CN114622556A - AI image recognition-based CFG pile intelligent deviation rectifying method and device - Google Patents
AI image recognition-based CFG pile intelligent deviation rectifying method and device Download PDFInfo
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- CN114622556A CN114622556A CN202210292623.5A CN202210292623A CN114622556A CN 114622556 A CN114622556 A CN 114622556A CN 202210292623 A CN202210292623 A CN 202210292623A CN 114622556 A CN114622556 A CN 114622556A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
- E02D7/18—Placing by vibrating
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
- E02D5/22—Piles
- E02D5/34—Concrete or concrete-like piles cast in position ; Apparatus for making same
- E02D5/38—Concrete or concrete-like piles cast in position ; Apparatus for making same making by use of mould-pipes or other moulds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention relates to the field of civil engineering, and discloses an AI image recognition-based CFG pile intelligent deviation rectifying method and a deviation rectifying device, which comprise a vibrating immersed tube CFG pile construction machine with a winch, wherein the winch is connected with an immersed tube. And the vibration sinking direction and speed of the CFG pile are adjusted in real time by utilizing AI image recognition, so that the verticality of the CFG pile of the soft soil stratum vibration sinking pipe is adjusted in real time, environment friendliness and intelligence, the pile forming rate and verticality requirements of the CFG pile are guaranteed, and the engineering construction quality and speed are improved.
Description
Technical Field
The invention relates to the field of civil engineering, in particular to an AI image recognition-based CFG pile intelligent deviation rectifying method and a deviation rectifying device, which are suitable for controlling the verticality of a pile body structure and improving the pile forming quality of a CFG pile in the construction of a CFG pile in a soft soil stratum.
Background
The CFG pile composite foundation is widely applied to the treatment of soft foundations of highways, railways, constructional engineering and the like. The CFG pile is an abbreviation of English center Fly-ash Gravel, and means a Cement Fly ash Gravel pile, which is a variable-strength pile with certain strength and is prepared by mixing broken stones, stone chips, sand and Fly ash with Cement and adding water, and using various pile-forming machines. The pile soil can bear vertical and lateral loads together, the sharing ratio can be adjusted, and the method has an important effect of reducing stress concentration of the foundation, so that the soil quality of the foundation is improved, and the requirement of bearing the foundation is met. However, in the civil engineering construction process of coastal cities, soft soil strata are inevitably encountered, the soft soil strata are not only weak in bearing performance, but also are easily affected by factors such as mutual extrusion in the sinking construction process along with the CFG pile immersed tube, so that the verticality of the CFG pile body is difficult to control effectively, and the construction quality cannot reach the expected target. Therefore, the invention adds an intelligent deviation correcting device based on AI image recognition on the construction machinery of the vibration immersed tube CFG pile, so that the vertical precision of vibration immersion of the vibration immersed tube CFG pile can be adjusted in real time in the construction process of a soft soil stratum, the pile forming quality of the CFG pile is improved, the construction cost is reduced, and the construction requirements of the engineering are met.
Disclosure of Invention
Aiming at all the problems, the invention provides an AI image recognition-based CFG pile intelligent deviation rectifying method and device. The invention adds an intelligent deviation correcting device based on AI image recognition on the vibrating immersed tube CFG pile construction machinery, utilizes AI image recognition to adjust the vibrating sinking direction and speed of the CFG pile in real time, thereby achieving the purposes of adjusting the verticality of the vibrating immersed tube CFG pile in soft soil stratum in real time, protecting the environment, intelligently, ensuring the pile forming rate and the verticality requirements of the CFG pile and improving the construction quality and speed of the project.
