Concrete vibrating control method, vibrating control device, vibrating device and vibrating machine

Abstract

The invention relates to a concrete vibrating control method, a vibrating control device, a vibrating device and a vibrating machine. The method comprises the following steps: acquiring a concrete surface image; the concrete surface image is an image obtained by shooting the concrete surface in which the vibrating rod is placed by an image acquisition device; inputting the concrete surface image into a pre-trained concrete state classification model to obtain dense state classification information of the concrete, and identifying vibration features of the concrete surface image to obtain vibration state data of the concrete; under the condition that the dense state classification information represents that the dense state of the concrete is qualified, obtaining a pull-out speed threshold value of the vibrating rod according to the vibrating state data; and according to the pulling-out speed threshold value, the pulling-out action of the vibrating rod is controlled, and the concrete vibrating operation is completed. By adopting the method, the concrete vibrating operation effect can be improved.

Description

Technical Field

[0001] This application relates to the field of building construction technology, and in particular to a concrete vibration control method, vibration control device, vibration device and vibrator. Background Technology

[0002] In the field of concrete construction, vibration is a key step in the pouring process. Its core purpose is to use vibration equipment to promote the flow and rearrangement of concrete through mechanical vibration, so as to quickly remove air bubbles inside the concrete. This is conducive to the tight bonding between cement, sand and gravel and steel reinforcement, thereby making the concrete component dense, air-vented, and achieving the expected strength and durability.

[0003] However, the current control of vibration quality in engineering still mainly relies on visual observation by on-site personnel, experience judgment by construction workers, and post-pouring visual inspection. However, these vibration control methods cannot accurately control the vibration operation process, nor can they accurately reflect the vibration quality effect in real time. This results in poor concrete vibration operation, which is prone to problems such as local under-vibration, under-vibration, or over-vibration. As a result, the internal structure of the concrete may have voids or damage, which reduces the compressive strength, impermeability, durability and other properties of the concrete, thus posing safety risks to the construction.

[0004] Therefore, traditional techniques suffer from poor concrete vibration control. Summary of the Invention

[0005] Therefore, it is necessary to provide a concrete vibration control method, vibration control device, vibration device, and vibrator that can improve the concrete vibration operation effect in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for controlling concrete vibration, the method comprising the following steps:

[0007] Acquire images of the concrete surface; the concrete surface images are images obtained by an image acquisition device taking pictures of the concrete surface with a vibrating rod inserted.

[0008] The concrete surface image is input into a pre-trained concrete state classification model to obtain the compaction state classification information of the concrete, and the vibration features of the concrete surface image are identified to obtain the vibration state data of the concrete.

[0009] When the compaction state classification information indicates that the compaction state of the concrete is qualified, the pull-out speed threshold of the vibrator is obtained based on the vibration state data.

[0010] Based on the pull-out speed threshold, the pull-out action of the vibrator is controlled to complete the vibration operation of the concrete.

[0011] In one embodiment, obtaining the pull-out speed threshold of the vibrator based on the vibration state data includes:

[0012] Determine at least one vibration rod speed change condition that is currently satisfied by the vibration state data;

[0013] In response to the vibration state data satisfying the vibration rod speed change condition, the pull-out speed threshold of the vibration rod is adjusted to the pull-out speed threshold corresponding to the vibration rod speed change condition.

[0014] Different speed-changing conditions of the vibrating rod correspond to different pull-out speed thresholds.

[0015] In one embodiment, the vibration state data includes the bubble escape frequency, and the step of adjusting the pull-out speed threshold of the vibrator to the pull-out speed threshold corresponding to the vibrator speed change condition in response to the vibration state data satisfying the vibrator speed change condition includes:

[0016] In response to the bubble escape frequency being lower than a first preset value, the pull-out speed threshold of the vibrating rod is adjusted to the first pull-out speed threshold.

[0017] The vibration state data also includes the area of ​​slurry precipitation and the total area of ​​the vibration surface. The step of adjusting the pull-out speed threshold of the vibrator to the pull-out speed threshold corresponding to the vibration rod speed change condition, in response to the vibration state data satisfying the vibrator speed change condition, includes:

[0018] In response to a preset parameter that the area of ​​the slurry precipitation exceeds the total area of ​​the vibrating surface, and the bubble escape frequency is lower than a second preset value, the pull-out speed threshold of the vibrating rod is adjusted to the second pull-out speed threshold.

[0019] Wherein, the second preset value is less than the first preset value, the second pull-out speed threshold is less than the first pull-out speed threshold, and both the second pull-out speed threshold and the first pull-out speed threshold are determined based on the insertion depth of the vibrator rod in the vibration state data.

[0020] In one embodiment, controlling the pulling action of the vibrating rod according to the pulling speed threshold includes:

[0021] Based on the insertion depth of the vibrator in the vibration state data, the real-time extraction speed of the vibrator is obtained.

[0022] If the real-time pull-out speed is greater than the pull-out speed threshold, a speed reduction prompt message is output; the speed reduction prompt message is used to prompt the operator to reduce the real-time pull-out speed of the vibrator to the pull-out speed threshold.

[0023] If the real-time pull-out speed is less than or equal to the pull-out speed threshold, the pull-out speed of the vibrator is controlled according to the pull-out speed threshold to complete the pull-out operation of the vibrator.

[0024] In one embodiment, after controlling the pull-out speed of the vibratory rod according to the pull-out speed threshold, the method further includes:

[0025] With the tip of the vibrator completely detached from the concrete surface, an image of the concrete surface after vibration is captured by the image acquisition device.

[0026] Based on the image of the concrete surface after vibration, output the evaluation result of the vibration operation.

