CN114622556B - Intelligent correction method and correction device for CFG pile based on AI image recognition - Google Patents
Intelligent correction method and correction device for CFG pile based on AI image recognition Download PDFInfo
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- CN114622556B CN114622556B CN202210292623.5A CN202210292623A CN114622556B CN 114622556 B CN114622556 B CN 114622556B CN 202210292623 A CN202210292623 A CN 202210292623A CN 114622556 B CN114622556 B CN 114622556B
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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
Abstract
The invention relates to the field of civil engineering and discloses an intelligent correction method and an intelligent correction device for CFG piles based on AI image recognition. And the vibration sinking direction and speed of the CFG pile are adjusted in real time by utilizing AI image identification, so that the vibration sinking pipe CFG pile verticality of the soft soil stratum is adjusted in real time, environment friendliness and intelligence, the pile forming rate and verticality requirements of the CFG pile are ensured, 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 intelligent deviation correcting method and device for CFG piles based on AI image recognition, which are suitable for construction of CFG piles in soft soil strata, control the perpendicularity of pile body structures and improve pile forming quality of the CFG piles.
Background
The CFG pile composite foundation is widely applied to soft foundation treatment of highways, railways, constructional engineering and the like. The CFG pile is an abbreviation of English element Fly-ash grade, which means a Cement Fly ash Gravel pile, which is made by mixing broken stone, stone dust, sand and Fly ash Cement with water, and a variable strength pile with certain strength is made by various pile forming machines, the principle is that the concrete and the original soil in the depth of the foundation are fused by using professional drilling machine equipment, the pile top is penetrated into a cushion layer artificially, and the relative displacement between pile soil is adjusted. The pile soil can bear vertical and lateral loads together, can adjust the sharing ratio, and has an important effect on reducing the 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, soft soil stratum is inevitably encountered in the coastal city civil engineering construction process, the soft soil stratum is weak in bearing performance, and is easily influenced by factors such as mutual extrusion and the like in the sinking construction process of the CFG pile sinking pipe, so that the perpendicularity of the CFG pile body is difficult to effectively control, and the construction quality cannot reach the expected target. Therefore, the intelligent deviation correcting device based on AI image recognition is added to the vibrating immersed tube CFG pile construction machine, so that the vibrating immersed tube CFG pile can adjust the vertical accuracy of vibrating sinking 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 engineering construction requirements are met.
Disclosure of Invention
Aiming at all the problems, the invention provides an intelligent correction method and device for CFG piles based on AI image recognition. According to the invention, the intelligent deviation correcting device based on AI image recognition is added on the vibrating immersed tube CFG pile construction machinery, and the AI image recognition is utilized to adjust the vibrating sinking direction and speed of the CFG pile in real time, so that the vibrating immersed tube CFG pile verticality of a soft soil stratum is adjusted in real time, environment friendliness and intelligence, the pile forming rate and verticality requirements of the CFG pile are ensured, and the engineering construction quality and speed are improved.
The scheme of the invention is as follows: an intelligent deviation rectifying method of CFG pile based on AI image recognition comprises the steps of S1, determining the construction position of the CFG pile, positioning a vibrating sleeve through a vibrating immersed tube CFG pile construction machine, and adjusting the verticality of the immersed tube to enable the immersed tube to meet engineering requirements; s2, respectively placing a target on 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 the vibrating immersed tube CFG pile construction machinery, wherein the two video monitoring devices are in one-to-one correspondence with the two targets, the video monitoring devices are arranged above the targets, the infrared calibration points of the video monitoring devices are positioned at the centers of the targets, and the images at the moment are stored as initial vertical position images; s3, performing pipe sinking operation, wherein vertical deviation occurs when the vibrating pipe sinking starts to vibrate and sink in the soft soil stratum, and positioning the target image in real time through the video monitoring device; when the infrared calibration point of the video monitoring device deviates from the center of the target, the initial vertical position image is compared to obtain the deflection direction and the deflection size of the immersed tube; according to the calculated offset direction and size, adjusting sinking pressure of 4 regulating blocks at the top of the sinking pipe to enable the sinking pipe to sink and recover to an initial vertical state, and at the moment, recovering an infrared calibration point of the video monitoring device to the target center; s4, repeating the step S3 until the immersed tube is immersed to the designed position; s5, after the concrete pouring in the immersed tube is completed, the immersed tube is pulled up; positioning a target image in real time through a video monitoring device, and comparing initial vertical position images to obtain the deflection direction and the deflection size of the immersed tube; according to the obtained offset direction and magnitude, the rotating speed of the winch is adjusted to enable the immersed tube to be in a vertical state until the immersed tube is completely pulled out, and the vibrating immersed tube CFG pile construction machine 9 is moved to another CFG pile construction position after the completion. The vibration immersed tube CFG pile construction machine is a vibration immersed tube machine commonly used in civil engineering construction.