The scheme of the invention is as follows: an AI image recognition-based CFG pile intelligent deviation rectifying method includes S1, determining a CFG pile construction position, positioning a vibrating sleeve by a vibrating immersed tube CFG pile construction machine, and adjusting the verticality of an immersed tube to enable the immersed tube to meet engineering requirements; s2, placing a target on each of the left side and the right side of the front part of the immersed tube of the CFG pile, installing two video monitoring devices on a vibrating immersed tube CFG pile construction machine, wherein the two video monitoring devices correspond to the two targets one by one, the video monitoring devices are arranged above the targets, the infrared calibration points of the video monitoring devices are positioned in the centers of the targets, and the images at the moment are stored as initial vertical position images; s3, sinking the pipe, and positioning the target image in real time through a video monitoring device when the vibration sinking pipe begins to vibrate and sink in a soft soil stratum and vertical deviation occurs; when the infrared calibration point of the video monitoring device deviates from the center of the target, the deviation direction and size of the immersed tube are obtained by comparing the initial vertical position image; adjusting the sinking pressure of 4 adjusting blocks at the top of the sinking pipe according to the calculated deviation direction and size to ensure that the sinking pipe is sunk and then recovered to the initial vertical state, and at the moment, the infrared calibration point of the video monitoring device is recovered to the center of the target; s4, repeating the step S3 until the immersed tube sinks to the designed position; s5, after the concrete pouring in the immersed tube is finished, the immersed tube is pulled up; positioning a target image in real time through a video monitoring device, and obtaining the offset direction and size of the immersed tube by comparing the initial vertical position image; and adjusting the rotating speed of the winch according to the obtained offset direction and size to enable the immersed tube to be adjusted to be in a vertical state until the immersed tube is completely pulled out, and moving the vibration immersed tube CFG pile construction machine 9 to another CFG pile construction position after the immersed tube is completely pulled out. The vibration immersed tube CFG pile construction machine is a vibration immersed tube machine commonly used in civil engineering construction.
In S2, the two targets are respectively arranged at the front part of the immersed tube, the distance between the targets and the immersed tube is a, and a is more than or equal to 5 cm.
The target is a cross-shaped mark, the length of two target strips of the target is 10cm, the width of the two target strips is 2cm, the middle point of the cross-shaped mark is a circular mark with the diameter of 0.5cm, the two target strips use the original point as a base point and are respectively provided with marks in opposite directions, and the color of the marks, the color of the center and the color of the target strips are different. The target is arranged under the video monitoring device, the infrared calibration point of the video monitoring device is positioned in the center of the target, and the video monitoring device shoots images of the infrared calibration point of the video monitoring device in the target at intervals of every 1 minute.
In S3, the adjusting blocks are servo electric cylinders, the four adjusting blocks are arranged at the top of the immersed tube in parallel, when the adjusting blocks are adjusted, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder deviating to the direction is adjusted, the pressure is increased by 0.01MPa, and then the output pressure of other servo electric cylinders is adjusted until the immersed tube is adjusted to vertically meet the set requirements.
In step S3, the adjusting blocks are servo electric cylinders, four adjusting blocks are arranged in parallel at the top of the immersed tube, two adjacent adjusting blocks in the four servo electric cylinders form a group, when the adjusting blocks are adjusted, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder group deviating towards the direction is adjusted, the pressure is increased by 0.01MPa, and then the output pressure of the other group of servo electric cylinders is adjusted until the immersed tube adjustment vertically meets the set requirement.
The CFG pile intelligent deviation correcting device based on AI image recognition comprises a vibration immersed tube CFG pile construction machine with a winch, wherein the winch is connected with an immersed tube, adjusting blocks are fixed above the immersed tube, two targets are arranged in front of the immersed tube, two video monitoring devices are arranged on the vibration immersed tube CFG pile construction machine and correspond to the two targets one by one, the number of the adjusting blocks is four, the adjusting blocks are servo electric cylinders, the video monitoring devices are connected with a controller, and the controller is respectively connected with the four servo electric cylinders; the controller adopts a known controller and is used for processing, analyzing and understanding the shot target image so as to identify the space state of the CFG pile immersed tube in various different construction stages and control the servo electric cylinder to act to realize the adjustment of the immersed tube based on the characteristics obtained by AI image identification.
The target is a cross-shaped mark, the length of two target strips of the target is 10cm, the width of the two target strips of the target is 2cm, the middle point of the cross-shaped mark is a circular mark with the diameter of 0.5cm, the two target strips use the original point as a base point and are respectively provided with marks in opposite directions, and the color of the mark, the color of the center and the color of the target strips are different.