[0027] Secondly, this application provides a concrete vibration control device, the device comprising:

[0028] A surface image acquisition module is used to acquire images of the concrete surface; the concrete surface image is an image obtained by an image acquisition device taking pictures of the concrete surface with a vibrating rod inserted.

[0029] The state classification and recognition module is used to input the concrete surface image into a pre-trained concrete state classification model to obtain the compaction state classification information of the concrete, and to identify the vibration features of the concrete surface image to obtain the vibration state data of the concrete.

[0030] The speed threshold acquisition module is used to obtain the pull-out speed threshold of the vibrator based on the vibration state data, when the compaction state classification information indicates that the compaction state of the concrete is qualified.

[0031] The pull-out speed control module is used to control the pull-out action of the vibrator according to the pull-out speed threshold, so as to complete the vibration operation of the concrete.

[0032] Thirdly, this application also provides a vibration device, which includes: a vibration mechanism, an image acquisition device, and a controller; wherein,

[0033] The vibration mechanism includes a support frame and multiple vibration rods; one end of each vibration rod is fixedly connected to one end of the support frame.

[0034] The image acquisition device is mounted on the bracket, and the lens of the image acquisition device faces the extension direction of the vibrating rod.

[0035] The controller, connected to the image acquisition device, is used to execute the concrete vibration control method as described in any of the above.

[0036] In one embodiment, the vibrating device further includes a display device connected to the controller;

[0037] The display device is used to display the real-time pull-out speed and pull-out speed threshold of the vibratory rod; it is also used to display a speed reduction prompt when the real-time pull-out speed is greater than the pull-out speed threshold.

[0038] In one embodiment, the image acquisition device further includes: a binocular depth camera, a shock-absorbing gimbal, and a protective cover; the binocular depth camera is connected to the bracket via the shock-absorbing gimbal, and the protective cover is used to protect the binocular depth camera and the shock-absorbing gimbal.

[0039] Fourthly, this application also provides a vibratory compactor, which includes the vibratory compaction device as described in any of the preceding claims.

[0040] The aforementioned concrete vibration control method, vibration control device, vibration device, and vibrator acquire images of the concrete surface. These images are obtained by an image acquisition device capturing images of the concrete surface with the vibrator inserted. The concrete surface images are then input into a pre-trained concrete state classification model to obtain concrete compaction state classification information. Furthermore, the vibration characteristics of the concrete surface images are identified to obtain concrete vibration state data. If the compaction state classification information indicates that the concrete's compaction state is acceptable, a threshold for the pull-out speed of the vibrator is obtained based on the vibration state data. The pull-out speed threshold is then used to control the pull-out action of the vibrator, thus completing the concrete vibration operation. This solution enables high-precision classification of the compaction state of concrete surfaces based on images acquired by an image acquisition device. It utilizes a pre-trained concrete state classification model to accurately identify the vibration characteristics of the concrete surface images, thus extracting precise concrete vibration state data. This allows for the determination of a standard vibrator pull-out speed threshold when the concrete compaction state is acceptable. By controlling the vibrator pull-out action according to this threshold, dynamic slow-pulling speed control of the vibrator is achieved. This avoids problems such as under-vibration, insufficient vibration, or over-vibration during concrete compaction, allowing air bubbles to be fully expelled and ensuring a uniform and dense distribution of concrete aggregates and cement paste. This results in a denser and more compact internal structure, improving the concrete's compressive strength, impermeability, durability, and other physical properties. Ultimately, this significantly enhances the concrete vibration operation effect, solving the problem of poor concrete vibration control in traditional technologies. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is an application environment diagram of a concrete vibration control method in one embodiment;

[0043] Figure 2 This is a flowchart illustrating a concrete vibration control method in one embodiment;

[0044] Figure 3 This is a flowchart illustrating another concrete vibration control method in one embodiment;

[0045] Figure 4 This is a structural block diagram of a concrete vibration control device in one embodiment;

[0046] Figure 5 This is an internal structural diagram of a computer device in one embodiment;

[0047] Figure 6 This is a structural block diagram of a vibrating device in one embodiment;

[0048] Figure 7 This is a schematic diagram of a vibrating device in one embodiment;

[0049] Figure 8 This is a structural block diagram of an image acquisition device in one embodiment. Detailed Implementation

[0050] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0052] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0053] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as “below,” “under,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0054] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0055] When used here, the singular forms of “a,” “one,” and “the” may also include the plural forms, unless the context clearly indicates otherwise.

[0056] As described in the background section, in the field of concrete construction, vibration is a crucial step in the pouring process. Its core purpose is to use vibration equipment to promote the flow and rearrangement of concrete through mechanical vibration, rapidly expelling air bubbles from the concrete and facilitating a tight bond between cement, aggregate, and reinforcing steel. This results in denser, air-vented concrete components that achieve the desired strength and durability. This process is particularly important in concrete dam engineering. Concrete dams are characterized by large pour volumes and high quality requirements. Quality control not only affects structural strength but also directly impacts the dam's seepage prevention performance and long-term stability. Due to the massive volume of the dam, it often requires long-term, layered, continuous pouring, making its structural safety requirements more stringent than ordinary structures. Therefore, immersion vibrators are widely used in dam concrete construction to improve construction efficiency and quality.

[0057] However, current engineering practices for controlling vibration quality primarily rely on visual observation by on-site personnel, experience-based judgment by construction workers, and post-pouring visual inspections—methods with significant shortcomings. They cannot reflect the vibration quality in real time, easily leading to problems such as localized under-vibration, insufficient vibration, or over-vibration. These issues are usually only discovered after the concrete has hardened, resulting in localized voids or damage to the structure. Remedial measures such as "re-pouring" are necessary, increasing construction costs and time, and posing safety risks.

