.

[0012] Furthermore, before determining the adequacy of vibration based on the fusion results, the method also includes:

[0013] After the vibrator is inserted into the concrete and before full-power vibration, the initial rheological property detection mode is activated, and the vibrator drive motor runs at low power to generate preset low-energy and multi-frequency micro-vibrations.

[0014] The vibration energy decay mode and micro-displacement characteristics of the vibratory rod at each detection frequency were collected under the initial rheological property detection mode.

[0015] The initial rheological state of concrete is evaluated based on the vibration energy decay mode and micro-displacement characteristics at multiple frequencies; a rheological characteristic profile is generated based on the initial rheological state; the rheological characteristic profile is a quantitative description of the initial physical properties of concrete in the current region and serves as a reference benchmark.

[0016] Based on the rheological characteristic file, the compaction judgment logic of the full-power vibration stage is adjusted to obtain the adjusted compaction judgment logic for judging the adequacy of vibration.

[0017] Among them, adjusting the compaction judgment logic in the full-power vibration stage includes reducing the weight of attitude and vibration characteristic scores in the first information, increasing the weight of temperature change scores in the second information, and modifying the adjustment strategy of the adaptive threshold to limit the downward adjustment range of the adaptive threshold.

[0018] Furthermore, the assessment of the adequacy of vibration based on the fusion results includes:

[0019] Continuously acquire first information from the vibrator in the local area and second information from the inside of the concrete;

[0020] Based on the local differences in the moving speed of the vibrator, the dwell time of the vibrator, and the rate of change of the internal temperature of the concrete within the local area, the weight allocation of the first and second information in the weighted decision fusion algorithm is dynamically adjusted.

[0021] The adaptive threshold is dynamically adjusted based on the real-time changes in the compaction rate within a local area to obtain the adjusted threshold.

[0022] Based on the fusion results of local areas and the adjusted threshold, the density state is determined and switched.

[0023] Furthermore, the assessment of the adequacy of vibration based on the fusion results also includes:

[0024] The first external factor and the second external factor are obtained. The first external factor is external mechanical vibration data, which is obtained by monitoring the external mechanical vibration of the environment in which the vibrator is located. The second external factor is ambient temperature data, which is obtained by monitoring the ambient temperature around the vibrator.

[0025] Based on the first external factor, the influence of external mechanical vibration on the first information of the vibrator is identified, and the first influence identification result is obtained;

[0026] Based on the second external factor, the influence of external ambient temperature on the second information of concrete is identified, and the second influence identification result is obtained.

[0027] Based on the results of the first and second impact identifications, the judgment on the adequacy of vibration is adjusted; the adjustment includes adjusting the preset weights, correcting the adaptive threshold adjustment strategy, and adjusting the switching logic of the state machine model.

[0028] The first and second information are weighted and fused according to the adjusted weights, and the judgment is made in combination with the modified adaptive threshold adjustment strategy and the adjusted state machine model switching logic.

[0029] Furthermore, based on the results of the vibration adequacy assessment, operational guidance information is generated for local sub-regions, including:

[0030] The three-dimensional movement trajectory of the vibrator inside the concrete is continuously tracked, and the vibration area is divided into multiple local sub-regions based on the moving speed and residence time of the vibrator.

[0031] For each local sub-region, the compaction state is independently judged based on the local differences in the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of the concrete, so as to obtain the compaction judgment result of the local sub-region.

[0032] Based on the compaction judgment results of each local sub-region, operation guidance information for the local sub-region is generated;

[0033] The steps for obtaining the rate of temperature change inside the concrete are as follows:

[0034] In the local sub-region where the vibrator moves rapidly, the temperature data enhancement mode is activated, the sampling frequency of the temperature sensor is increased, and the low-energy, high-frequency micro-vibration mode of the vibrator is activated.

[0035] Temperature data acquired under enhanced temperature data acquisition mode, with increased sampling frequency, and temperature response data under low-energy, high-frequency micro-vibration mode;

[0036] Based on temperature data and temperature response data, combined with the moving speed of the vibrator and the distribution information of reinforcing bars in the local area, the temperature change rate of the local sub-region is corrected to obtain the corrected internal temperature change rate of the concrete.

[0037] Furthermore, for each local sub-region, based on the local differences in the moving speed of the vibrator, the residence time of the vibrator, and the rate of temperature change inside the concrete, the compaction state is independently judged to obtain the compaction judgment result of the local sub-region, including:

[0038] Before determining the compaction status of each local sub-region, the local concrete characteristic detection mode is activated, and the vibrator drive motor runs in a low-power, variable-frequency vibration mode to generate micro-vibrations of different frequencies and amplitudes.

[0039] The vibration energy decay curves and displacement response of the vibrator were collected under the local concrete characteristic detection mode at each micro-vibration frequency and amplitude.

[0040] Based on the vibration energy decay curve and displacement response, the viscosity, yield stress and internal friction coefficient of concrete in the local sub-region are evaluated to obtain the local concrete rheological properties parameters.

[0041] Based on the local concrete rheological properties parameters, the judgment threshold and weighting factor of the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of the concrete in the local sub-region are dynamically adjusted.

[0042] Based on the adjusted judgment threshold and weighting factor, the compaction state is independently judged based on the local differences in the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of concrete in local sub-regions.

[0043] Furthermore, based on local concrete rheological property parameters, the judgment thresholds and weighting factors for the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal concrete temperature in the local sub-region are dynamically adjusted, including:

[0044] In the rapid reassessment mode, the vibratory rod drive motor operates in a high-frequency, short-pulse micro-vibration mode to simultaneously acquire the vibration energy attenuation mode and displacement characteristics.

[0045] Based on the reassessment results of vibration energy decay mode and displacement characteristics, combined with the current ambient temperature and the time of placement of the new batch of concrete, the local concrete rheological properties parameters are updated in real time.

[0046] Based on the updated local concrete rheological properties parameters, the judgment threshold and weighting factor of the vibrator moving speed, vibrator dwell time, and concrete internal temperature change rate in the local sub-region are dynamically adjusted.

[0047] The rapid re-evaluation mode acquisition steps are as follows: continuously monitor the temperature change rate of concrete and the motion state information of the vibrator in the local sub-region; when a significant nonlinear change or abrupt change in the temperature change rate or the motion state information of the vibrator is detected, the rapid re-evaluation mode of the local rheological properties is triggered.

[0048] Furthermore, continuous monitoring of the rate of temperature change of concrete and the motion status of the vibrator within local sub-regions includes:

[0049] The foreign object identification and interference suppression mode is activated, and the vibratory rod drive motor operates in a low-energy, multi-frequency scanning vibration mode, while simultaneously collecting the vibration energy attenuation mode and temperature field distribution data of the vibratory rod in different frequency bands.

[0050] Based on the vibration energy decay mode and temperature field distribution data in the local area, the basic information of foreign objects in the local sub-region is identified; the basic information includes material, size and spatial distribution.

[0051] Based on the basic information, thermal conduction compensation is performed on the temperature change rate data in the area near the foreign object, and vibration damping correction is performed on the local attenuation of vibration energy caused by the foreign object. The corrected temperature change rate of concrete and the motion state information of the vibrator in the local sub-region are obtained for subsequent re-evaluation of rheological parameters and adjustment of judgment threshold.

[0052] Secondly, the present invention provides a concrete vibration adequacy judgment system based on multi-sensor fusion, the system comprising:

[0053] The acquisition unit is used to acquire first information about the vibrator in the concrete and second information about the interior of the concrete. The first information is motion state information, including the three-dimensional motion trajectory of the vibrator, vibration frequency, amplitude uniformity, and coverage integrity of the vibration area. The second information is hydration reaction state information, including temperature changes inside the concrete.

[0054] The vibration sufficiency judgment unit is used to fuse the first information and the second information to obtain the fusion result; and to make a vibration sufficiency judgment based on the fusion result to obtain the vibration sufficiency judgment result; the vibration sufficiency judgment is to perform weighted decision fusion of the first information and the second information according to preset weights, and to make a judgment in combination with an adaptive threshold and a state machine model;

[0055] The operation guidance information generation unit is used to generate operation guidance information based on the results of the vibration adequacy judgment, either from a global region or a local sub-region.

[0056] Thirdly, the present invention provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the above-mentioned method for judging the adequacy of concrete vibration based on multi-sensor fusion.

[0057] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0058] This invention relates to a method and system for judging the adequacy of concrete vibration based on multi-sensor fusion. It acquires information on the motion state of the vibrator within the concrete (including three-dimensional motion trajectory, vibration frequency, amplitude uniformity, and the integrity of the vibration area coverage) and the compaction state information within the concrete (including temperature changes within the concrete). The motion state information comprehensively and objectively reflects the actual working condition of the vibrator within the concrete, overcoming the limitations of traditional methods that only focus on vibration time or current. The compaction state information directly perceives the physicochemical changes within the concrete, providing a deeper basis for judging the degree of compaction. This multi-source information is then weighted and fused, and combined with an adaptive threshold and a state machine model to judge the adequacy of vibration. Finally, operational guidance information is generated based on the judgment results.

[0059] This invention solves the problems of existing technologies, such as over-reliance on operator experience, strong subjectivity in judgment, unstable vibration quality, easy occurrence of honeycomb and pitted surfaces, and difficulty in adapting to the needs of digital and intelligent management. This invention realizes intelligent and accurate judgment of the adequacy of concrete vibration and provides corresponding operation guidance information; it can more comprehensively and objectively evaluate the vibration effect, effectively avoid under-vibration or over-vibration, and improve the quality of concrete projects. Attached Figure Description

[0060] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0061] Figure 1 This is a flowchart of the concrete vibration adequacy judgment method based on multi-sensor fusion of the present invention;

[0062] Figure 2 This is a structural block diagram of the concrete vibration adequacy judgment system based on multi-sensor fusion according to the present invention. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0064] The working principle of this invention is as follows:

[0065] By leveraging multi-dimensional, real-time data sensing, a comprehensive digital profile of the concrete vibration process is constructed, enabling intelligent decision-making. When the vibrator begins operation, its three-dimensional motion trajectory, vibration frequency, amplitude uniformity, and the integrity of the vibration area are continuously collected. This data reflects the physical interaction of the vibrator within the concrete. Simultaneously, real-time monitoring of internal concrete temperature changes directly reflects the thermodynamic response during hydration and compaction.

[0066] Subsequently, the motion state information and compaction state information are deeply fused. Specifically, these two types of information are weighted and fused according to preset weights. For example, in the initial stage of vibration, the motion state information of the vibrator may be given higher weight to ensure that the vibrator can effectively cover and initially activate the concrete; while in the middle and later stages of vibration, the temperature change information inside the concrete may be given higher weight to more accurately determine the degree of compaction. The fused result is then combined with an adaptive threshold and a state machine model for judgment. The adaptive threshold is dynamically adjusted according to factors such as the concrete mix ratio and ambient temperature to ensure the accuracy of the judgment. The state machine model switches between states such as uncompacted, undercompacted, fully compacted, and overcompacted based on the fusion result, thereby obtaining the final judgment result of the adequacy of vibration.