The patterns arranged on two target strips of the target are different, wherein one target strip is provided with a plurality of equilateral triangles, the equilateral triangles are gradually increased from the center to one end far away from the center, one corner of each equilateral triangle faces to the direction far away from the center, and the equilateral triangles arranged on the two sides of the center are different in color; the other target strip is provided with a plurality of direction identifiers, the pointed ends of the direction identifiers face the direction far away from the center, the direction identifiers are gradually increased from the center to one end far away from the center, and the color of the direction identifiers arranged on the two sides of the center is different.
As can be seen from the above description, the present solution has the following advantages: 1. the field test related by the invention is convenient and fast, and real-time acquisition and analysis are realized; 2. the intelligent deviation correcting device has strong layout adaptability and can be arranged at any position of the top of the CFG pile construction machine; 3. the AI image recognition only relates to the recognition of colors and sizes of two patterns, and is simple and practical; 4. the acquisition related by the invention has no preparation work and short acquisition time; 5. the invention can meet the verticality construction of the CFG pile in the soft soil stratum.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a schematic side view of an apparatus according to an embodiment of the present invention.
FIG. 3 is a schematic front view of an apparatus according to an embodiment of the present invention.
Fig. 4 is a top structure diagram of a CFG pile immersed tube.
Fig. 5 is a schematic view of the conditioning block.
Fig. 6 is a schematic diagram of the positions of the video surveillance apparatus and the target.
Fig. 7 is a schematic target view.
In the figure, 1 is a controller, 2 is a data line, 3 is an adjusting block, 4 is a video monitoring device, 5 is an outer frame of the adjusting block, 6 is a sinking pipe, 7 is a target, 8 is a winch, and 9 is a vibrating sinking pipe CFG pile construction machine.
Detailed Description
The method for detecting wearing of a novel mask of YOLOv5 in real time according to the present invention is specifically described below with reference to the drawings in the examples of the present invention.
Detailed description of the invention
The attached drawings show that the CFG pile intelligent deviation rectifying method based on AI image recognition,
and S1, determining the construction position of the CFG pile, positioning the vibration sleeve by using a vibration immersed tube CFG pile construction machine, and adjusting the verticality of the immersed tube to enable the immersed tube to meet the engineering requirements.
S2, placing a target on each of the left side and the right side of the front part of the immersed tube of the CFG pile, installing two video monitoring devices on a vibrating immersed tube CFG pile construction machine, wherein the two video monitoring devices correspond to the two targets one by one, the video monitoring devices are arranged above the targets, the infrared calibration points of the video monitoring devices are positioned in the centers of the targets, and the images at the moment are stored as initial vertical position images; the two targets are respectively arranged at the front part of the immersed tube, and the distance between the targets and the immersed tube is a, wherein a is more than or equal to 5 cm.
S3, sinking the pipe, and positioning the target image in real time through a video monitoring device when the vibration sinking pipe begins to vibrate and sink in a soft soil stratum and vertical deviation occurs; when the infrared calibration point of the video monitoring device deviates from the center of the target, the deviation direction and size of the immersed tube are obtained by comparing the initial vertical position image; adjusting the sinking pressure of 4 adjusting blocks at the top of the immersed tube according to the calculated deviation direction and size to ensure that the immersed tube sinks and returns to the initial vertical state, and at the moment, the infrared calibration point of the video monitoring device returns to the center of the target; the method comprises the following steps of arranging a target under a video monitoring device, and positioning an infrared calibration point of the video monitoring device at the center of the target, wherein when the pipe is immersed, the video monitoring device shoots images of the infrared point of the video monitoring device in the target at intervals of 1 minute. In S3, the adjusting blocks are servo electric cylinders, the four adjusting blocks are arranged at the top of the immersed tube in parallel, when the adjusting blocks are adjusted, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder deviating to the direction is adjusted, the pressure is increased by 0.01MPa, and then the output pressure of other servo electric cylinders is adjusted until the immersed tube is adjusted to vertically meet the set requirements.
S4, repeating the step S3 until the immersed tube sinks to the designed position;
s5, after the concrete pouring in the immersed tube is finished, the immersed tube is pulled upwards; positioning a target image in real time through a video monitoring device, and obtaining the offset direction and size of the immersed tube by comparing the initial vertical position image; and adjusting the rotating speed of the winch according to the obtained offset direction and size to enable the immersed tube to be adjusted to be in a vertical state until the immersed tube is completely pulled out, and shooting images of the infrared points of the video monitoring device in the target by the video monitoring device every 1 minute interval in the process of pulling the immersed tube upwards. .