[0058] Therefore, in view of the limitations of traditional vibration quality control methods, this application proposes to provide a concrete vibration control method based on video monitoring, algorithm-driven, and real-time control during construction, in order to achieve full-process monitoring of vibration quality during construction and significantly improve construction quality and efficiency.

[0059] The concrete vibration control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, the vibrator 104 can acquire images of the concrete surface; the concrete surface image is an image obtained by an image acquisition device capturing the concrete surface with the vibrator inserted; the vibrator 104 can input the concrete surface image into a pre-trained concrete state classification model to obtain the concrete compaction state classification information, and identify the vibration characteristics of the concrete surface image to obtain the concrete vibration state data; if the compaction state classification information indicates that the concrete compaction state is qualified, the vibrator 104 can obtain the vibrator pull-out speed threshold based on the vibration state data; the vibrator 104 can control the pull-out action of the vibrator according to the pull-out speed threshold to complete the concrete vibration operation.

[0060] In one exemplary embodiment, such as Figure 2 As shown, a method for controlling concrete vibration is provided. This embodiment applies this method to... Figure 1 The vibratory compactor 104 is used as an example for illustration. In this embodiment, the method includes the following steps S202 to S208. Wherein:

[0061] Step S202: Obtain an image of the concrete surface.

[0062] Among them, the concrete surface image is an image obtained by an image acquisition device taking pictures of the concrete surface with a vibrating rod inserted.

[0063] For example, the image acquisition device can be fixed on the support of the vibrating device, and its field of view can cover the entire view of the extension direction of the vibrating rod and the concrete surface area, so as to take real-time, second-by-second snapshots of the concrete surface condition and obtain a snapshot of the concrete surface condition.

[0064] In practical applications, the controller of the vibrator 104 can perform non-contact image acquisition of the concrete surface during the concrete vibration process through an image acquisition device, and obtain images that can be used to identify the compaction state type and vibration state data of the concrete vibration surface.

[0065] For example, the image acquisition device can employ a binocular depth camera incorporating stereo vision algorithms. The use of a binocular depth camera to acquire images of the concrete surface and obtain data on the concrete's vibration status is primarily due to the non-contact measurement advantage of binocular vision technology. Non-contact measurement avoids the wear and contamination caused by direct contact with the concrete, thus extending the lifespan of the equipment.

[0066] Step S204: Input the concrete surface image into the pre-trained concrete state classification model to obtain the concrete compaction state classification information, and identify the vibration characteristics of the concrete surface image to obtain the concrete vibration state data.

[0067] The concrete compaction state classification information categorizes concrete surface conditions into three types based on the compaction state after vibration: unqualified compaction, intermediate compaction, and qualified compaction. In the unqualified compaction state, the concrete contains a large amount of large-diameter coarse aggregate, and the surface has almost no suspended laitance; this is a typical appearance characteristic of short vibration durations. In the intermediate compaction state, the aggregate particle size is smaller than that in the unqualified state, the surface has laitance and adhesion, and the surface texture is highly irregular. In the qualified compaction state, the concrete contains a large amount of laitance and a small number of small air bubbles, the surface texture is relatively flat, and there may be a small number of microscopically exposed aggregate particles.

[0068] Among them, the vibration status data can be detected and identified by stereo vision algorithm to detect vibration features of concrete surface images, such as the placement position of the vibrator, the vibration surface, the escape of concrete air bubbles, and surface mud, which are used to determine the withdrawal speed of the vibrator.

[0069] In a specific implementation, the controller of the vibrator 104 can input the collected concrete surface image into a pre-trained concrete state classification model to obtain the concrete compaction state classification information, such as qualified state, intermediate state and unqualified state. It can also use a stereo vision algorithm to detect and identify the vibration features of the concrete surface image to obtain the concrete vibration state data.

[0070] Optionally, the pre-trained concrete state classification model can be a pre-trained neural network model. For example, when pre-training the concrete state classification model, snapshots of the concrete surface state can be taken beforehand, and these snapshots can be augmented through vertical flipping, horizontal flipping, rotation, and brightness adjustment to expand the model's learning samples. Then, based on the physical information of the concrete surface state, the neural network model is trained. A ResNet (residual network model) with 50 layers can be used to train the concrete state classification model, and a test dataset is used to validate the constructed model. The deep convolutional neural network model used to classify concrete surface images can include an input layer, convolutional layers, pooling layers, activation layers, and an output layer. Compared with traditional neural network models, the most prominent structural change is the addition of convolutional and pooling layers, which can extract the most representative dense state features of the concrete surface (such as the presence or absence of air bubbles and surface slurry), improving the feature extraction and state classification capabilities of the concrete state classification model.

[0071] Step S206: If the compaction state classification information indicates that the compaction state of the concrete is qualified, the threshold for the pull-out speed of the vibrator is obtained based on the vibration state data.

[0072] The pull-out speed threshold can be calculated by combining the insertion depth of the vibrator obtained from the image recognition of the concrete surface by the stereo vision algorithm of the image acquisition device with the result of second-level time measurement. Depth of insertion of the vibratory rod In unit time Average pull-out speed For example, the initial insertion depth of the vibrator into the concrete can be set according to the construction design specifications, and the time reference used can be Coordinated Universal Time.

[0073] In the specific implementation, after the concrete surface image captured by the image acquisition device is analyzed and compared with the pre-trained concrete state classification model, and the similarity results match, the output compaction state classification information can characterize the concrete compaction state as qualified. Then, the controller of the vibrator 104 determines the pull-out speed threshold of the vibrator rod based on the detected and identified vibration state data.

[0074] Step S208: Based on the pull-out speed threshold, control the pull-out action of the vibrator to complete the vibration operation of the concrete.