[0067] Finally, based on the assessment of the compaction adequacy, intuitive and real-time operational guidance information is generated. For example, if the system determines that the compaction is insufficient, it will instruct the operator to increase the vibration time in a specific area or adjust the vibration position; if the system determines that the compaction is excessive, it will prompt the operator to stop vibration to avoid segregation. In this way, the present invention closely integrates the external motion characteristics of the vibrator with the internal physical changes of the concrete, forming a closed-loop intelligent judgment and guidance system, thereby effectively solving the technical problems of strong subjectivity, inaccurate judgment, and difficulty in quality control in traditional vibration methods.

[0068] Compared to existing technologies, the core innovation of this invention lies in the deep fusion of multi-sensor information and intelligent decision-making. Traditional methods mainly rely on operator experience or monitoring of single parameters, such as the running time or operating current of the vibrator. These methods cannot comprehensively reflect the compaction process inside the concrete, leading to biased judgments and a lack of universality. For example, simply monitoring the vibration time cannot distinguish the influence of factors such as the concrete mix proportion and slump on compaction; and changes in the operating current may be caused by encountering reinforcing steel bars, rather than true compaction.

[0069] This invention constructs a multi-dimensional data perception system by simultaneously acquiring motion state information such as the three-dimensional motion trajectory of the vibrator, vibration frequency, amplitude uniformity, and coverage integrity of the vibration area, as well as densification state information such as temperature changes within the concrete. This fusion of multi-source information enables the system to comprehensively and objectively evaluate the vibration effect from both macroscopic vibrator behavior and microscopic concrete internal response levels. Through a combination of weighted decision fusion, adaptive thresholding, and a state machine model, this invention can dynamically adjust the judgment strategy according to actual working conditions, improving the accuracy and robustness of the judgment. For example, when the initial rheological state of the concrete differs, the system can adjust the densification judgment logic, reducing the weight of motion state information, increasing the weight of temperature change information, and correcting the adaptive threshold to better adapt to different working conditions. Furthermore, this invention can generate region-specific operational guidance information based on the judgment results, transforming abstract judgment results into specific, executable instructions, greatly improving the intelligence level and construction quality of vibration operations. This comprehensive solution effectively overcomes the limitations of existing technologies, such as one-sided judgment criteria and lack of intelligent guidance, providing strong technical support for improving the quality of concrete vibration.

[0070] Example 1

[0071] like Figure 1 As shown, the present invention provides a method for determining the adequacy of concrete vibration based on multi-sensor fusion. This method includes:

[0072] Step 1: Obtain first information about the vibrator in the concrete and second information about the interior of the concrete;

[0073] Specifically, the first piece of information is motion state information, which refers to the dynamic characteristics of the vibrator working inside the concrete. This includes the vibrator's three-dimensional motion trajectory, vibration frequency, amplitude uniformity, and the coverage integrity of the vibration area. The three-dimensional motion trajectory is the path the vibrator moves in three-dimensional space; the vibration frequency is the number of vibrations per second; the amplitude uniformity is the difference in vibration amplitude in different directions or over time; and the coverage integrity of the vibration area is the extent and degree of coverage by the vibrator within the entire vibration area. This first piece of information can be acquired in real time using various sensors such as an inertial measurement unit (IMU), GPS module, or ultrasonic sensor installed on the vibrator.

[0074] The second piece of information is the hydration reaction state information, which refers to the physical manifestation of changes in the internal structure of concrete during vibration, specifically the temperature changes within the concrete. Concrete releases heat during the hydration reaction, and the compaction process caused by vibration also affects the distribution and transfer of heat. Therefore, temperature changes can serve as an important indicator for assessing the degree of compaction. This second piece of information can be obtained through temperature sensors embedded in the concrete or infrared thermal imagers.

[0075] Step 2: Fuse the first information and the second information to obtain the fusion result; and make a judgment on the adequacy of vibration based on the fusion result to obtain the judgment result on the adequacy of vibration; the judgment on the adequacy of vibration is to perform weighted decision fusion on the first information and the second information according to preset weights, and make a judgment in combination with an adaptive threshold and a state machine model;

[0076] Specifically, weighted decision fusion is a data fusion method that assigns different weights to different information sources (such as motion state information and compacted state information), and then performs a weighted sum or weighted average to obtain a comprehensive judgment result. The preset weights can be based on expert experience, historical data analysis, or machine learning algorithms.

[0077] An adaptive threshold refers to a judgment boundary that is dynamically adjusted based on actual working conditions or data characteristics during the judgment process. For example, when the concrete mix proportion or ambient temperature changes, the threshold for judging the adequacy of vibration will also be adjusted accordingly to improve the accuracy of the judgment.

[0078] A state machine model is a mathematical model that describes the behavior of a system. It divides the system into a series of discrete states and transitions from one state to another under specific conditions. The state machine model of this invention can be used to describe the transition process of concrete from different compaction states, such as "unvibrated," "under-vibrated," "fully vibrated," and "over-vibrated."

[0079] Step 3: Based on the results of the vibration adequacy assessment, generate operation guidance information based on the global region or local sub-regions.

[0080] The core design of the technical solution formed by steps 1 to 3 above lies in the acquisition, fusion, and intelligent judgment of multi-source information, as detailed below:

[0081] In step 1, several methods can be used to obtain initial information about the vibrator in the concrete. One approach is to integrate an inertial measurement unit (IMU) inside the vibrator. This IMU includes an accelerometer and a gyroscope, capable of measuring the vibrator's triaxial acceleration and angular velocity in real time. By integrating and filtering this data, the three-dimensional trajectory of the vibrator can be accurately calculated. Simultaneously, by analyzing the spectrum of the acceleration data, vibration frequency and amplitude information can be extracted. To assess amplitude uniformity, statistical analysis can be performed on amplitude data from different time periods or directions. The coverage integrity of the vibration area can be obtained by projecting the vibrator's three-dimensional trajectory onto a pre-defined vibration area plane and calculating the area covered by the trajectory. Another approach is to install multiple ultrasonic sensors on the outside of the vibrator. By measuring the propagation time of ultrasonic waves in the concrete, the position of the vibrator can be located, thereby calculating its three-dimensional trajectory. Vibration frequency and amplitude can be obtained by analyzing the characteristics of the ultrasonic signals. Amplitude uniformity can be evaluated by comparing the ultrasonic signal intensity at different locations. The integrity of the coverage of the vibration area can be determined by scanning the vibration area with an ultrasonic sensor array and constructing a coverage map.

[0082] In step 1, regarding acquiring secondary information about the interior of the concrete, the primary focus is on temperature changes within the concrete. One approach is to pre-install multiple distributed fiber optic temperature sensors inside the formwork or on the reinforcing steel before concrete pouring. These sensors can monitor temperature changes at different locations within the concrete in real time and continuously. By analyzing this temperature data, the exothermic rate of the concrete hydration reaction, heat diffusion, and the presence of areas with localized overheating or poor heat dissipation can be determined, all of which are closely related to the degree of concrete compaction. Another approach is to integrate infrared temperature sensors into the head or body of the vibrator. As the vibrator moves within the concrete, the infrared sensors can measure the surface temperature of the surrounding concrete in real time. By interpolating and modeling these localized temperature data, the overall temperature field distribution and trends within the concrete can be inferred.

[0083] In step 2, regarding the fusion of the first and second information to obtain a fusion result, and the judgment of the adequacy of compaction based on the fusion result, this invention adopts a combination of weighted decision fusion, adaptive threshold, and state machine model. For example, initial weights can be assigned to the first information of the vibrator and the second information of the concrete interior. These weights can be obtained based on empirical values ​​or by training on a large amount of historical data through machine learning algorithms. Then, the various indicators are standardized and weighted summed according to their respective weights to obtain a comprehensive compaction score. Next, an initial adaptive threshold is set, which can be adjusted according to preset parameters such as concrete mix proportion and ambient temperature. When the compaction score reaches or exceeds the threshold, the system will perform a state transition according to the state machine model. The state machine model can define multiple states, such as: uncompacted, undercompacted, fully compacted, and overcompacted. When the compaction score remains stable within the threshold range of the fully compacted state, the compaction is judged to be adequate. If the score remains below the lower threshold of the fully compacted state, it may be in an undercompacted state; if the score remains above the upper threshold of the fully compacted state, it may be in an overcompacted state.

[0084] In step 3, regarding the generation of operational guidance information based on the assessment results of sufficient vibration, different forms of guidance information can be generated according to the type of assessment result. For example, if the assessment result is "under-vibration," the system can generate instructions such as "Please increase the vibration time in the current area by 10 seconds," or "Please move the vibrator 5 cm to the left and continue vibration," and display these instructions to the operator through indicator lights on the vibrator, sound prompts, or the operating interface. If the assessment result is "over-vibration," the system can prompt: "The current area is sufficiently compacted; please stop vibration and move to the next area." If the assessment result is "sufficient vibration," the system can prompt: "Vibration of the current area is complete; please continue vibration of the next area." This guidance information can generate region-specific operational suggestions based on the real-time position of the vibrator and the division of vibration areas to improve vibration efficiency and quality.

[0085] As a further implementation, considering that the initial rheological properties of concrete (such as viscosity, yield stress, etc.) may vary significantly due to factors such as material mix proportions and ambient temperature, if these initial properties are not known in advance and judgment is made solely based on preset weights and general adaptive thresholds, it may lead to inaccurate evaluation of the vibration effect of concrete in different initial states, or even over-vibration or under-vibration, affecting the final quality of concrete and construction efficiency. Therefore, before judging the adequacy of vibration based on the fusion results, the method of the present invention further includes:

[0086] After the vibrator is inserted into the concrete but before full-power vibration is performed, the initial rheological property detection mode is activated; the purpose is to obtain the original physical properties of the concrete before it is significantly disturbed.

[0087] In this detection mode, the vibrator drive motor operates at low power, generating preset low-energy, multi-frequency micro-vibrations. These micro-vibrations have low energy, insufficient to significantly densify the concrete, but enough to cause its internal structure to respond to vibrations at different frequencies. Multi-frequency micro-vibrations can detect the response characteristics of concrete at different excitation frequencies, thus providing a more comprehensive characterization of its rheological behavior.

[0088] The vibration energy attenuation mode and micro-displacement characteristics of the vibrator were collected at each detection frequency under the initial rheological property detection mode. The vibration energy attenuation mode refers to the energy dissipation law caused by factors such as internal friction and viscous damping when vibration energy propagates in the concrete medium. The micro-displacement characteristics reflect the elastic and plastic deformation capacity of concrete under micro-vibration. These data are the direct basis for evaluating the rheological properties of concrete.