In S2, 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 5cm.
The target is cross sign, and the length of two target strips of target is 10cm, width be 2cm, and the midpoint of cross sign is the circular sign of diameter 0.5cm, and two target strips use the origin to set up the sign to opposite direction respectively as the base point, and the colour of sign, the colour at center and the colour of target strip are all different. The target is arranged under the video monitoring device, the infrared calibration point of the video monitoring device is positioned at 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 every 1 minute interval.
In S3, the regulating blocks are servo electric cylinders, the four regulating blocks are arranged on the top of the immersed tube in parallel, when the regulating blocks are regulated, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinders with the deviation direction is regulated, the pressure is increased by 0.01MPa, and the output pressure of other servo electric cylinders is regulated until the immersed tube regulation vertically meets the set requirement.
In S3, the regulating blocks are servo electric cylinders, four regulating blocks are arranged on the top of the immersed tube in parallel, two adjacent ones of the four servo electric cylinders are a group, when the regulating blocks are regulated, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder group with the deviation direction is regulated, the pressure is increased by 0.01MPa, and the output pressure of the other group of servo electric cylinders is regulated until the immersed tube regulation vertically meets the set requirement.
The intelligent deviation correcting device for the CFG pile based on AI image recognition comprises a vibrating immersed tube CFG pile construction machine with a winch, wherein the winch is connected with the immersed tube, 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 vibrating 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 connected with the four servo electric cylinders respectively; the controller adopts a known controller and is used for processing, analyzing and understanding the shot target image so as to identify the space states of the sinking pipe of the CFG pile in various construction stages, and based on the characteristics obtained by the identification of the AI image, the servo electric cylinder is controlled to act so as to realize the adjustment of the sinking pipe.
The target is cross sign, and the length of two target strips of target is 10cm, width be 2cm, and the midpoint of cross sign is the circular sign of diameter 0.5cm, and two target strips use the origin to set up the sign to opposite direction respectively as the base point, and the colour of sign, the colour at center and the colour of target strip are all different.
The patterns arranged on two target strips of the target are different, a plurality of equilateral triangles are arranged on one target strip, the equilateral triangles are gradually increased from the center to one end far away from the center, one corner of each equilateral triangle faces the direction far away from the center, and the colors of the equilateral triangles arranged on two sides of the center are different; the other target strip is provided with a plurality of direction identifiers, the direction identifiers Fu Jiantou face away from the center, the direction identifiers are gradually increased from the center to one end away from the center, and the colors of the direction identifiers arranged on the two sides of the center are different.
As can be seen from the above description, the present solution has the following advantages: 1. the site test is convenient and quick, and the real-time acquisition and analysis are carried out; 2. the intelligent deviation correcting device has strong arrangement catering property and can be arranged at any position on the top of the CFG pile construction machinery; 3. the AI image recognition related to the invention only relates to the recognition of colors and two graphic sizes, and is simple and practical; 4. the acquisition related by the invention has no preparation work and short acquisition time; 5. the method can meet the requirement of construction of CFG pile verticality in 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 schematic diagram of the top structure of a CFG pile sinking pipe.
Fig. 5 is a schematic diagram of a conditioning block.
Fig. 6 is a schematic diagram of the positions of the video monitoring device and the target.
Fig. 7 is a schematic diagram of a target.
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 adjusting block outer frame, 6 is a immersed tube, 7 is a target, 8 is a winch, and 9 is a vibrating immersed tube CFG pile construction machine.
Detailed Description
The novel real-time detection method for wearing the mask of YOLOv5 is specifically described below with reference to the accompanying drawings in the embodiment of the present invention.
Detailed description of the preferred embodiments
The intelligent deviation rectifying method of the CFG pile based on AI image recognition can be seen through the attached drawings,
s1, determining the construction position of the CFG pile, and adjusting the perpendicularity of the immersed tube to enable the immersed tube to meet engineering requirements after the vibrating sleeve is positioned by the vibrating immersed tube CFG pile construction machine.
S2, respectively placing a target on 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 the vibrating immersed tube CFG pile construction machinery, wherein the two video monitoring devices are in one-to-one correspondence with the two targets, the video monitoring devices are arranged above the targets, the infrared calibration points of the video monitoring devices are positioned at 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 5cm.