[0075] It should be noted that the pull-out speed of the vibrator can be set to a constant speed. This is because, in actual construction, operators usually subconsciously pull out the vibrator at a steady speed. This habitual operation can be reasonably utilized in automated control, thereby simplifying the vibrator speed control strategy and improving the stability and reliability of the control system.

[0076] In practice, the controller of the vibrator 104 can control the pulling action of the vibrator rod at a constant speed according to the determined pull-out speed threshold, so as to complete the vibration operation of the concrete.

[0077] The above-mentioned concrete vibration control method involves acquiring images of the concrete surface; these images are obtained by an image acquisition device capturing images of the concrete surface with a vibrator inserted; the concrete surface images are input into a pre-trained concrete state classification model to obtain concrete compaction state classification information, and the vibration characteristics of the concrete surface images are identified to obtain concrete vibration state data; if the compaction state classification information indicates that the concrete compaction state is qualified, the vibrator pull-out speed threshold is obtained based on the vibration state data; and the pull-out action of the vibrator is controlled according to the pull-out speed threshold to complete the concrete vibration operation. This solution enables high-precision classification of the compaction state of concrete surface images acquired by an image acquisition device using a pre-trained concrete state classification model. It also accurately identifies the vibration characteristics of the concrete surface images to extract precise concrete vibration state data. This allows for the determination of a standard vibrator pull-out speed threshold when the concrete compaction state is acceptable. By controlling the vibrator pull-out action according to this threshold, dynamic slow-pulling speed control of the vibrator is achieved. This avoids problems such as under-vibration, insufficient vibration, or over-vibration during concrete compaction, allowing air bubbles to be fully expelled and ensuring a uniform and dense distribution of concrete aggregates and cement paste. This results in a denser and more compact internal structure, improving the concrete's compressive strength, impermeability, durability, and other physical properties. Ultimately, this significantly enhances the concrete vibration operation effect and solves the problem of poor concrete vibration control in traditional technologies.

[0078] In an exemplary embodiment, obtaining the pull-out speed threshold of the vibratory rod based on the vibration state data includes: determining at least one vibration rod speed change condition currently satisfied by the vibration state data; and adjusting the pull-out speed threshold of the vibratory rod to the pull-out speed threshold corresponding to the vibration rod speed change condition in response to the vibration state data satisfying the vibration rod speed change condition.

[0079] Different vibration rod speed change conditions correspond to different pull-out speed thresholds.

[0080] It should be noted that, given that in actual construction, operators typically use a slow, self-controlled translational motion during concrete vibration, the withdrawal process before and after approaching the set vibration rod speed change condition node can be approximated as uniform motion. This vibration rod speed change condition can be understood as a key criterion for dynamically generating the withdrawal speed threshold and for real-time monitoring of the vibration rod withdrawal action.

[0081] In a specific implementation, the controller of the vibrator 104 can determine at least one vibration rod speed change condition that the vibration state data currently satisfies; when the identified vibration state data satisfies the vibration rod speed change condition, the pull-out speed threshold of the vibration rod is adjusted to the pull-out speed threshold corresponding to the vibration rod speed change condition.

[0082] The technical solution of this embodiment, by determining multiple vibration rod speed change conditions that satisfy the vibration state data, can provide an accurate judgment basis for dynamically setting and adjusting the speed change node of the vibration rod pull-out speed threshold; then, according to the vibration rod speed change conditions, the vibration rod pull-out speed is adjusted to the pull-out speed threshold corresponding to the vibration rod speed change conditions, thereby accurately setting the pull-out speed of the vibration rod, thus providing a standardized technical standard for controlling the pull-out action of the vibration rod in concrete vibration operation.

[0083] In an exemplary embodiment, the vibration state data includes the bubble escape frequency; in response to the vibration state data satisfying the vibration rod speed change condition, adjusting the pull-out speed threshold of the vibration rod to the pull-out speed threshold corresponding to the vibration rod speed change condition includes: in response to the bubble escape frequency being lower than a first preset value, adjusting the pull-out speed threshold of the vibration rod to a first pull-out speed threshold.

[0084] The vibration state data also includes the area of ​​slurry precipitation and the total area of ​​the vibration surface; in response to the vibration state data meeting the vibration rod speed change condition, the pull-out speed threshold of the vibration rod is adjusted to the pull-out speed threshold corresponding to the vibration rod speed change condition, including: in response to the preset parameter that the slurry precipitation area exceeds the total area of ​​the vibration surface and the bubble escape frequency is lower than the second preset value, the pull-out speed threshold of the vibration rod is adjusted to the second pull-out speed threshold.

[0085] The second preset value is less than the first preset value, the second pull-out speed threshold is less than the first pull-out speed threshold, and both the second pull-out speed threshold and the first pull-out speed threshold are determined based on the insertion depth of the vibrator rod in the vibration state data.

[0086] It is understood that the vibration status data in this embodiment may include the insertion depth of the vibrator, the frequency of air bubble escape, the area of ​​laitance precipitation (also known as the degree of cement paste precipitation on the concrete surface), and the total area of ​​the vibration surface. The image acquisition device can acquire three-dimensional images of the vibrator and the concrete surface in real time and obtain vibration status data. Among them, the air bubble escape frequency, the laitance precipitation area, and the total area of ​​the vibration surface can be obtained by directly detecting and identifying the vibration characteristics of the concrete surface image through a stereo vision algorithm. The insertion depth of the vibrator can be obtained by accurately calculating the spatial positional relationship between the top of the vibrator and the concrete surface through the stereo vision algorithm of the image acquisition device, obtaining the real-time depth of the vibrator inserted into the concrete, and then determining the extraction speed threshold per unit time based on the insertion depth of the vibrator.