[0089] Based on the multi-frequency vibration energy decay mode and micro-displacement characteristics, the initial rheological state of concrete can be assessed, including key parameters such as viscosity, yield stress, and elastic modulus, and a rheological profile can be generated. This profile provides a quantitative description of the initial physical properties of the concrete in the current batch or region, offering a personalized reference benchmark for subsequent vibration processes.

[0090] Based on the rheological characteristic profile, the compaction judgment logic during the full-power vibration stage was adjusted. Specifically, the adjustments included reducing the weight of attitude and vibration characteristic scores in the motion state information, increasing the weight of temperature change scores in the compaction state information, and revising the adaptive threshold adjustment strategy to limit the downward adjustment range of the adaptive threshold. For example, for concrete with high initial viscosity, its response to vibrator motion may be less sensitive. In this case, reducing the weight of motion state information and increasing the weight of temperature changes, which more directly reflect compaction, allows the judgment to focus more on the actual compaction effect. At the same time, limiting the downward adjustment range of the adaptive threshold can prevent misjudgment of sufficient vibration due to an excessively low threshold under certain special initial conditions.

[0091] The above technical solution, by introducing an initial rheological characteristic detection mode before full-power vibration, effectively solves the problem of insufficient accuracy in judging the initial rheological characteristics of concrete using traditional methods. Specifically, through low-power, multi-frequency micro-vibration detection, the original rheological state of concrete, such as viscosity and yield stress, can be obtained non-destructively. These rheological characteristic parameters directly reflect the concrete's response to vibration and the ease of compaction. Based on these initial characteristics, the system can intelligently adjust the compaction judgment logic in the subsequent full-power vibration stage, including dynamically adjusting the weight allocation of motion state information and compaction state information, as well as the adjustment strategy of correcting the adaptive threshold. For example, for concrete with poor initial fluidity, its compaction process may rely more on continuous energy input than the fine movement of the vibrator. In this case, increasing the weight of compaction indicators such as temperature changes and appropriately limiting the downward adjustment of the threshold can more accurately capture the actual compaction progress and avoid misjudgments caused by differences in initial state. This pre-detection and adaptive adjustment mechanism allows the vibration adequacy judgment to better adapt to the characteristics of different batches or regions of concrete, thereby improving the accuracy and reliability of the judgment.

[0092] This invention significantly improves the accuracy and adaptability of concrete compaction adequacy assessment. By detecting and evaluating the initial rheological properties of the concrete before full-power vibration, the system can dynamically adjust the logic and parameters of subsequent compaction assessment based on the actual initial state of the concrete. This avoids judgment biases caused by differences in the initial characteristics of concrete in traditional methods, effectively reducing the risk of over- or under-vibration. Specifically, by reducing the weight of attitude and vibration characteristic scores in the motion state information, increasing the weight of temperature change scores in the compaction state information, and modifying the adaptive threshold adjustment strategy, the assessment process focuses more on the actual compaction effect of the concrete, rather than solely relying on the vibration bar's motion performance. Therefore, this invention ensures efficient and precise vibration under various initial concrete conditions, thereby guaranteeing concrete construction quality, improving construction efficiency, and extending the service life of the structure.

[0093] For example, suppose that during a concrete pouring process, after the vibrator is inserted into the concrete, the system first activates the initial rheological property detection mode. The vibrator drive motor operates at low power, generating a series of preset micro-vibrations, such as short-term vibrations at multiple frequencies like 50Hz, 100Hz, and 150Hz. Sensors collect the attenuation pattern of vibration energy and the micro-displacement characteristics of the vibrator at these frequencies. For example, if the detection results show that the vibration energy attenuates rapidly and the micro-displacement is small, the initial viscosity of this batch of concrete is assessed as high, and its fluidity is poor. Based on this rheological profile, the system dynamically adjusts the compaction judgment logic during the full-power vibration stage. Specifically, the system reduces the weight of motion state information (such as the three-dimensional motion trajectory of the vibrator and amplitude uniformity) in the weighted decision fusion, while increasing the weight of compaction state information (such as changes in the internal temperature of the concrete). At the same time, the adaptive threshold adjustment strategy is also modified, for example, limiting its downward adjustment range to avoid prematurely judging sufficient vibration in concrete with high initial viscosity due to slow compaction progress. Subsequently, during full-power vibration, the system will assess the fused motion and compaction status information based on these adjusted weights and thresholds. For example, even if the vibrator's motion performance has not yet reached the ideal state, if the rate of temperature change inside the concrete has reached the adjusted high-weight threshold, the system may still determine that compaction is sufficient, thus avoiding unnecessary prolonged vibration. Conversely, if the initial detection shows good concrete fluidity, the system may maintain or appropriately adjust the weights to more evenly consider the motion and compaction status, ensuring comprehensive and uniform vibration.

[0094] As a further implementation, considering that the compaction process of concrete is not uniform during actual concrete vibration, different local areas may have differences in material properties, water content, aggregate distribution, etc., leading to differences in their compaction rate and response characteristics. Simply using a globally uniform preset weight and adaptive threshold for judgment may not accurately reflect the true compaction state of local areas, thus affecting the accuracy of vibration adequacy judgment and the effectiveness of operational guidance. Therefore, the present invention, in judging vibration adequacy based on fusion results, specifically includes:

[0095] Continuously acquire first information from the vibrator in the local area and second information from the inside of the concrete;

[0096] Based on the local differences in the moving speed of the vibrator, the dwell time of the vibrator, and the rate of change of the internal temperature of the concrete within the local area, the weight allocation of the first and second information in the weighted decision fusion algorithm is dynamically adjusted.

[0097] The adaptive threshold is dynamically adjusted based on the real-time changes in the compaction rate within a local area to obtain the adjusted threshold.

[0098] Based on the fusion results of local areas and the adjusted threshold, the density state is determined and switched.

[0099] Specifically, continuous monitoring of the vibratory rod's initial information within a local area refers to acquiring data such as the vibratory rod's three-dimensional motion trajectory, vibration frequency, and amplitude uniformity in real time within a specific local area using an inertial measurement unit (IMU), GPS module, or other positioning sensors integrated on the vibratory rod. This data is continuously collected to analyze the vibration intensity and coverage within that local area. Continuous monitoring of the concrete's internal compaction state can be understood as acquiring data such as temperature and pressure changes within the concrete in real time using temperature and pressure sensors embedded in the vibratory rod or concrete. For example, the rate of temperature change is an important indicator of the degree of concrete compaction, because the expulsion of air bubbles and the rearrangement of aggregates during compaction cause internal friction and energy dissipation, leading to a local temperature increase.

[0100] In practical applications, the weighting of motion state information and compaction state information in the weighted decision fusion algorithm is dynamically adjusted based on local differences in the vibrator's moving speed, residence time, and internal temperature change rate within the concrete. This aims to make the fusion judgment more closely reflect local conditions. For example, when the vibrator moves quickly or has a short residence time in a local area, it may indicate insufficient vibration energy input. In this case, the weight of compaction state information (such as the temperature change rate) can be appropriately increased to more sensitively detect signs of insufficient compaction. Conversely, when the vibrator's residence time is long and the temperature change is relatively flat, more attention may be needed to consider motion state information (such as amplitude uniformity) to avoid over-vibration. Furthermore, the adaptive threshold is dynamically adjusted based on real-time changes in the compaction rate within the local area. This aims to ensure that the judgment threshold adapts to the concrete characteristics and compaction process of different local areas. For example, in the early stages of compaction, the concrete has good fluidity, and the compaction rate may be relatively fast, so the threshold can be set relatively loosely. However, in the later stages of compaction, the concrete's fluidity decreases, and the compaction rate slows down, so the threshold should be tightened to ensure sufficient compaction. Therefore, judging and switching the compaction state based on the fusion results of local areas and the dynamically adjusted threshold means applying the dynamically adjusted weights and thresholds to the fusion result of the motion state information and compaction state information of the local area, thereby determining the compaction state of that local area. For example, when the fusion result exceeds the dynamically adjusted threshold, it can be determined that the local area has reached a sufficient compaction state, triggering a state machine switch and indicating that the vibrator can move to the next area.

[0101] This invention takes into account the local heterogeneity of the concrete densification process and introduces a dynamic adjustment mechanism. By continuously monitoring the motion state of the vibrator within a local area and the densification state of the concrete, the system can acquire refined local data, providing a basis for subsequent dynamic adjustments. By dynamically adjusting the weight allocation of motion and densification state information in the weighted decision fusion algorithm based on local differences in vibrator movement speed, residence time, and the rate of temperature change within the concrete, the fusion judgment is no longer static and globally uniform, but intelligently adaptable to the actual local vibration intensity and concrete response. Simultaneously, the adaptive threshold is dynamically adjusted based on real-time changes in the densification rate within the local area, ensuring that the judgment criteria can be flexibly adjusted with the densification process and changes in local concrete characteristics, avoiding misjudgments or omissions due to inappropriate thresholds. Finally, the densification state is judged and switched based on the fusion results of the local area and the dynamically adjusted threshold, allowing the vibration operation to be precisely optimized for each local area, ensuring that each area achieves sufficient densification.

[0102] The above technical solution overcomes the shortcomings of traditional methods that rely on preset weights and uniform thresholds in handling local heterogeneity in concrete. By introducing a mechanism for continuous monitoring and dynamic adjustment of local areas, the assessment of compaction adequacy can more accurately reflect the actual compaction state of different local areas. This significantly improves the accuracy and reliability of the assessment, avoiding under-vibration or over-vibration in local areas, thereby ensuring the overall compaction quality and structural strength of the concrete. Furthermore, this dynamic adaptability allows the method to better cope with the influence of different batches of concrete and different construction environments, enhancing the robustness and applicability of the system.

[0103] The example is as follows: Suppose in a large concrete pouring project, a vibrating rod is vibrating in a local sub-region. The system first continuously monitors the moving speed, residence time of the vibrating rod in this local sub-region, and the rate of temperature change inside the concrete. For example, at the initial stage of vibration, the moving speed of the vibrating rod is relatively fast, the residence time is short, and the rate of temperature change inside the concrete is relatively high, which may indicate that the concrete is rapidly densifying. At this time, the system may dynamically adjust the weights. For example, it increases the weight of the densification state information (rate of temperature change) to more sensitively capture the densification process. Meanwhile, according to the current relatively high densification rate, the adaptive threshold may be dynamically adjusted to a relatively loose level to allow rapid passage through the initial densification stage. As the vibration progresses, the residence time of the vibrating rod in this local sub-region increases, the moving speed slows down, and the rate of temperature change inside the concrete gradually decreases and tends to be stable. This may indicate that the densification of this region is approaching completion. At this time, the system will dynamically adjust the weights again. For example, it reduces the weight of the rate of temperature change and instead increases the weight of the motion state information such as the uniformity of the vibrating rod amplitude to ensure the uniformity of vibration. Meanwhile, according to the slowdown of the densification rate, the adaptive threshold is dynamically adjusted to a more stringent level to ensure that only when the concrete reaches a fully dense state can it be judged as qualified. When the fusion result of the local region (combined with the dynamically adjusted weights) reaches or exceeds the dynamically adjusted strict threshold, the system will judge that this local sub-region is fully dense and generate operation guidance information to instruct the operator to move the vibrating rod to the next non-dense region. Through this dynamic adjustment, the system can ensure that each local region is properly vibrated, avoiding under-vibration or over-vibration, thereby improving the overall construction quality.