S3, performing pipe sinking operation, wherein vertical deviation occurs when the vibrating pipe sinking starts to vibrate and sink in the soft soil stratum, and positioning the target image in real time through the video monitoring device; when the infrared calibration point of the video monitoring device deviates from the center of the target, the initial vertical position image is compared to obtain the deflection direction and the deflection size of the immersed tube; according to the calculated offset direction and size, adjusting sinking pressure of 4 regulating blocks at the top of the sinking pipe to enable the sinking pipe to sink and recover to an initial vertical state, and at the moment, recovering an infrared calibration point of the video monitoring device to the target center; the target is arranged under the video monitoring device, and the infrared point of the video monitoring device is positioned at the center of the target, wherein when the pipe sinking operation is carried out, the video monitoring device shoots images of the infrared point of the video monitoring device in the target every 1 minute interval. In S3, the regulating blocks are servo electric cylinders, the four regulating blocks are arranged on the top of the immersed tube in parallel, when the regulating blocks are regulated, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinders with the deviation direction is regulated, the pressure is increased by 0.01MPa, and the output pressure of other servo electric cylinders is regulated until the immersed tube regulation vertically meets the set requirement.
S4, repeating the step S3 until the immersed tube is immersed to the designed position;
s5, after the concrete pouring in the immersed tube is completed, the immersed tube is pulled up; positioning a target image in real time through a video monitoring device, and comparing initial vertical position images to obtain the deflection direction and the deflection size of the immersed tube; according to the obtained offset direction and the obtained size, the rotating speed of the winch is adjusted to enable the immersed tube to be adjusted to be in a vertical state until the immersed tube is completely pulled out, and the immersed tube is ended, and in the process of pulling up the immersed tube, the video monitoring device shoots images of infrared points of the video monitoring device in a target every 1 minute interval. .
The target is cross sign, and the length of two target strips of target is 10cm, width be 2cm, and the midpoint of cross sign is the circular sign of diameter 0.5cm, and two target strips use the origin to set up the sign to opposite direction respectively as the base point, and the colour of sign, the colour at center and the colour of target strip are all different.
The intelligent deviation correcting device for the CFG pile based on AI image recognition comprises a vibrating immersed tube CFG pile construction machine 9 with a winch 8, wherein the winch 8 is connected with the immersed tube 6, an adjusting block 3 is fixed above the immersed tube 6, two targets 7 are arranged in front of the immersed tube 6, two video monitoring devices 4 are arranged on the vibrating immersed tube CFG pile construction machine 9, the two video monitoring devices 4 are in one-to-one correspondence with the two targets 7, the adjusting block 3 is four, the adjusting block 3 is a servo electric cylinder, in the specific embodiment, an outer frame 5 of the adjusting block is arranged on the vibrating immersed tube CFG pile construction machine 9, four holes are respectively corresponding to the four adjusting blocks 3, the video monitoring devices 4 are fixed on the outer frame 5 of the adjusting block, the video monitoring devices 4 are connected with a controller 1 through data wires 2, and the controller 1 is respectively connected with the four servo electric cylinders.
The target 7 is a cross mark, the length of two target strips of the target is 10cm, the width of the target strip is 2cm, the midpoint of the cross mark is a circular mark with the diameter of 0.5cm, the two target strips respectively set up marks in opposite directions by taking an origin as a base point, and the color of the mark, the color of the center and the color of the target strip are different. The patterns arranged on two target strips of the target are different, a plurality of equilateral triangles are arranged on one target strip, the equilateral triangles are gradually increased from the center to one end far away from the center, one corner of each equilateral triangle faces the direction far away from the center, and the colors of the equilateral triangles arranged on two sides of the center are different; the other target strip is provided with a plurality of direction identifiers, the direction identifiers Fu Jiantou 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, the colors of the direction identifiers arranged on two sides of the center are different, in the specific embodiment, the equilateral triangles on two sides of the target strip are respectively green and yellow, the side lengths of the equilateral triangles are 0.2-0.5cm, the direction identifiers on two sides of the target strip are respectively blue and red, and the side lengths of the direction identifiers are 0.2-0.5cm.
Detailed description of the preferred embodiments
In the present embodiment, the difference from the first embodiment is that in S3, the adjusting blocks are servo cylinders, four adjusting blocks are disposed in parallel on the top of the immersed tube, two adjacent four servo cylinders are a group, when the adjusting blocks are adjusted, the deviation direction of the immersed tube is determined, the pressure of the servo cylinder group with the deviation direction is adjusted, the pressure is increased by 0.01MPa, and the output pressure of the other group of servo cylinders is adjusted until the adjustment of the immersed tube vertically meets the set requirement.