[0087] In a specific implementation, one of the vibration rod speed change conditions can be that the bubble escape frequency is lower than a first preset value, i.e., the first vibration rod speed change condition; the other vibration rod speed change condition can be that the slurry precipitation area exceeds a preset parameter of the total area of ​​the vibration surface, and the bubble escape frequency is lower than a second preset value, i.e., the second vibration rod speed change condition. For example, the preset parameter of the total area of ​​the vibration surface can be 80%.

[0088] When the controller of the vibrator 104 detects that the frequency of bubble escape from the vibration status data is lower than the first preset value When the first vibrator speed is changed, the pull-out speed threshold of the vibrator can be adjusted to the first pull-out speed threshold. When the controller of the vibrator 104 detects that the area of ​​slurry precipitation in the vibration status data exceeds a preset parameter of the total area of ​​the vibration surface (e.g., exceeding 80% of the total area of ​​the vibration surface), and the bubble escape frequency is lower than the second preset value. When the second vibrator speed is changed, the pull-out speed threshold of the vibrator can be adjusted to the second pull-out speed threshold. ,in, , .

[0089] The technical solution of this embodiment, by responding to a bubble escape frequency lower than a first preset value, adjusts the pull-out speed threshold of the vibrator to a first pull-out speed threshold, and responding to a preset parameter that the laitance precipitation area exceeds the total area of ​​the vibrating surface, and the bubble escape frequency is lower than a second preset value, adjusts the pull-out speed threshold of the vibrator to a second pull-out speed threshold. This clarifies multiple speed-changing conditions for adjusting the pull-out speed threshold of the vibrator. Therefore, based on the pull-out speed of the vibrator corresponding to the speed-changing conditions, the pull-out operation of the vibrator can be precisely controlled, thereby effectively improving the quality and efficiency of concrete vibration construction operations.

[0090] In an exemplary embodiment, controlling the pulling-out action of the vibratory rod according to the pulling-out speed threshold includes: obtaining the real-time pulling-out speed of the vibratory rod based on the insertion depth of the vibratory rod in the vibration state data; outputting a speed reduction prompt message when the real-time pulling-out speed is greater than the pulling-out speed threshold; and controlling the pulling-out speed of the vibratory rod according to the pulling-out speed threshold when the real-time pulling-out speed is less than or equal to the pulling-out speed threshold, thereby completing the pulling-out operation of the vibratory rod.

[0091] The speed reduction prompt is used to remind operators to reduce the real-time pull-out speed of the vibrator to a threshold speed. For example, the speed reduction prompt may include highlighting in red real-time pull-out speeds exceeding the threshold speed on the display device and providing an audio prompt to reduce the speed.

[0092] In its implementation, after determining the dynamic pull-out speed threshold, the controller of the vibratory compactor 104 can transmit the pull-out speed threshold to the display device via data transmission, prompting the operator to begin the pull-out phase of the vibratory rod. The controller of the vibratory compactor 104 can obtain the real-time pull-out speed of the vibratory rod based on the real-time insertion depth of the vibratory rod in the vibration status data; when the real-time pull-out speed is greater than the pull-out speed threshold, it can output speed reduction prompts such as highlighting the real-time pull-out speed in red and issuing an audio alarm; when the real-time pull-out speed is less than or equal to the pull-out speed threshold, it controls the pull-out speed of the vibratory rod according to the pull-out speed threshold to complete the pull-out operation of the vibratory rod.

[0093] For example, before the vibrator is pulled out, the concrete surface condition at different times is evaluated for compaction. When the image is deemed acceptable, an audio alert is issued to the operator to begin pulling out the vibrator, and a preset speed threshold is displayed on the integrated display terminal. The real-time pull-out speed is displayed; when the real-time pull-out speed exceeds the pull-out speed threshold, the speed is highlighted in red, and an audio prompt to reduce the speed is issued. The speed reduction prompt will only stop when the real-time pull-out speed of the vibrator is lower than the pull-out speed threshold.

[0094] The technical solution of this embodiment can detect the real-time pull-out speed of the vibrator by acquiring the real-time pull-out speed of the vibrator; and by comparing the real-time pull-out speed with the pull-out speed threshold, it can determine in real time whether the pull-out speed of the vibrator is exceeding the speed limit. When the speed exceeds the limit, the output speed reduction prompt can effectively remind the operator to reduce the pull-out speed. When the speed does not exceed the limit, the pull-out speed of the vibrator can be controlled according to the pull-out speed threshold. This provides operators with immediate and convenient information to complete the pull-out operation of the vibrator in a standardized manner, ensuring the standardization of concrete vibration operation, and thus effectively avoiding problems such as under-vibration, insufficient vibration, or over-vibration during concrete vibration.

[0095] In an exemplary embodiment, after controlling the pull-out speed of the vibrator according to the pull-out speed threshold, the method further includes: acquiring an image of the concrete surface after vibration using an image acquisition device when the tip of the vibrator is completely separated from the concrete surface; and outputting an evaluation result of the vibration operation based on the image of the concrete surface after vibration.

[0096] The evaluation results of the vibration operation are used to assess the compaction of the concrete surface after the vibrator is completely removed from the concrete.

[0097] It is understandable that the complete detachment of the vibrator tip from the concrete surface could be the instant at which the vibrator tip completely separates from the concrete surface. The image of the concrete surface after vibration can be used to reflect the effect of this concrete vibration operation after the vibrator has been withdrawn according to the withdrawal speed threshold.

[0098] In practice, when the top of the vibrator is completely detached from the concrete surface, the controller of the vibrator 104 can acquire an image of the concrete surface after vibration through an image acquisition device; based on the image of the concrete surface after vibration, the operation evaluation result of the vibration operation is output to ensure that the concrete surface condition is still in a qualified state after the vibrator is completely pulled out of the concrete.