[0104] As a further implementation, considering that in the actual construction environment, external mechanical vibration and environmental temperature and other factors may interfere with or affect the acquisition of the motion state information of the vibrating rod and the densification process of the concrete. If not considered, it may lead to a decrease in the accuracy of the judgment result. Therefore, in the judgment of the sufficiency of vibration according to the fusion result in the present invention, it further includes:

[0105] Obtain a first external factor and a second external factor. The first external factor is external mechanical vibration data, which is obtained by monitoring the external mechanical vibration of the environment where the vibrating rod is located. The second external factor is environmental temperature data, which is obtained by monitoring the environmental temperature around the vibrating rod;

[0106] According to the first external factor, identify the influence of the external mechanical vibration on the first information of the vibrating rod to obtain a first influence identification result;

[0107] According to the second external factor, identify the influence of the external environmental temperature on the second information of the concrete to obtain a second influence identification result;

[0108] Based on the results of the first and second impact identifications, the judgment on the adequacy of vibration is adjusted; the adjustment includes adjusting the preset weights, correcting the adaptive threshold adjustment strategy, and adjusting the switching logic of the state machine model.

[0109] The first and second information are weighted and fused according to the adjusted weights, and the judgment is made in combination with the modified adaptive threshold adjustment strategy and the adjusted state machine model switching logic.

[0110] Specifically, monitoring the external mechanical vibration of the vibratory compactor's environment refers to acquiring background vibration signals in real time at the construction site by placing accelerometers, vibration sensors, etc., in or near the vibratory compactor, in order to quantify the potential interference of the external environment on the vibratory compactor's own vibration characteristics. The purpose is to obtain data on external interference sources that may affect the accuracy of the vibratory compactor's motion state information. Monitoring the ambient temperature around the vibratory compactor refers to continuously acquiring ambient temperature data of the concrete vibration area by deploying temperature sensors in or near the vibratory compactor. The purpose is to assess the impact of ambient temperature on the concrete hydration reaction rate, rheological properties, and temperature change patterns during the compaction process. In practical applications, based on the first external factor, the impact of external mechanical vibration on the first information of the vibratory compactor is identified. For example, signal processing techniques (such as Fourier transform and wavelet analysis) can be used to analyze the acquired external mechanical vibration data, extract its frequency, amplitude, and other features, and compare them with the vibration characteristics of the vibratory compactor itself, thereby identifying the deviations or interferences caused by external vibration on the vibratory compactor's three-dimensional motion trajectory, vibration frequency, amplitude uniformity, and the coverage integrity of the vibration area. The aim is to quantify the impact of external disturbances on the measurement of the vibration state information of the vibrator. Furthermore, based on a second external factor, the influence of ambient temperature on the second information of concrete is identified. For example, based on a preset concrete hydration heat model or empirical curve, combined with real-time ambient temperature data, the expected pattern of internal temperature changes in concrete can be predicted or corrected, thereby identifying the potential impact of ambient temperature on the concrete compaction state information (especially temperature changes). The purpose is to assess the modulating effect of ambient temperature on the concrete compaction process and its temperature response. Therefore, adjusting the preset weights refers to dynamically adjusting the importance of motion state information and compaction state information in the weighted decision fusion based on the identified degree of external disturbance. For example, when external mechanical vibration is large, the weight of sensitive features such as amplitude uniformity and vibration frequency in the motion state information can be appropriately reduced to reduce misjudgments caused by external disturbances; when the ambient temperature deviates significantly from standard conditions, the weight of temperature change information in the compaction judgment can be adjusted to adapt to changes in the concrete hydration rate. Simultaneously, the adjustment strategy of correcting the adaptive threshold refers to correcting the dynamic threshold for judging the degree of concrete compaction based on the influence of external environmental factors. For example, in low-temperature environments, the concrete compaction process may slow down, requiring adjustments to the threshold to make it more tolerant or extending the judgment time. When external vibration interference is severe, it may be necessary to improve the robustness of the threshold to avoid threshold fluctuations caused by noise. Furthermore, adjusting the switching logic of the state machine model refers to optimizing the switching conditions and transition rules between different compaction states (such as uncompacted, compacting, and compacted) in the state machine model based on the influence of external environmental factors on the concrete compaction process. For instance, when external vibration interference is significant, the state machine may require stricter conditions to switch from the "compacting" to the "compacted" state to prevent misjudgments.

[0111] This invention effectively captures and quantifies the impact of external mechanical vibrations and ambient temperature on the vibration rod's motion state and the concrete's compaction state by introducing monitoring and identification of these external factors. Because these external influences are identified, the system can specifically adjust the preset weights in the weighted decision fusion algorithm, correct the adaptive threshold adjustment strategy, and adjust the switching logic of the state machine model. This dynamic adjustment mechanism ensures that the vibration adequacy judgment process can more accurately reflect the true compaction state of the concrete in complex and changing construction environments, avoiding misjudgments or omissions caused by external interference. Through adaptive correction of key judgment parameters, this solution enables the judgment logic to better adapt to actual working conditions, thereby improving the robustness and reliability of the entire judgment method.

[0112] The above technical solution of this invention can effectively cope with the complex external environmental changes at construction sites, significantly improving the accuracy and reliability of concrete vibration adequacy judgment. Specifically, by identifying and compensating for the influence of external mechanical vibration on the vibration rod's motion state information, and the influence of ambient temperature on the concrete compaction state information, this method can avoid judgment deviations caused by external interference, making the vibration adequacy judgment results closer to reality. This adaptive parameter adjustment mechanism enables the system to maintain excellent judgment performance under different environmental conditions, thereby effectively guiding construction personnel to perform precise vibration, reducing the risk of over-vibration or under-vibration, and ultimately improving the quality and durability of concrete projects.

[0113] For example, suppose a concrete pouring operation is underway at a large construction site, with heavy machinery (such as excavators and bulldozers) operating nearby, generating continuous external mechanical vibrations. Simultaneously, the ambient temperature fluctuates significantly during construction, gradually rising from lower temperatures in the morning to higher temperatures in the afternoon. In this scenario, this method first monitors these external mechanical vibration data and ambient temperature data using sensors installed on or near the vibrator. Based on the external mechanical vibration data, the system identifies the interference it causes to the vibrator's three-dimensional motion trajectory, vibration frequency, and amplitude uniformity. For example, it identifies vibrations within a specific frequency range that originate externally rather than from the vibrator itself. Simultaneously, based on the ambient temperature data, the system identifies the impact of ambient temperature changes on the concrete hydration rate and internal temperature change patterns; for example, the internal temperature of the concrete rises relatively slowly during low-temperature periods. Based on these identification results, the system dynamically adjusts the parameters for determining the adequacy of vibration. For example, when external mechanical vibration is strong, the system reduces the weight of amplitude uniformity in the motion state information while increasing the weight of temperature change in the compaction state information to reduce the negative impact of external vibration on the judgment. Furthermore, the adaptive threshold adjustment strategy is also modified; for example, in low-temperature environments, the temperature change threshold for judging compaction may be appropriately relaxed to accommodate slower hydration reactions. The state machine model switching logic is also adjusted accordingly. For instance, under external disturbances or extreme temperature conditions, the conditions for the state machine to switch from "compacting" to "compacted" become more stringent, requiring longer time or more explicit evidence. Finally, the system performs a weighted decision fusion judgment on the adequacy of compaction based on these adjusted weights, the modified adaptive threshold adjustment strategy, and the adjusted state machine model switching logic. In this way, even in complex external environments, the system can provide accurate and reliable judgment results on the adequacy of compaction and generate corresponding operational guidance information, such as prompting operators to extend the compaction time or adjust the compaction strategy in areas with significant external vibration.

[0114] As a further implementation, considering that in the actual concrete vibration construction process, the compaction state of concrete may exhibit significant local differences in different areas, and the vibration effect of the vibrator at different locations may also vary due to operating habits, obstacles, or the inherent characteristics of the concrete itself, generating operational guidance information based solely on the overall assessment of vibration adequacy may not adequately consider these local differences. This results in insufficiently refined operational guidance information, making it difficult to specifically guide construction personnel in optimizing vibration in local areas, thereby affecting the overall compaction quality. Therefore, this invention further proposes a method for generating operational guidance information, which provides more targeted operational guidance by meticulously dividing the vibration area and independently assessing the compaction state of each local area, thereby effectively solving the above-mentioned problems. The method is as follows:

[0115] Based on the assessment of adequacy of vibration, operational guidance information is generated for local sub-regions, including:

[0116] The three-dimensional movement trajectory of the vibrator inside the concrete is continuously tracked, and the vibration area is divided into multiple local sub-regions based on the moving speed and residence time of the vibrator.

[0117] For each local sub-region, the compaction state is independently judged based on the local differences in the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of the concrete, so as to obtain the compaction judgment result of the local sub-region.

[0118] Based on the compaction judgment results of each local sub-region, operation guidance information for the local sub-region is generated;

[0119] Specifically, continuously tracking the three-dimensional motion trajectory of the vibrator within the concrete can be achieved by integrating an inertial measurement unit (IMU) onto the vibrator or by using an external positioning system (e.g., a positioning system based on ultra-wideband (UWB) or lidar) to acquire the vibrator's spatial position data in real time. Based on this position data, the vibrator's moving speed and dwell time in a specific area can be calculated. The vibration area can be divided using a preset grid division method, such as dividing the entire vibration area into several square sub-regions with side lengths of 0.5 meters or 1 meter, or by dynamically generating irregular sub-regions based on the actual motion trajectory and dwell time of the vibrator. The purpose of this division is to refine the macroscopic vibration area into independently analyzable micro-units.

[0120] Continuously monitoring the rate of temperature change in concrete within each local sub-region can be achieved by integrating temperature sensors inside or near the vibrator. As the vibrator compacts a specific sub-region, the sensors collect real-time temperature data of the concrete in that area. During the compaction process, concrete typically experiences a temperature increase due to internal friction and the expulsion of air bubbles; therefore, the rate of temperature change serves as an important indicator of the degree of compaction. By continuously collecting and analyzing temperature data, the rate of temperature change in each local sub-region can be calculated.