The target is a cross-shaped mark, the length of two target strips of the target is 10cm, the width of the two target strips is 2cm, the middle point of the cross-shaped mark is a circular mark with the diameter of 0.5cm, the two target strips use the original point as a base point and are respectively provided with marks in opposite directions, and the color of the marks, the color of the center and the color of the target strips are different.
An AI image recognition-based CFG pile intelligent deviation rectification device used for the method comprises a vibration immersed tube CFG pile construction machine 9 with a winch 8, the winch 8 is connected with an immersed tube 6, an adjusting block 3 is fixed above a sinking pipe 6, two targets 7 are arranged in front of the sinking pipe 6, two video monitoring devices 4 are arranged on a vibrating sinking pipe CFG pile construction machine 9, the two video monitoring devices 4 correspond to the two targets 7 one by one, the number of the adjusting blocks 3 is four, the adjusting blocks 3 are servo electric cylinders, in the embodiment, an adjusting block outer frame 5 is arranged on a vibrating immersed tube CFG pile construction machine 9, four holes are arranged on the adjusting block outer frame 5 and respectively correspond to four adjusting blocks 3, a video monitoring device 4 is fixed on the adjusting block outer frame 5, the video monitoring device 4 is connected with the controller 1 through the data line 2, and the controller 1 is respectively connected with the four servo electric cylinders.
The target 7 is a cross-shaped mark, the length of two target strips of the target is 10cm, the width of the two target strips is 2cm, the middle point of the cross-shaped mark is a circular mark with the diameter of 0.5cm, the two target strips use the original point as a base point and are respectively provided with marks in opposite directions, and the color of the mark, the color of the center and the color of the target strips are different. The patterns arranged on two target strips of the target are different, wherein one target strip is provided with a plurality of equilateral triangles, the equilateral triangles are gradually increased from the center to one end far away from the center, one corner of each equilateral triangle faces to the direction far away from the center, and the equilateral triangles arranged on the two sides of the center are different in color; the other target strip is provided with a plurality of direction identifiers, the pointed ends of the direction identifiers face the direction far away from the center, the direction identifiers are gradually increased from the center to the end far away from the center, the colors of the direction identifiers arranged on the two sides of the center are different, in the specific embodiment, the equilateral triangles on the two sides of the target strip are respectively green and yellow, the side length of the equilateral triangles is 0.2-0.5cm, the direction identifiers on the two sides of the target strip are respectively blue and red, and the side length of the direction identifiers is 0.2-0.5 cm.
Detailed description of the invention
In this embodiment, the difference from the first embodiment is that in S3, the adjusting blocks are servo electric cylinders, four adjusting blocks are arranged in parallel on the top of the immersed tube, two adjacent adjusting blocks in the four servo electric cylinders form a group, when adjusting the adjusting blocks, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder group in the deviation direction is adjusted, the pressurization is 0.01MPa, and the output pressure of the servo electric cylinder in the other group is adjusted until the immersed tube adjustment vertically meets the set requirement.
Although particular embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these particular embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An AI image recognition-based CFG pile intelligent deviation rectification method is characterized in that,
s1, determining the construction position of the CFG pile, positioning the vibrating sleeve by vibrating the immersed tube CFG pile construction machine, and adjusting the verticality of the immersed tube to make the immersed tube meet the engineering requirements;
s2, placing a target on each of the left side and the right side of the front part of the immersed tube of the CFG pile, installing two video monitoring devices on a vibrating immersed tube CFG pile construction machine, wherein the two video monitoring devices correspond to the two targets one by one, the video monitoring devices are arranged above the targets, the infrared calibration points of the video monitoring devices are positioned in the centers of the targets, and the images at the moment are stored as initial vertical position images;
s3, sinking the pipe, and positioning the target image in real time through a video monitoring device when the vibration sinking pipe begins to vibrate and sink in a soft soil stratum and vertical deviation occurs; when the infrared calibration point of the video monitoring device deviates from the center of the target, the deviation direction and size of the immersed tube are obtained by comparing the initial vertical position image; adjusting the sinking pressure of 4 adjusting blocks at the top of the sinking pipe according to the calculated deviation direction and size to ensure that the sinking pipe is sunk and then recovered to the initial vertical state, and at the moment, the infrared calibration point of the video monitoring device is recovered to the center of the target;
s4, repeating the step S3 until the immersed tube sinks to the designed position;
s5, after the concrete pouring in the immersed tube is finished, the immersed tube is pulled upwards; positioning a target image in real time through a video monitoring device, and obtaining the offset direction and size of the immersed tube by comparing the initial vertical position image; and adjusting the rotating speed of the winch according to the obtained deviation direction and size to enable the immersed tube to be adjusted to be in a vertical state until the immersed tube is completely pulled out, and finishing.