[0099] The technical solution of this embodiment acquires an image of the concrete surface after vibration by completely detaching the top of the vibrator from the concrete surface. This image can characterize the effect of the vibration operation. Based on the concrete surface image, the evaluation result of the vibration operation is obtained, which is then used by backend data analysts to evaluate and optimize the effect of the vibration operation, thereby strengthening the monitoring and control of subsequent vibration quality.

[0100] Specifically, such as Figure 3 As shown, a method for controlling concrete vibration is provided, including:

[0101] Images of the vibrator and concrete surface are acquired using a depth camera. A neural network model identifies the compaction state of the concrete surface. Vibration continues when the compaction state is intermediate or unacceptable. When the compaction state is acceptable, a pull-out speed threshold is generated and displayed to guide the operator in controlling the pull-out speed of the vibrator to complete the compaction. Simultaneously, the real-time pull-out speed of the vibrator is acquired and monitored to determine if it exceeds the threshold. If the real-time pull-out speed exceeds the threshold, a deceleration warning is issued, accompanied by an audio alert, to slow down to the threshold. If the real-time pull-out speed does not exceed the threshold, images of the concrete surface are continuously acquired to confirm the final state of the compacted concrete. The acquired post-compaction image data and speed data are stored synchronously for backend data analysis to evaluate and optimize the compaction operation, thus completing the compaction process.

[0102] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0103] Based on the same inventive concept, this application also provides a concrete vibration control device for implementing the concrete vibration control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more concrete vibration control device embodiments provided below can be found in the limitations of the concrete vibration control method described above, and will not be repeated here.

[0104] In one exemplary embodiment, such as Figure 4 As shown, a concrete vibration control device is provided, comprising:

[0105] The surface image acquisition module 410 is used to acquire concrete surface images; the concrete surface images are images obtained by the image acquisition device from the concrete surface with the vibrating rod inserted.

[0106] The state classification and recognition module 420 is used to input concrete surface images into a pre-trained concrete state classification model to obtain concrete compaction state classification information, and to identify the vibration characteristics of concrete surface images to obtain concrete vibration state data.

[0107] The velocity threshold acquisition module 430 is used to obtain the pull-out velocity threshold of the vibrator based on the vibration state data, provided that the compaction state of the concrete is qualified according to the compaction state classification information.

[0108] The pull-out speed control module 440 is used to control the pull-out action of the vibrator according to the pull-out speed threshold, so as to complete the vibration operation of concrete.

[0109] In one embodiment, the speed threshold acquisition module 430 is further configured to determine at least one vibrator speed change condition currently satisfied by the vibration state data; in response to the vibration state data satisfying the vibrator speed change condition, adjust the pull-out speed threshold of the vibrator to the pull-out speed threshold corresponding to the vibrator speed change condition; wherein, different vibrator speed change conditions correspond to different pull-out speed thresholds.

[0110] In one embodiment, the speed threshold acquisition module 430 is further configured to adjust the pull-out speed threshold of the vibrator to a first pull-out speed threshold when the bubble escape frequency is lower than a first preset value; and to adjust the pull-out speed threshold of the vibrator to a second pull-out speed threshold when the slurry precipitation area exceeds a preset parameter of the total area of ​​the vibrating surface and the bubble escape frequency is lower than a second preset value; wherein the second preset value is less than the first preset value, the second pull-out speed threshold is less than the first pull-out speed threshold, and both the second pull-out speed threshold and the first pull-out speed threshold are determined based on the vibrator insertion depth in the vibration state data.

[0111] In one embodiment, the pull-out speed control module 440 is specifically used to obtain the real-time pull-out speed of the vibratory rod based on the insertion depth of the vibratory rod in the vibration state data; when the real-time pull-out speed is greater than the pull-out speed threshold, output a speed reduction prompt message; the speed reduction prompt message is used to prompt the operator to reduce the real-time pull-out speed of the vibratory rod to the pull-out speed threshold; when the real-time pull-out speed is less than or equal to the pull-out speed threshold, control the pull-out speed of the vibratory rod according to the pull-out speed threshold to complete the pull-out operation of the vibratory rod.

[0112] In one embodiment, the pull-out speed control module 440 is also used to acquire an image of the concrete surface after vibration by an image acquisition device when the top of the vibrator is completely separated from the concrete surface; and to output the operation evaluation result of the vibration operation based on the image of the concrete surface after vibration.

[0113] Each module in the aforementioned concrete vibration control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0114] In one exemplary embodiment, a computer device is provided, which may be a terminal or a vibratory compactor, and its internal structure diagram may be as follows. Figure 5 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a large-scale tool invocation method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0115] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0116] Based on the same inventive concept, this application also provides a vibration device. The solution provided by this device is similar to the solution described in the above-described concrete vibration control method. Therefore, the specific limitations of one or more vibration device embodiments provided below can be found in the limitations of the concrete vibration control method described above, and will not be repeated here.

[0117] In one exemplary embodiment, such as Figure 6 As shown, a vibration device is provided, which includes: a vibration mechanism 610, an image acquisition device 620, and a controller 630.

[0118] Among them, such as Figure 7 As shown, the vibration mechanism 610 includes a support 611 and a plurality of vibrating rods 612; one end of each vibrating rod 612 is fixedly connected to one end of the support 611.

[0119] An image acquisition device 620 is mounted on a bracket 611, with its lens pointing towards the extension direction of the vibratory rod 612. Due to the requirements of vibration specifications, the vibratory rod must be perpendicular to the concrete surface. Placing the image acquisition device 620 in this position ensures that the captured images of the concrete surface are free from angular interference, enabling accurate analysis of the concrete's compaction state using a pre-trained concrete state classification model and precise identification of the vibration characteristics of the concrete surface images. For example, the image acquisition device 620 is pre-equipped with a stereo vision algorithm, which can acquire vibration state data used to determine the pull-out speed threshold.