[0121] In practical applications, for each local sub-region, the compaction state is independently determined based on the local differences in the vibrator's moving speed, residence time, and internal temperature change rate of the concrete. This means that the local data of the aforementioned motion state information (moving speed, residence time) and compaction state information (temperature change rate) are input into a weighted decision fusion algorithm, and combined with an adaptive threshold and a state machine model, the degree of compaction of that local sub-region is independently evaluated. For example, a local sub-region may be insufficiently compacted due to an excessively short vibrator residence time, or it may indicate an abnormal compaction due to an abnormal temperature change rate. Thus, the compaction determination result for each local sub-region can be obtained, such as: insufficient compaction, good compaction, or excessive compaction.

[0122] Furthermore, based on the compaction assessment results for each local sub-region, operational guidance information specific to that sub-region is generated. For example, if a local sub-region is judged to be insufficiently compacted, the system can generate guidance to increase the vibration time in that area by 10 seconds; if it is judged to be over-compacted, it may suggest reducing the vibration time or increasing the moving speed in that area. This guidance information can be presented to the operator in various forms, such as visual (e.g., highlighting uncompacted areas on the display screen and providing suggestions), auditory (e.g., voice prompts), or tactile (e.g., vibration feedback from the vibrator handle), to achieve precise construction guidance.

[0123] This invention overcomes the limitations of traditional overall judgment by refining the entire vibration area into multiple local sub-regions and independently judging the compaction state of each sub-region. Specifically, the three-dimensional motion trajectory, moving speed, and dwell time of the vibrator are used to accurately define the range and duration of the vibrator's effect in different local regions, enabling the evaluation of the vibration effect to be precise down to a specific spatial location. Simultaneously, by continuously monitoring the rate of temperature change of the concrete in each local sub-region, the energy dissipation and air bubble removal during the concrete compaction process in that region can be obtained in real time, providing direct physical evidence of the local compaction state. It is precisely because of the refined collection and analysis of the motion and compaction state information of the local regions, and the independent weighted decision fusion judgment for each local sub-region, that the system can identify the differences in the degree of compaction between different local regions. For example, in some areas, the vibrator may not dwell long enough due to operator negligence or obstacles, resulting in insufficient compaction; while in other areas, there may be a risk of segregation due to over-vibration. Through this localized judgment mechanism, the system can accurately capture these subtle differences and generate highly customized operational guidance information accordingly. This region-specific guidance information can directly instruct operators on the specific location and method of adjustment, thereby ensuring that each local area achieves optimal compaction.

[0124] The above technical solutions of this invention can significantly improve the precision and accuracy of judging the adequacy of concrete vibration. Because the operational guidance information is generated based on the actual compaction state of each local sub-region, it is highly targeted and practical, effectively avoiding the problem of under-vibration or over-vibration in local areas caused by overall judgment. This not only helps to improve the overall uniformity and strength of concrete structures and reduce internal defects (such as air bubbles and honeycomb), but also optimizes construction efficiency and reduces rework rates.

[0125] Here's an example: Suppose a large concrete pouring site requires the vibration of a 10-meter-long, 5-meter-wide concrete slab. The system first uses an internal IMU and an external UWB positioning system to continuously track the three-dimensional movement of the vibrator within the concrete. The system divides the entire 50-square-meter vibration area into 50 1-meter x 1-meter sub-regions. When the vibrator vibrates in the first sub-region (e.g., the region with coordinates (0-1m, 0-1m)), the system records the vibrator's movement speed and dwell time in that region in real time, and continuously monitors the rate of temperature change of the concrete in that region. Assume the system determines that the vibrator's dwell time in this sub-region is 5 seconds and the temperature change rate is 0.5℃ / second. By fusing this local data, the system independently determines that the compaction status of this sub-region is: well compacted. Subsequently, the vibrator moves to the second sub-region (e.g., the region with coordinates (1-2m, 0-1m)). The system recorded that the vibrator moved quickly in this area, with a dwell time of only 2 seconds, and the temperature change rate was only 0.2℃ / second. Based on these local differences, the system judged the compaction status of this sub-area as insufficient. Based on these local judgments, the system generates area-specific operational guidance information. For the first sub-area deemed "well-compacted," the system may indicate that the compaction in this area has met the standard and that it can proceed to the next area. For the second sub-area deemed "insufficiently compacted," the system will generate guidance to return to this area and increase the vibration time by at least 5 seconds, conveyed through vibration feedback from the vibrator handle or visual prompts on the smart glasses worn by the construction personnel. In this way, construction personnel can accurately identify which areas require further vibration, thus avoiding blind or missed vibration and ensuring the overall compaction quality of the concrete slab.

[0126] As a further implementation, in local sub-regions where the vibrator moves rapidly, the short contact time between the vibrator and the concrete, or the potential for transient interference introduced by the rapid movement, makes it difficult for the temperature sensor to accurately and stably capture the true rate of temperature change within the concrete. If this problem is not addressed, it may lead to deviations in the judgment of the compaction state of local sub-regions, thereby affecting the accuracy and effectiveness of operational guidance information. To address this, this invention proposes a method to optimize the continuous monitoring of the temperature change rate of concrete in each local sub-region. This method involves activating a temperature data enhancement mode to improve the accuracy and reliability of temperature data acquisition within the rapidly moving area of ​​the vibrator. The method is as follows:

[0127] The steps for obtaining the rate of temperature change inside concrete are as follows:

[0128] In the local sub-region where the vibrator moves rapidly, the temperature data enhancement mode is activated, the sampling frequency of the temperature sensor is increased, and the low-energy, high-frequency micro-vibration mode of the vibrator is activated.

[0129] Temperature data acquired under enhanced temperature data acquisition mode, with increased sampling frequency, and temperature response data under low-energy, high-frequency micro-vibration mode;

[0130] Based on temperature data and temperature response data, combined with the moving speed of the vibrator and the distribution information of reinforcing bars in the local area, the temperature change rate of the local sub-region is corrected to obtain the corrected internal temperature change rate of the concrete.

[0131] Specifically, when the system detects that the moving speed of the vibrator in a certain local sub-region exceeds a preset threshold, it considers that region to be a rapidly moving local sub-region. At this time, the temperature data enhancement mode is automatically triggered and activated. Increasing the sampling frequency of the temperature sensor means increasing the data acquisition rate of the temperature sensor to several times that of the normal mode, for example, from once per second to 10 times per second or higher. The purpose is to acquire as many temperature data points as possible within the limited time that the vibrator rapidly passes through the region, in order to capture more precise temperature change trends. Simultaneously, activating the low-energy, high-frequency micro-vibration mode of the vibrator means that the vibrator drive motor outputs lower power to generate higher frequency but smaller amplitude vibrations. The purpose is to promote heat exchange between the vibrator and the surrounding concrete through micro-vibration, reducing the thermal resistance between the vibrator surface and the concrete. This allows the temperature sensor to respond more sensitively and quickly to the actual temperature changes inside the concrete, and helps to eliminate the influence of local air bubbles or voids that may be generated due to rapid movement on temperature measurement.

[0132] In practical applications, the temperature data acquired with increased sampling frequency provides a dense temperature sequence for the region over a short period, while the temperature response data under low-energy, high-frequency micro-vibration mode reflects the thermal conductivity characteristics of concrete under micro-vibration and the impact of density changes on temperature. Furthermore, when correcting and calibrating the temperature change rate of a local sub-region, the moving speed information of the vibrator is considered. For example, the faster the moving speed, the more likely adjustments may be needed to the smoothing or interpolation algorithms for the temperature data. Simultaneously, the distribution information of reinforcing steel in the local area is also taken into account. Because reinforcing steel is a good thermal conductor, its presence affects the distribution of the local temperature field and the heat conduction path. Therefore, it is necessary to compensate for the temperature data based on the specific location and density of the reinforcing steel to eliminate the interference of the reinforcing steel on the temperature measurement results, ensuring that the corrected temperature change rate of the local sub-region more accurately reflects the true compaction process of the concrete.

[0133] This invention effectively solves the problem of inaccurate temperature data acquisition in dynamic environments by activating a temperature data enhancement mode within a local sub-region where the vibrator moves rapidly. Specifically, increasing the sampling frequency of the temperature sensor allows for the collection of more temperature data points within the limited residence time of the vibrator, thereby improving the accuracy of capturing temperature change trends. Simultaneously, activating a low-energy, high-frequency micro-vibration mode actively promotes heat exchange between the vibrator and the concrete, enabling the temperature sensor to reflect internal temperature changes in the concrete more quickly and accurately, reducing measurement lag and errors caused by the rapid movement of the vibrator. Furthermore, by combining the vibrator's movement speed and the distribution information of reinforcing steel bars within the local area to correct and calibrate the temperature change rate, external factors are further eliminated from interfering with temperature measurements, ensuring the reliability of temperature data under complex working conditions. Therefore, this invention provides more accurate input data for subsequent compaction state assessment.

[0134] The above technical solution of this invention can significantly improve the accuracy and reliability of monitoring the rate of concrete temperature change in local sub-regions where the vibrator moves rapidly. Compared with conventional monitoring alone, this solution effectively overcomes the problems of data sparsity and measurement interference caused by rapid movement through data augmentation and multi-factor calibration, enabling the acquisition of high-precision local temperature change data even in dynamically changing environments. This directly improves the accuracy of judging the compaction state of local sub-regions, thereby making the generated region-specific operational guidance information more accurate and effective.

[0135] For example, suppose a vibrator is compacting concrete. When it moves rapidly from a denser area to a sub-area requiring further compaction, the system detects that the vibrator's speed exceeds a preset threshold of 5 cm / s. At this point, the temperature data enhancement mode is automatically activated. Specifically, the sampling frequency of the temperature sensor inside the vibrator is increased from the usual 1 Hz to 10 Hz, collecting 10 temperature data points per second. Simultaneously, the vibrator's drive motor operates at low power (e.g., 20% of rated power), generating micro-vibrations at a frequency of 200 Hz and an amplitude of 0.5 mm. Within the 2 seconds it takes for the vibrator to rapidly pass through this sub-area, the system collects 20 high-frequency temperature data points, as well as data on the concrete's response to heat under micro-vibration mode. Subsequently, the system combines the vibrator's average movement speed in this area (e.g., 8 cm / s) with the distribution of reinforcing bars in this sub-area, pre-detected through a BIM model or sensors (e.g., the presence of two parallel reinforcing bars with a diameter of 16 mm), to correct and calibrate the collected temperature data. For example, the influence of reinforcing steel on the local temperature field is compensated by a heat conduction model, and instantaneous temperature fluctuations caused by rapid movement are filtered. Ultimately, a corrected rate of temperature change within the concrete is obtained, which is then used to determine the compaction state of the local sub-region, thereby guiding operators to perform more precise vibration operations in that area.

