Rigid-flexible integrated crack detection system for narrow space of building

Abstract

The invention relates to a rigid-flexible integrated crack detection system for the narrow space of a building. The system comprises a wheel type moving trolley and a crack detection system. A motioncontrol system, a laser navigation system, an ultrasonic obstacle avoidance system and an illumination system are arranged on the wheel type moving trolley. The crack detection system comprises a mobile detection platform, an image acquisition device and an image processing system; the mobile detection platform is a snakelike mechanical arm mounted at the top of the wheeled type moving trolley, the image acquisition device is a motion camera mounted at the front end of the snakelike mechanical arm, and the image processing system comprises a memory, a model training data set and a crack detection model based on a U-Net network. According to the invention, the sytstem has the advantages that the whole crack detection system is autonomously movable and controllable, the consumption of manpower and material resources is reduced, the safety is high, and the economic benefit is good.

Description

technical field [0001] The invention relates to a building crack detection system, in particular to a system and a detection method for detecting building cracks in a complex environment by using a rigid-flexible mechanical device. The problem of low detectability belongs to the field of safety detection of engineering structures, especially the field of crack detection. Background technique [0002] In the fields of water conservancy engineering, construction engineering and aerospace engineering technology, the results of engineering structure safety inspection are an important basis for judging whether the project can be put into actual operation. In engineering structure safety detection, building crack detection is one of the common detection items. Cracks are caused by shrinkage due to dehydration of concrete during the hardening process of concrete, or uneven expansion caused by temperature differences. The existence and development of cracks usually cause internal ...

AI Technical Summary

Problems solved by technology

However, due to the inherent volume of drones in narrow spaces such as pipelines, tunnels or wall gaps inside buildings, it is impossible to enter the above-mentioned environment for crack detection, and in unopened areas, the control accuracy of drones is difficult to achieve. operational requirements, it is difficult to achieve effective crack detection

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