[0120] The controller 630, connected to the image acquisition device 620, is used to execute any of the above-mentioned concrete vibration control methods.

[0121] In a specific implementation, the vibration device may include a vibration mechanism 610, an image acquisition device 620, and a controller 630. The vibration mechanism 610 may include a support 611 and multiple vibrating rods 612 for vibrating concrete. The image acquisition device 620, mounted on the support 611, can acquire images of the concrete surface with the vibrating rods 612 inserted during the concrete vibration process, obtaining concrete surface images. The controller 630, connected to the image acquisition device 620, can acquire concrete surface images, which are images obtained by the image acquisition device from the concrete surface with the vibrating rods inserted; input the concrete surface images into a pre-trained concrete state classification model to obtain concrete compaction state classification information, and identify the vibration characteristics of the concrete surface images to obtain concrete vibration state data; if the compaction state classification information indicates that the concrete compaction state is qualified, obtain the vibrating rod pull-out speed threshold based on the vibration state data; control the pull-out action of the vibrating rods based on the pull-out speed threshold to complete the concrete vibration operation.

[0122] The technical solution of this embodiment, by setting a vibration device including a vibration mechanism, an image acquisition device and a controller, can acquire concrete surface images for identifying the classification information of the compaction state of the concrete surface and vibration state data, and execute the above-mentioned concrete vibration control method through the controller, thereby realizing the standardized control of concrete vibration operation.

[0123] In one exemplary embodiment, the vibrating device further includes a display device connected to the controller 630.

[0124] The display device is used to display the real-time pull-out speed and pull-out speed threshold of the vibratory rod 612; it is also used to display a speed reduction prompt when the real-time pull-out speed exceeds the pull-out speed threshold. For example, the display device can be installed on the control panel inside the vibratory machine's operating room.

[0125] In practical applications, after the controller 630 determines the extraction speed threshold of the vibrator 612 based on the concrete surface image acquired by the image acquisition device 620, it needs to control the extraction action of the vibrator 612 by acquiring its real-time extraction speed. Therefore, after the image acquisition device 620 acquires the real-time extraction speed of the vibrator 612, the display device can display the real-time extraction speed and the extraction speed threshold of the vibrator 612; when the real-time extraction speed is greater than the extraction speed threshold, the display device displays a speed reduction prompt, such as highlighting the real-time extraction speed greater than the extraction speed threshold in red or providing an audio alarm.

[0126] The technical solution of this embodiment, through the display device of the vibrating device, can display the real-time pull-out speed, the pull-out speed threshold, and the speed reduction prompt information when the real-time pull-out speed is greater than the pull-out speed threshold, so as to provide the operator with immediate and convenient visual information to complete the pull-out operation of the vibrating rod in a standardized manner, and ensure the standardization of concrete vibration operation.

[0127] In one exemplary embodiment, such as Figure 8 As shown, the image acquisition device 620 also includes: a binocular depth camera 621, a shockproof gimbal 622, and a protective cover 623.

[0128] The binocular depth camera 621 is connected to the bracket 611 via the anti-vibration gimbal 622, and the protective cover 623 is used to protect the binocular depth camera 621 and the anti-vibration gimbal 622.

[0129] For example, the binocular depth camera 621 can be encapsulated in the protective cover of the outer shield box, fixed on the bracket 611 of the vibrating mechanism 610, and the lens direction is facing the extension direction of the vibrating rod 612. The field of view can cover the entire vibrating rod and the concrete surface area to capture the state of the concrete surface in real time, second by second.

[0130] In practice, when vibrating concrete, the binocular depth camera 621 can perform non-contact image acquisition of the concrete surface during the vibration process; the anti-vibration gimbal 622 is used to stabilize the camera to capture images; and the protective cover 623 is used to protect the binocular depth camera 621 and the anti-vibration gimbal 622.

[0131] The technical solution of this embodiment can acquire clear images of the concrete surface by setting up a binocular depth camera and a shockproof gimbal; by setting up a protective cover, concrete can be prevented from sticking to the lens of the binocular depth camera, thus avoiding wear and contamination caused by direct contact between the image acquisition device and the concrete.

[0132] Because concrete dams are characterized by their large volume, large volume of concrete pouring, and high quality requirements, they often require long-term, layered, and continuous pouring. Their structural safety requirements are more stringent than those of ordinary structures. Quality control not only affects the structural strength of the dam but also directly impacts its seepage prevention performance and long-term stability. Therefore, immersion vibrating equipment is commonly used in dam concrete construction to improve the efficiency and quality of large-volume concrete dam pouring.

[0133] Therefore, based on the same inventive concept, this application also provides a vibratory compactor. The solution provided by this vibratory compactor is similar to the solution described in the above-described concrete vibration control method. Therefore, the specific limitations of one or more vibratory compactor embodiments provided below can be found in the limitations of the concrete vibration control method described above, and will not be repeated here.

[0134] In one exemplary embodiment, such as Figure 1 As shown, a vibratory compactor is provided, the vibratory compactor 104 including any of the vibratory compaction devices described above.

[0135] In practice, the operator can use a joystick to operate any of the aforementioned vibration devices in the vibratory compactor's control room. The vibratory compactor can acquire images of the concrete surface, which are images captured by an image acquisition device of the concrete surface with the vibratory rod inserted. These images are then input into a pre-trained concrete state classification model to obtain concrete compaction state classification information, and the vibration characteristics of the concrete surface image are identified to obtain concrete vibration state data. If the compaction state classification information indicates that the concrete's compaction state is acceptable, the vibratory rod's pull-out speed threshold is obtained based on the vibration state data. Based on the pull-out speed threshold, the pull-out action of the vibratory rod is controlled to complete the concrete vibration operation.