[0136] As a further implementation, considering that in actual construction, factors such as batch differences in concrete, mix proportion fluctuations, changes in ambient temperature, and potential material segregation in local areas can all lead to different rheological properties of concrete in different local sub-regions, such as viscosity and yield stress. If the judgment is based solely on the local differences in the movement state of the vibrator and the rate of temperature change, without fully considering the local rheological properties of the concrete itself, the judgment threshold and weighting factors may not accurately match the actual compaction requirements of the current local concrete, thus affecting the accuracy of the vibration adequacy judgment. Therefore, this invention further proposes a method to evaluate the local concrete rheological parameters by activating a local concrete characteristic detection mode before judging the compaction state of each local sub-region, and dynamically adjust the judgment threshold and weighting factors accordingly, to achieve a more accurate judgment of the local compaction state. The method is as follows:

[0137] For each local sub-region, the compaction state is independently judged based on the local differences in the vibrator's moving speed, residence time, and internal temperature change rate of the concrete, resulting in the compaction judgment results for the local sub-region, including:

[0138] Before determining the compaction status of each local sub-region, the local concrete characteristic detection mode is activated, and the vibrator drive motor runs in a low-power, variable-frequency vibration mode to generate micro-vibrations of different frequencies and amplitudes.

[0139] The vibration energy decay curves and micro-displacement responses of the vibrator were collected under the local concrete characteristic detection mode at each micro-vibration frequency and amplitude.

[0140] Based on the vibration energy decay curve and displacement response, the viscosity, yield stress and internal friction coefficient of concrete in the local sub-region are evaluated to obtain the local concrete rheological properties parameters.

[0141] Based on the local concrete rheological properties parameters, the judgment threshold and weighting factor of the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of the concrete in the local sub-region are dynamically adjusted.

[0142] Based on the adjusted judgment threshold and weighting factor, the compaction state is independently judged based on the local differences in the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of concrete in local sub-regions.

[0143] Specifically, the local concrete characteristic detection mode refers to a brief, non-destructive detection process using a vibrator before determining the compaction of a specific local sub-region. Its purpose is to obtain the immediate physical properties of the concrete within that local area. The vibrator's drive motor operates in a low-power, variable-frequency vibration mode, generating micro-vibrations of different frequencies and amplitudes. This is to more comprehensively stimulate the rheological response of the concrete through vibration excitation at different frequencies and amplitudes without significantly affecting the concrete compaction process. Low-power operation avoids excessive disturbance to partially compacted or uncompacted areas, while variable-frequency vibration can detect the concrete's response at different shear rates, thus more accurately characterizing its rheological behavior. Furthermore, the vibration energy decay curves and micro-displacement responses of the vibrator are collected at each micro-vibration frequency and amplitude. These data are crucial for evaluating the rheological properties of concrete. The vibration energy decay curve reflects the dissipation of vibration energy within the concrete and is closely related to the concrete's viscosity, internal friction, and other properties; the micro-displacement response reveals the concrete's deformation capacity and yield characteristics under micro-vibration.

[0144] Therefore, based on the vibration energy decay curve and the response to small displacements, the viscosity, yield stress, and internal friction coefficient of concrete within a local subregion can be evaluated, thus obtaining the local rheological parameters of the concrete. Viscosity characterizes the concrete's ability to resist shear deformation, yield stress represents the minimum shear stress required for the concrete to begin flowing, and the internal friction coefficient reflects the interaction between concrete particles. These parameters are the essential manifestation of the rheological behavior of concrete and are crucial for accurately determining its compaction state.

[0145] In practical applications, the judgment thresholds and weighting factors for the vibrator's moving speed, residence time, and internal temperature change rate in a local sub-region are dynamically adjusted based on the local concrete rheological properties. For example, if a local sub-region is found to have high concrete viscosity, the vibrator's moving speed may need to be appropriately reduced, or its residence time extended, and the judgment threshold for the temperature change rate adjusted accordingly to ensure sufficient vibration energy input. Conversely, if the viscosity is low, the moving speed can be appropriately increased or the residence time shortened. The weighting factor can be adjusted based on rheological properties, focusing on indicators that have a greater impact on compaction. For example, for concrete with high yield stress, the weight of information on the vibrator's motion state (such as amplitude uniformity) may need to be increased.

[0146] Finally, based on the adjusted judgment threshold and weighting factors, the compaction state is independently judged according to the local differences in the vibrator moving speed, vibrator residence time, and concrete internal temperature change rate in local sub-regions. This process ensures that the compaction judgment logic can fully adapt to the actual characteristics of local concrete, improving the accuracy and reliability of the judgment.

[0147] This invention effectively solves the problem in traditional methods where the judgment threshold and weighting factors cannot accurately match the actual rheological properties of local concrete by introducing a local concrete characteristic detection mode before judging the compaction state of each local sub-region. This technical solution significantly improves the accuracy and adaptability of concrete vibration adequacy judgment. Because it can detect and evaluate the rheological properties of concrete within a local sub-region in real time and dynamically adjust the judgment threshold and weighting factors accordingly, it overcomes the judgment bias caused by differences in local concrete characteristics in traditional methods. This allows the system to provide highly customized compaction judgment logic for concrete from different batches, with different mix proportions, or under different environmental conditions, and even for concrete at different locations within the same casting. Therefore, it can not only effectively avoid problems such as insufficient concrete strength and reduced durability caused by under-vibration, but also prevent quality defects such as segregation and bleeding caused by over-vibration, thereby comprehensively improving the construction quality and efficiency of concrete engineering and reducing rework rates and material waste.

[0148] For example, suppose in a large concrete pouring project, due to differences in concrete supply batches, the concrete viscosity in one local sub-region is slightly higher than the design value, while the initial yield stress in another local sub-region is relatively higher due to a lower ambient temperature. When using the vibration method of this invention:

[0149] First, when the vibrator enters the first local sub-region, the system activates the local concrete characteristic detection mode. The vibrator drive motor operates in a low-power, variable-frequency vibration mode, generating a series of micro-vibrations. By acquiring the vibration energy decay curve and the micro-displacement response, the system assesses the viscosity of the concrete in this region as X Pa·s and the yield stress as Y Pa. Based on these rheological parameters, the system dynamically adjusts the judgment threshold and weighting factor for this local sub-region. For example, due to the higher viscosity, the system extends the threshold for judging the vibrator dwell time from the preset T1 seconds to T2 seconds and increases the weight of amplitude uniformity in the weighted decision fusion by 10% to ensure sufficient vibration energy input.

[0150] Subsequently, when the vibrator moves to the second local sub-region, the local concrete characteristic detection mode is also activated. At this time, the system assesses the viscosity of the concrete in this region as X' Pa·s and the yield stress as Y' Pa (Y' > Y). Given the high yield stress, the system adjusts the threshold for judging the rate of change of internal concrete temperature from the preset ΔT1 ℃ / min to ΔT2 ℃ / min (ΔT2 < ΔT1), and reduces the weight of the vibrator's movement speed in the weighted decision fusion to avoid insufficient compaction due to excessively rapid movement.

[0151] In this way, the compaction judgment of each local sub-region can be adaptively adjusted based on its unique concrete rheological properties, thereby ensuring that precise and efficient vibration can be achieved throughout the entire pouring process, regardless of how the local properties of the concrete change.

[0152] As a further implementation, considering that the rheological properties of concrete are not constant during actual vibration, but may change in real time due to various factors, such as the progress of hydration reaction, aggregate settlement, fluctuations in ambient temperature, or external disturbances, if dynamic adjustments are made solely based on the rheological parameters obtained from initial detection without timely response to these real-time changes, the judgment threshold and weighting factors may not match the actual state of the concrete, thus affecting the accuracy of compaction judgment and the effectiveness of operational guidance information, and may even cause under-vibration or over-vibration in local areas. Therefore, this invention further proposes to solve the above problems through continuous monitoring and rapid re-evaluation mechanisms, as follows:

[0153] Based on local concrete rheological properties parameters, the judgment thresholds and weighting factors for the vibrator moving speed, vibrator residence time, and concrete internal temperature change rate in local sub-regions are dynamically adjusted, including:

[0154] In the rapid reassessment mode, the vibratory rod drive motor operates in a high-frequency, short-pulse micro-vibration mode to simultaneously acquire the vibration energy attenuation mode and displacement characteristics.

[0155] Based on the reassessment results of vibration energy decay mode and displacement characteristics, combined with the current ambient temperature and the time of placement of the new batch of concrete, the local concrete rheological properties parameters are updated in real time.

[0156] Based on the updated local concrete rheological properties parameters, the judgment threshold and weighting factor of the vibrator moving speed, vibrator dwell time, and concrete internal temperature change rate in the local sub-region are dynamically adjusted.

[0157] The rapid re-evaluation mode acquisition steps are as follows: continuously monitor the temperature change rate of concrete and the motion state information of the vibrator in the local sub-region; when a significant nonlinear change or abrupt change in the temperature change rate or the motion state information of the vibrator is detected, the rapid re-evaluation mode of the local rheological properties is triggered.

[0158] Specifically, continuously monitoring the rate of temperature change of concrete and the motion status of the vibrator within a local sub-region refers to acquiring real-time and continuous data on the temperature changes of concrete within that sub-region, as well as information such as the three-dimensional motion trajectory, vibration frequency, and amplitude uniformity of the vibrator within that region, using temperature and motion sensors deployed on the vibrator. This data is then used to construct time series data to analyze its trends and patterns of change.

[0159] Specifically, a rapid reassessment of local rheological parameters is triggered when a significant nonlinear change or abrupt change is detected in the rate of temperature change or the vibration state of the vibrator. A significant nonlinear change or abrupt change can be understood as the monitored data deviating from the preset normal range or trend. For example, the rate of temperature change may suddenly accelerate or slow down, or the vibration frequency or amplitude of the vibrator may fluctuate abnormally. This usually indicates that the internal rheological properties of the concrete may have changed. The purpose of triggering the rapid reassessment is to obtain the latest rheological state of the concrete in a timely manner.

[0160] In practical applications, under rapid reassessment mode, the vibrator drive motor operates in a high-frequency, short-pulse micro-vibration mode, simultaneously acquiring vibration energy decay patterns and minute displacement characteristics. The high-frequency, short-pulse micro-vibration mode refers to the vibrator vibrating at a high frequency within an extremely short time. This mode can minimize energy disturbance to the current compaction process while rapidly stimulating the concrete's response, thereby efficiently acquiring its instantaneous rheological properties. The simultaneously acquired vibration energy decay patterns and minute displacement characteristics are key data for evaluating rheological parameters such as concrete viscosity and yield stress.