Although particular embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. An intelligent deviation rectifying method for CFG piles based on AI image recognition is characterized in that,
s1, determining a construction position of a CFG pile, positioning a vibration sleeve by a vibration immersed tube CFG pile construction machine, and adjusting the verticality of the immersed tube to enable the immersed tube to meet engineering requirements;
s2, respectively placing a target on 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 the vibrating immersed tube CFG pile construction machinery, wherein the two video monitoring devices are in one-to-one correspondence with the two targets, the video monitoring devices are arranged above the targets, the infrared calibration points of the video monitoring devices are positioned at the centers of the targets, and the images at the moment are stored as initial vertical position images;
s3, performing pipe sinking operation, wherein vertical deviation occurs when the vibrating pipe sinking starts to vibrate and sink in the soft soil stratum, and positioning the target image in real time through the video monitoring device; when the infrared calibration point of the video monitoring device deviates from the center of the target, the initial vertical position image is compared to obtain the deflection direction and the deflection size of the immersed tube; according to the calculated offset direction and size, adjusting sinking pressure of 4 regulating blocks at the top of the sinking pipe to enable the sinking pipe to sink and recover to an initial vertical state, and at the moment, recovering an infrared calibration point of the video monitoring device to the target center;
s4, repeating the step S3 until the sinking pipe is sunk to the designed position;
s5, after the concrete pouring in the immersed tube is completed, the immersed tube is pulled up; positioning a target image in real time through a video monitoring device, and comparing initial vertical position images to obtain the deflection direction and the deflection size of the immersed tube; according to the obtained offset direction and magnitude, adjusting the rotating speed of the winch to enable the immersed tube to be adjusted to be in a vertical state until the immersed tube is completely pulled out, and ending;
in S2, 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 5cm;
the target is cross sign, and the length of two target strips of target is 10cm, width be 2cm, and the midpoint of cross sign is the circular sign of diameter 0.5cm, and two target strips use the origin to set up the sign to opposite direction respectively as the base point, and the colour of sign, the colour at center and the colour of target strip are all different.
2. The intelligent deviation rectifying method for CFG pile based on AI image recognition of claim 1, wherein,
the target is arranged under the video monitoring device, the infrared calibration point of the video monitoring device is positioned at 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 every 1 minute interval.
3. The intelligent deviation rectifying method for CFG pile based on AI image recognition of claim 1, wherein,
in S3, the regulating blocks are servo electric cylinders, the four regulating blocks are arranged on the top of the immersed tube in parallel, when the regulating blocks are regulated, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinders with the deviation direction is regulated, the pressure is increased by 0.01MPa, and the output pressure of other servo electric cylinders is regulated until the immersed tube regulation vertically meets the set requirement.
4. The intelligent deviation rectifying method for CFG pile based on AI image recognition of claim 1, wherein,
in S3, the regulating blocks are servo electric cylinders, four regulating blocks are arranged on the top of the immersed tube in parallel, two adjacent ones of the four servo electric cylinders are a group, when the regulating blocks are regulated, the deviation direction of the immersed tube is determined, the pressure of the servo electric cylinder group with the deviation direction is regulated, the pressure is increased by 0.01MPa, and the output pressure of the other group of servo electric cylinders is regulated until the immersed tube regulation vertically meets the set requirement.
5. The intelligent deviation correcting device for CFG piles based on AI image recognition based on the method of any one of claims 1-4 comprises a vibrating immersed tube CFG pile construction machine with a winch, wherein the winch is connected with an immersed tube, and the intelligent deviation correcting 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 vibrating immersed tube CFG pile construction machine and correspond to the two targets one by one, the adjusting block is four, the adjusting block is a servo electric cylinder, the video monitoring devices are connected with a controller, and the controller is respectively connected with the four servo electric cylinders.
6. The intelligent deviation correcting device for CFG pile based on AI image recognition of claim 5, wherein,
the target is cross sign, and the length of two target strips of target is 10cm, width be 2cm, and the midpoint of cross sign is the circular sign of diameter 0.5cm, and two target strips use the origin to set up the sign to opposite direction respectively as the base point, and the colour of sign, the colour at center and the colour of target strip are all different.
7. The intelligent deviation correcting device for CFG pile based on AI image recognition of claim 6, wherein,
the patterns arranged on two target strips of the target are different, a plurality of equilateral triangles are arranged on one target strip, the equilateral triangles are gradually increased from the center to one end far away from the center, one corner of each equilateral triangle faces the direction far away from the center, and the colors of the equilateral triangles arranged on two sides of the center are different; the other target strip is provided with a plurality of direction identifiers, the tips 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 colors of the direction identifiers arranged on the two sides of the center are different.
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