[0136] The vibratory compactor provided in this embodiment can precisely control the pull-out speed of the vibratory compactor device based on the above-mentioned concrete vibration control method, thereby standardizing the pull-out action of the vibratory compactor device so that operators can reasonably carry out concrete vibration operations, providing intelligent vibration machinery for the construction of large-volume concrete dams.

[0137] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic resistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence processors, etc., and are not limited to these.

[0138] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0139] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of controlling concrete vibration, characterized by, The method includes: Acquire images of the concrete surface; the concrete surface images are images obtained by an image acquisition device taking pictures of the concrete surface with a vibrating rod inserted. The concrete surface image is input into a pre-trained concrete state classification model to obtain the compaction state classification information of the concrete, and the vibration features of the concrete surface image are identified to obtain the vibration state data of the concrete. When the compaction state classification information indicates that the compaction state of the concrete is qualified, the pull-out speed threshold of the vibrator is obtained based on the vibration state data. Based on the pull-out speed threshold, the pull-out action of the vibrator is controlled to complete the vibration operation of the concrete.

2. The method of claim 1, wherein, The step of obtaining the pull-out speed threshold of the vibrator based on the vibration state data includes: Determine at least one vibration rod speed change condition that is currently satisfied by the vibration state data; In response to the vibration state data satisfying the vibration rod speed change condition, the pull-out speed threshold of the vibration rod is adjusted to the pull-out speed threshold corresponding to the vibration rod speed change condition. Different speed-changing conditions of the vibrating rod correspond to different pull-out speed thresholds.

3. The method of claim 2, wherein, The vibration state data includes the bubble escape frequency. The step of adjusting the pull-out speed threshold of the vibrator to the pull-out speed threshold corresponding to the vibration rod speed change condition, in response to the vibration state data satisfying the vibrator speed change condition, includes: In response to the bubble escape frequency being lower than a first preset value, the pull-out speed threshold of the vibrating rod is adjusted to the first pull-out speed threshold. The vibration state data also includes the area of ​​slurry precipitation and the total area of ​​the vibration surface. The step of adjusting the pull-out speed threshold of the vibrator to the pull-out speed threshold corresponding to the vibration rod speed change condition, in response to the vibration state data satisfying the vibrator speed change condition, includes: In response to a preset parameter that the area of ​​the slurry precipitation exceeds the total area of ​​the vibrating surface, and the bubble escape frequency is lower than a second preset value, the pull-out speed threshold of the vibrating rod is adjusted to the second pull-out speed threshold. Wherein, the second preset value is less than the first preset value, the second pull-out speed threshold is less than the first pull-out speed threshold, and both the second pull-out speed threshold and the first pull-out speed threshold are determined based on the insertion depth of the vibrator rod in the vibration state data.

4. The method of claim 1, wherein, The step of controlling the pulling action of the vibrating rod according to the pulling speed threshold includes: Based on the insertion depth of the vibrator in the vibration state data, the real-time extraction speed of the vibrator is obtained. If the real-time pull-out speed is greater than the pull-out speed threshold, a speed reduction prompt message is output; the speed reduction prompt message is used to prompt the operator to reduce the real-time pull-out speed of the vibrator to the pull-out speed threshold. If the real-time pull-out speed is less than or equal to the pull-out speed threshold, the pull-out speed of the vibrator is controlled according to the pull-out speed threshold to complete the pull-out operation of the vibrator.

5. The method of claim 4, wherein, After controlling the pull-out speed of the vibrating rod according to the pull-out speed threshold, the method further includes: With the tip of the vibrator completely detached from the concrete surface, an image of the concrete surface after vibration is captured by the image acquisition device. Based on the image of the concrete surface after vibration, output the evaluation result of the vibration operation.

6. A concrete vibration control device characterized by comprising: The device includes: A surface image acquisition module is used to acquire images of the concrete surface; the concrete surface image is an image obtained by an image acquisition device taking pictures of the concrete surface with a vibrating rod inserted. The state classification and recognition module is used to input the concrete surface image into a pre-trained concrete state classification model to obtain the compaction state classification information of the concrete, and to identify the vibration features of the concrete surface image to obtain the vibration state data of the concrete. The speed threshold acquisition module is used to obtain the pull-out speed threshold of the vibrator based on the vibration state data, when the compaction state classification information indicates that the compaction state of the concrete is qualified. The pull-out speed control module is used to control the pull-out action of the vibrator according to the pull-out speed threshold, so as to complete the vibration operation of the concrete.

7. A vibrating device, characterized in that The device includes: a vibration mechanism, an image acquisition device, and a controller; wherein... The vibration mechanism includes a support frame and multiple vibration rods; one end of each vibration rod is fixedly connected to one end of the support frame. The image acquisition device is mounted on the bracket, and the lens of the image acquisition device faces the extension direction of the vibrating rod. The controller is connected to the image acquisition device and is used to execute the concrete vibration control method as described in any one of claims 1 to 5.

8. The vibrating device of claim 7, wherein The vibrating device further includes: a display device connected to the controller; The display device is used to display the real-time pull-out speed and pull-out speed threshold of the vibratory rod; it is also used to display a speed reduction prompt when the real-time pull-out speed is greater than the pull-out speed threshold.

9. The vibrating device of claim 7, wherein The image acquisition device further includes: a binocular depth camera, a shock-absorbing gimbal, and a protective cover; the binocular depth camera is connected to the bracket via the shock-absorbing gimbal, and the protective cover is used to protect the binocular depth camera and the shock-absorbing gimbal.

10. A vibrator characterized by The vibratory compactor includes the vibratory compaction device as described in any one of claims 7 to 9.

Images