[0161] Furthermore, based on the reassessment results of vibration energy decay modes and micro-displacement characteristics, combined with the current ambient temperature and the placement time of the new batch of concrete, the local concrete rheological parameters are updated in real time. The reassessment results provide the physical response of the concrete in its current state, while ambient temperature and concrete placement time provide important contextual information; for example, ambient temperature affects the hydration rate of concrete, and placement time is related to the initial setting state of the concrete. By combining this information, the local concrete rheological parameters such as viscosity, yield stress, and internal friction coefficient can be more accurately corrected and updated.

[0162] Therefore, based on the updated local concrete rheological property parameters, the judgment thresholds and weighting factors for the vibrator moving speed, vibrator residence time, and the rate of temperature change within the concrete in the local sub-region are dynamically adjusted. This means that once the rheological properties of the concrete change and are accurately identified, the system will immediately adjust the parameters used to determine the compaction state, ensuring that the judgment logic always matches the actual physical state of the concrete. For example, if the concrete viscosity increases, a longer vibration time or a higher vibration intensity may be required, and the corresponding judgment thresholds and weighting factors will be adjusted accordingly.

[0163] This application effectively addresses the problem in existing technologies where changes in local concrete rheological parameters over time can lead to inaccuracies in judgment thresholds and weighting factors. Specifically, it continuously monitors the temperature change rate of concrete within a local sub-region and the movement state of the vibrator, enabling the system to perceive subtle changes in the internal state of the concrete in real time. When these changes accumulate to a certain extent, manifesting as significant nonlinear changes or abrupt changes, the system can promptly trigger a rapid reassessment of the local rheological parameters. In the rapid reassessment mode, the vibrator operates in a high-frequency, short-pulse micro-vibration mode. This mode can quickly and accurately acquire instantaneous rheological response data of the concrete without significantly interfering with the current vibration process. By analyzing this data and combining it with external factors such as the current ambient temperature and the placement time of the new batch of concrete, the local concrete rheological parameters can be updated in real time and accurately. It is precisely because of the real-time updating of rheological property parameters that the dynamic adjustment of the judgment threshold and weighting factor for the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of concrete in local sub-regions can always be consistent with the actual physical state of concrete, thereby ensuring the accuracy of compaction judgment and the effectiveness of operation guidance.

[0164] Through the above technical solution, this application can significantly improve the adaptability and accuracy of judging the adequacy of concrete vibration. Because it can monitor the dynamic changes in the rheological properties of concrete in real time and perform rapid reassessment, the system can avoid judgment deviations caused by changes in concrete properties, thereby ensuring that the judgment threshold and weighting factors always match the actual state of the concrete throughout the entire vibration process.

[0165] For example, suppose a vibrator is compacting concrete in a localized sub-region at a large concrete pouring site. The system continuously monitors the rate of temperature change of the concrete within this sub-region and the vibration status of the vibrator. At a certain stage of the compaction process, the system detects a sudden and abnormal decrease in the rate of temperature change of the concrete in this sub-region, along with slight fluctuations in the uniformity of the vibrator's amplitude. This indicates that the rheological properties of the concrete in this area may have changed, for example, due to increased viscosity possibly caused by accelerated localized hydration.

[0166] At this point, the system immediately triggers a rapid reassessment mode for local rheological parameters. The vibrator drive motor then switches to a high-frequency, short-pulse micro-vibration mode, rapidly applying a series of tiny, high-frequency vibration pulses to the concrete without interrupting the main vibration operation. Simultaneously, sensors collect the vibration energy decay pattern and the minute displacement characteristics of the vibrator under these micro-vibrations. Based on the collected data, combined with the current ambient temperature (e.g., if the ambient temperature rises, it will accelerate hydration) and the time of placement of this batch of concrete in the formwork, the system recalculates and updates the viscosity, yield stress, and other rheological parameters of the concrete in this local sub-region.

[0167] For example, if the reassessment results show a significant increase in concrete viscosity, the system will dynamically adjust the compaction judgment logic for that local sub-region based on the updated rheological property parameters. Specifically, it may appropriately extend the threshold for judging the vibrator dwell time in that region, or increase the threshold for judging the vibrator movement speed, to ensure that the concrete still receives sufficient vibration energy even with increased viscosity. Through this real-time, adaptive adjustment, various dynamic changes that may occur in the concrete during vibration can be effectively addressed, ensuring that each local sub-region achieves the optimal compaction effect.

[0168] As a further implementation, considering that in actual construction environments, foreign objects may exist inside the concrete (such as reinforcing bars, embedded parts, or debris accidentally mixed in during construction). These foreign objects may interfere with the temperature field distribution and vibration energy propagation in local areas, leading to deviations in the monitored temperature change rate and vibrator motion state information, thereby affecting the accuracy of rheological parameter reassessment and potentially causing incorrect judgment thresholds and weighting factor adjustments, thus reducing the reliability of vibration adequacy judgment. Therefore, this invention further proposes continuous monitoring of the temperature change rate of concrete and vibrator motion state information in local sub-regions, including:

[0169] The foreign object identification and interference suppression mode is activated, and the vibratory rod drive motor operates in a low-energy, multi-frequency scanning vibration mode, while simultaneously collecting the vibration energy attenuation mode and temperature field distribution data of the vibratory rod in different frequency bands.

[0170] Based on the vibration energy decay mode and temperature field distribution data in the local area, the basic information of foreign objects in the local sub-region is identified; the basic information includes material, size and spatial distribution.

[0171] Based on the basic information, thermal conduction compensation is performed on the temperature change rate data in the area near the foreign object, and vibration damping correction is performed on the local attenuation of vibration energy caused by the foreign object. The corrected temperature change rate of concrete and the motion state information of the vibrator in the local sub-region are obtained for subsequent re-evaluation of rheological parameters and adjustment of judgment threshold.

[0172] Specifically, while continuously monitoring the rate of temperature change in concrete and the movement status of the vibrator within a local sub-region, the foreign object identification and interference suppression mode is first activated. This mode aims to actively detect and identify potential foreign objects within the concrete and effectively suppress their interference. In this mode, the vibrator drive motor is configured to operate in a low-energy, multi-frequency scanning vibration mode. Low-energy vibration avoids significant impact on the concrete compaction process, while multi-frequency scanning vibration utilizes the differences in the propagation characteristics of vibration waves at different frequencies in different media to more comprehensively detect the internal structure of the concrete. Simultaneously, the vibration energy attenuation mode of the vibrator at different frequency bands and the temperature field distribution data within the local area are collected. The vibration energy attenuation mode reflects the energy loss of the vibration wave as it propagates in the medium, while the temperature field distribution data provides information on the thermal characteristics of the local area.

[0173] Based on the collected vibration energy attenuation patterns and temperature field distribution data within local areas, the material, size, and spatial distribution of foreign objects within local sub-regions can be identified. For example, foreign objects of different materials (such as steel bars, wood blocks, and plastics) exhibit significant differences in their vibration wave attenuation characteristics and thermal conductivity. By analyzing these differences, the material of the foreign object can be inferred. Furthermore, the size and spatial distribution of the foreign object affect the localization of vibration energy attenuation and the degree of distortion in the temperature field distribution. Through refined analysis of these data, the foreign object can be accurately located and its size estimated.

[0174] In practical applications, the temperature change rate of concrete and the vibration state information of the vibrator in a local sub-region are corrected in real time based on the material, size, and spatial distribution of the identified foreign object. This correction process is crucial to ensuring the accuracy of subsequent judgments. Specifically, the correction includes thermal conduction compensation for the temperature change rate data in the vicinity of the foreign object. This aims to eliminate the influence of foreign objects (such as steel bars with good thermal conductivity or air pores with poor thermal conductivity) on the local temperature sensor measurements, allowing them to more accurately reflect the temperature changes of the concrete itself. Furthermore, vibration damping correction is applied to the local attenuation of vibration energy caused by the foreign object. This aims to compensate for the obstruction or reflection of the vibration wave propagation path by the foreign object, ensuring that the vibration state information (such as amplitude and frequency) more accurately reflects the compaction state of the concrete, rather than the interference of the foreign object.

[0175] This invention utilizes a foreign object identification and interference suppression mode, employing low-energy, multi-frequency scanning vibration and simultaneous acquisition of vibration energy attenuation patterns and temperature field distribution data, to actively detect and identify foreign objects within concrete. Because the material, size, and spatial distribution of these foreign objects are accurately identified, targeted thermal conduction compensation can be applied to the temperature change rate data in the vicinity of the foreign object, and vibration damping correction can be applied to the localized vibration energy attenuation caused by the foreign object. Consequently, the obtained information on the concrete temperature change rate and the vibrator's motion effectively eliminates foreign object interference, providing more accurate and reliable input data for the subsequent rapid reassessment of local rheological parameters. This ensures the accuracy of rheological parameter updates, allowing the dynamically adjusted judgment thresholds and weighting factors to more realistically reflect the actual compaction state of the concrete.

[0176] The above technical solutions effectively address the problem of data distortion caused by interference in traditional monitoring methods when foreign objects are present inside concrete. This application, by introducing a foreign object identification and interference suppression mode, achieves real-time correction of monitoring data, significantly improving the accuracy and reliability of monitoring the concrete temperature change rate and vibrator movement status information in local sub-regions. Therefore, when triggering rapid reassessment of local rheological parameters, it can be based on more realistic data, ensuring the accuracy of rheological parameter updates and avoiding misjudgments or adjustment deviations caused by foreign object interference.

[0177] For example, suppose that in a certain local sub-region, the vibrator encounters a pre-embedded reinforcing bar during vibration. After activating the foreign object identification and interference suppression mode, the vibrator drive motor will operate in a low-energy, multi-frequency scanning vibration mode. For instance, the vibrator can sequentially perform micro-vibrations at multiple frequencies such as 50Hz, 100Hz, and 150Hz, simultaneously collecting vibration energy attenuation data at each frequency and temperature field distribution data for that local area. By analyzing this data, the system can identify the presence of a foreign object of a specific size and material (e.g., reinforcing bar) in the area and determine its approximate spatial location. Subsequently, the system will perform thermal conduction compensation on the temperature sensor data in the area near the reinforcing bar based on its thermal conductivity characteristics to eliminate the influence of the reinforcing bar on local temperature measurement. Simultaneously, considering the damping effect of the reinforcing bar on the vibration wave, the system will perform vibration damping correction on the vibrator's motion state information (such as amplitude) to more accurately reflect the vibration response of the concrete itself. After these corrections, the information on the rate of temperature change of concrete and the motion state of the vibrator in the local sub-region will be more realistic and reliable, thus providing an accurate basis for the subsequent re-evaluation of rheological parameters and adjustment of judgment thresholds, and ensuring the accuracy of the judgment on the adequacy of vibration.