2. The AI image recognition based CFG pile intelligent deviation rectification method of claim 1,
in S2, the two targets are respectively arranged at the front part of the immersed tube, the distance between the targets and the immersed tube is a, and a is more than or equal to 5 cm.
3. The AI image recognition-based CFG pile intelligent deviation rectification method of claim 1 or 2, wherein,
the target is a cross-shaped mark, the length of two target strips of the target is 10cm, the width of the two target strips is 2cm, the middle point of the cross-shaped mark is a circular mark with the diameter of 0.5cm, the two target strips use the original point as a base point and are respectively provided with marks in opposite directions, and the color of the marks, the color of the center and the color of the target strips are different.
4. The AI image recognition based CFG pile intelligent deviation rectification method of claim 1,
the target is arranged under the video monitoring device, the infrared calibration point of the video monitoring device is positioned in the center of the target, and the video monitoring device shoots images of the infrared calibration point of the video monitoring device in the target at intervals of every 1 minute.
5. The AI image recognition based CFG pile intelligent deviation rectification method of claim 1,
in S3, the adjusting blocks are servo electric cylinders, the four adjusting blocks are arranged at the top of the immersed tube in parallel, when the adjusting blocks are adjusted, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder deviating to the direction is adjusted, the pressure is increased by 0.01MPa, and then the output pressure of other servo electric cylinders is adjusted until the immersed tube is adjusted to vertically meet the set requirements.
6. The AI image recognition based CFG pile intelligent deviation rectification method of claim 1,
in S3, the adjusting blocks are servo electric cylinders, four adjusting blocks are arranged in parallel at the top of the immersed tube, two adjacent adjusting blocks in the four servo electric cylinders are in a group, when adjusting the adjusting blocks, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder group deviating the direction is adjusted, the pressure is increased by 0.01MPa, and then the output pressure of the other group of servo electric cylinders is adjusted until the immersed tube adjustment vertically meets the set requirement.
7. An AI image recognition-based CFG pile intelligent deviation rectification device based on the method of any one of claims 1 to 5, comprising a vibration immersed tube CFG pile construction machine with a winch, wherein the winch is connected with an immersed tube, the device is characterized in that an adjusting block is fixed above the immersed tube, two targets are arranged in front of the immersed tube, two video monitoring devices are arranged on the vibration immersed tube CFG pile construction machine, the two video monitoring devices correspond to the two targets one by one, the number of the adjusting blocks is four, the adjusting blocks are servo electric cylinders, the video monitoring devices are connected with a controller, and the controller is respectively connected with the four servo electric cylinders.
8. The AI image recognition-based CFG pile intelligent deviation rectification device of claim 7,
the target is a cross-shaped mark, the length of two target strips of the target is 10cm, the width of the two target strips is 2cm, the middle point of the cross-shaped mark is a circular mark with the diameter of 0.5cm, the two target strips use the original point as a base point and are respectively provided with marks in opposite directions, and the color of the marks, the color of the center and the color of the target strips are different.
9. The AI image recognition-based CFG pile intelligent deviation rectification device of claim 8,
the patterns arranged on two target strips of the target are different, wherein one target strip is provided with a plurality of equilateral triangles, the equilateral triangles are gradually increased from the center to one end far away from the center, one corner of each equilateral triangle faces to the direction far away from the center, and the equilateral triangles arranged on the two sides of the center are different in color; the other target strip is provided with a plurality of direction identifiers, the pointed tips of the direction identifiers face the direction far away from the center, the direction identifiers increase from the center to one end far away from the center one by one, and the color of the direction identifiers arranged on the two sides of the center is different.
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