[0178] Example 2

[0179] like Figure 2 As shown, the difference between this embodiment and Embodiment 1 is that this embodiment provides a concrete vibration adequacy judgment system based on multi-sensor fusion, which corresponds one-to-one with the concrete vibration adequacy judgment method based on multi-sensor fusion in Embodiment 1; the system includes:

[0180] The acquisition unit is used to acquire first information about the vibrator in the concrete and second information about the interior of the concrete. The first information is motion state information, including the three-dimensional motion trajectory of the vibrator, vibration frequency, amplitude uniformity, and coverage integrity of the vibration area. The second information is hydration reaction state information, including temperature changes inside the concrete.

[0181] The vibration sufficiency judgment unit is used to fuse the first information and the second information to obtain the fusion result; and to make a vibration sufficiency judgment based on the fusion result to obtain the vibration sufficiency judgment result; the vibration sufficiency judgment is to perform weighted decision fusion of the first information and the second information according to preset weights, and to make a judgment in combination with an adaptive threshold and a state machine model;

[0182] The operation guidance information generation unit is used to generate operation guidance information based on the results of the vibration adequacy judgment, either from a global region or a local sub-region.

[0183] The execution process of each unit can be carried out according to the steps of the concrete vibration sufficiency judgment method based on multi-sensor fusion in Example 1, and will not be described in detail in this example.

[0184] Meanwhile, the present invention also provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the above-mentioned method for judging the adequacy of concrete vibration based on multi-sensor fusion.

[0185] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for judging the adequacy of concrete vibration based on multi-sensor fusion, characterized in that, The method includes: The system acquires first information about the vibrator in the concrete and second information about the interior of the concrete. The first information is motion state information, including the three-dimensional motion trajectory of the vibrator, vibration frequency, amplitude uniformity, and coverage integrity of the vibration area. The second information is hydration reaction state information, including temperature changes inside the concrete. The first information and the second information are fused to obtain a fusion result; and the sufficiency of vibration is judged based on the fusion result to obtain a sufficiency judgment result; the sufficiency judgment of vibration is performed by weighted decision fusion of the first information and the second information according to preset weights, and judged by combining adaptive threshold and state machine model; And based on the results of the vibration adequacy assessment, operation guidance information is generated based on the global region or local sub-regions.

2. The method for judging the adequacy of concrete vibration based on multi-sensor fusion according to claim 1, characterized in that, Before determining the adequacy of vibration based on the fusion results, the method further includes: After the vibrator is inserted into the concrete and before full-power vibration, the initial rheological property detection mode is activated, and the vibrator drive motor runs at low power to generate preset low-energy and multi-frequency micro-vibrations. The vibration energy attenuation mode and micro-displacement characteristics of the vibratory rod at each detection frequency were collected under the initial rheological property detection mode. The initial rheological state of concrete is evaluated based on the vibration energy decay mode and micro-displacement characteristics at multiple frequencies; a rheological characteristic profile is generated based on the initial rheological state; the rheological characteristic profile is a quantitative description of the initial physical properties of concrete in the current region and serves as a reference benchmark. Based on the rheological characteristic file, the compaction judgment logic of the full-power vibration stage is adjusted to obtain the adjusted compaction judgment logic for judging the adequacy of vibration. The compaction judgment logic for adjusting the full-power vibration stage includes reducing the weight of the attitude and vibration characteristic scores in the first information, increasing the weight of the temperature change score in the second information, and modifying the adjustment strategy of the adaptive threshold to limit the downward adjustment range of the adaptive threshold.

3. The method for judging the adequacy of concrete vibration based on multi-sensor fusion according to claim 1, characterized in that, The assessment of the adequacy of vibration based on the fusion results includes: Continuously acquire first information from the vibrator in the local area and second information from the inside of the concrete; Based on the local differences in the moving speed of the vibrator, the dwell time of the vibrator, and the rate of change of the internal temperature of the concrete within the local area, the weight allocation of the first and second information in the weighted decision fusion algorithm is dynamically adjusted. The adaptive threshold is dynamically adjusted based on the real-time changes in the compaction rate within a local area to obtain the adjusted threshold. Based on the fusion results of local areas and the adjusted threshold, the density state is determined and switched.

4. The method for judging the adequacy of concrete vibration based on multi-sensor fusion according to claim 3, characterized in that, The assessment of the adequacy of vibration based on the fusion results also includes: The first external factor and the second external factor are obtained. The first external factor is external mechanical vibration data, which is obtained by monitoring the external mechanical vibration of the environment in which the vibrator is located. The second external factor is ambient temperature data, which is obtained by monitoring the ambient temperature around the vibrator. Based on the first external factor, the influence of external mechanical vibration on the first information of the vibrator is identified, and the first influence identification result is obtained. Based on the second external factor, the influence of external ambient temperature on the second information of concrete is identified, and the second influence identification result is obtained; Based on the first and second impact identification results, the vibration adequacy judgment is adjusted; the adjustment includes adjusting the preset weight, correcting the adaptive threshold adjustment strategy, and adjusting the switching logic of the state machine model. The first and second information are weighted and fused according to the adjusted weights, and the judgment is made in combination with the modified adaptive threshold adjustment strategy and the adjusted state machine model switching logic.

5. The method for judging the adequacy of concrete vibration based on multi-sensor fusion according to claim 1, characterized in that, Based on the vibration adequacy assessment result, operational guidance information is generated based on local sub-regions, including: The three-dimensional movement trajectory of the vibrator inside the concrete is continuously tracked, and the vibration area is divided into multiple local sub-regions based on the moving speed and residence time of the vibrator. For each local sub-region, the compaction state is independently judged based on the local differences in the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of the concrete, so as to obtain the compaction judgment result of the local sub-region. Based on the compaction judgment results of each local sub-region, operation guidance information for the local sub-region is generated; The steps for obtaining the rate of temperature change inside the concrete are as follows: In the local sub-region where the vibrator moves rapidly, the temperature data enhancement mode is activated, the sampling frequency of the temperature sensor is increased, and the low-energy, high-frequency micro-vibration mode of the vibrator is activated. The temperature data collected under the temperature data enhancement mode with increased sampling frequency and the temperature response data under the low-energy, high-frequency micro-vibration mode are collected. Based on the temperature data and the temperature response data, combined with the moving speed of the vibrator and the distribution information of the reinforcing bars in the local area, the temperature change rate of the local sub-region is corrected to obtain the corrected internal temperature change rate of the concrete.

6. The method for judging the adequacy of concrete vibration based on multi-sensor fusion according to claim 5, characterized in that, For each local sub-region, the compaction state is independently judged based on the local differences in the vibrator's moving speed, residence time, and internal temperature change rate of the concrete, resulting in the compaction judgment results for the local sub-region, including: Before determining the compaction status of each local sub-region, the local concrete characteristic detection mode is activated, and the vibrator drive motor runs in a low-power, variable-frequency vibration mode to generate micro-vibrations of different frequencies and amplitudes. The vibration energy attenuation curves and displacement response of the vibrator at each micro-vibration frequency and amplitude were collected under the local concrete characteristic detection mode. Based on the vibration energy decay curve and the displacement response, the viscosity, yield stress and internal friction coefficient of concrete in the local sub-region are evaluated to obtain the local concrete rheological properties parameters. Based on the local concrete rheological properties parameters, the judgment threshold and weighting factor of the vibrator moving speed, vibrator dwell time, and concrete internal temperature change rate in the local sub-region are dynamically adjusted. Based on the adjusted judgment threshold and weighting factor, the compaction state is independently judged for the local differences in the moving speed of the vibrator, the residence time of the vibrator, and the rate of change of internal temperature of the concrete in the local sub-region.

7. The method for judging the adequacy of concrete vibration based on multi-sensor fusion according to claim 6, characterized in that, Based on the local concrete rheological property parameters, the judgment threshold and weighting factor for the vibrator moving speed, vibrator residence time, and concrete internal temperature change rate in the local sub-region are dynamically adjusted, including: In the rapid reassessment mode, the vibratory rod drive motor operates in a high-frequency, short-pulse micro-vibration mode to simultaneously acquire the vibration energy attenuation mode and displacement characteristics. Based on the re-evaluation results of the vibration energy attenuation mode and the displacement characteristics, combined with the current ambient temperature and the time of placement of the new batch of concrete, the local concrete rheological properties parameters are updated in real time. Based on the updated local concrete rheological properties parameters, the judgment threshold and weighting factor of the vibrator moving speed, vibrator dwell time, and concrete internal temperature change rate in the local sub-region are dynamically adjusted. The steps for obtaining the rapid re-evaluation mode are as follows: continuously monitor the rate of temperature change of concrete and the motion state information of the vibrator in the local sub-region; when a nonlinear change or abrupt change in the rate of temperature change or the motion state information of the vibrator is detected, the rapid re-evaluation mode of the local rheological parameters is triggered.

8. The method for judging the adequacy of concrete vibration based on multi-sensor fusion according to claim 7, characterized in that, Continuously monitor the rate of temperature change of concrete and the movement status of the vibrator within a local sub-region, including: The foreign object identification and interference suppression mode is activated, and the vibratory rod drive motor operates in a low-energy, multi-frequency scanning vibration mode, while simultaneously collecting the vibration energy attenuation mode and temperature field distribution data of the vibratory rod in different frequency bands. Based on the vibration energy attenuation mode and the temperature field distribution data within the local area, basic information about foreign objects in the local sub-region is identified; the basic information includes material, size, and spatial distribution. Based on the aforementioned basic information, thermal conduction compensation is performed on the temperature change rate data in the area near the foreign object, and vibration damping correction is performed on the local attenuation of vibration energy caused by the foreign object. This yields the corrected temperature change rate of concrete and the motion state information of the vibrator in the local sub-region, which can be used for subsequent re-evaluation of rheological parameters and adjustment of judgment thresholds.

9. A concrete vibration adequacy judgment system based on multi-sensor fusion, characterized in that, The system includes: The acquisition unit is used to acquire first information about the vibrator in the concrete and second information about the interior of the concrete; the first information is motion state information, including the three-dimensional motion trajectory of the vibrator, vibration frequency, amplitude uniformity and coverage integrity of the vibration area; the second information is hydration reaction state information, including temperature changes inside the concrete. The vibration adequacy judgment unit is used to fuse the first information and the second information to obtain the fusion result; and to make a vibration adequacy judgment based on the fusion result to obtain the vibration adequacy judgment result; the vibration adequacy judgment is to perform weighted decision fusion of the first information and the second information according to preset weights, and to make a judgment in combination with an adaptive threshold and a state machine model; The operation guidance information generation unit is used to generate operation guidance information based on the vibration adequacy judgment result, either globally or in a local sub-region.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the adequacy of concrete vibration based on multi-sensor fusion as described in any one of claims 1 to 8.

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