Full-automatic intelligent inspection robot for precast beams in beam yard and detection method thereof

Abstract

The invention belongs to the technical field of beam field maintenance and detection, and aims to solve the problems of single function and complex operation of an existing inspection robot. According to the full-automatic intelligent inspection robot for the precast beams in the beam yard and the detection method of the full-automatic intelligent inspection robot, the free end of a mechanical arm can move in multiple directions and multiple angles relative to a robot body, and a quick-change main disc is arranged at the free end of the mechanical arm; the radar tool, the rebound instrument test area seal tool and the rebound instrument tool are all movably connected with the robot body in an inserted mode, and quick-change auxiliary discs are arranged on the tools. And the manipulator is used for controlling the radar tool to detect and record the position, depth and form of the internal damage of the beam structure, controlling the rebound instrument test area seal tool to stamp a test area pattern at the target position of the concrete surface of the beam structure, and controlling the rebound instrument tool to perform concrete rebound test at each position where the test area pattern is stamped. The inspection robot can meet the requirements of different parts and different detection items of a beam field; operation is simple and operation efficiency is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of beam yard maintenance and detection, and in particular relates to a full-automatic intelligent inspection robot for prefabricated beams in a beam yard and a detection method thereof. Background Art

[0002] In the past, the field of beam yard maintenance relied heavily on manual inspection. This inspection method has problems such as low inspection efficiency, poor working environment, high labor intensity, and potential safety hazards. With the continuous advancement of bridge engineering technology and the increasing complexity of bridge structures, traditional inspection methods can no longer meet the needs of modern bridge maintenance and inspection.

[0003] At present, inspection robots have replaced manual inspections. Inspection robots have the characteristics of strong anti-interference and high stability, and are often used to inspect dangerous and harsh environments.

[0004] However, inspection robots are complex to operate and have low operating efficiency, making it difficult to meet the needs of large-scale beam yard inspections; some inspection robots have a limited operating range and cannot cover the areas that need to be inspected; and most existing inspection robots can only complete a single inspection operation and cannot complete multiple inspection tasks. Summary of the invention

[0005] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard and a detection method thereof.

[0006] The present invention is implemented by the following technical scheme: a fully automatic intelligent inspection robot for precast beams in a beam yard, comprising a robot body and a manipulator, a radar tooling, a rebound hammer measuring area stamp tooling and a rebound hammer tooling arranged above the robot body; wherein the free end of the manipulator can realize multi-directional and multi-angle movement relative to the robot body, and the free end of the manipulator is provided with a quick-change main disk; the radar tooling, the rebound hammer measuring area stamp tooling and the rebound hammer tooling are all movably plugged with the robot body, and the above-mentioned toolings are all provided with a quick-change sub-disk, which is used to cooperate with the quick-change main disk to fix the corresponding tooling with the free end of the manipulator; the manipulator is used to control the radar tooling to detect and record the position, depth and shape of internal damage of the beam structure, control the rebound hammer measuring area stamp tooling to stamp the measuring area pattern at the target position of the concrete surface of the beam structure, and control the rebound hammer tooling to perform concrete rebound test at each position of the stamped measuring area pattern.

[0007] Preferably, the rebound instrument measuring area seal tooling comprises a measuring area seal, a seal mounting plate, a seal connecting plate, a seal ranging sensor and a seal positioning plate; the measuring area seal is arranged at the bottom end of the seal mounting plate, and a horizontal wing plate extends outward along the plate surface of the seal mounting plate as a seal positioning plate, and the end of the seal positioning plate has a socket matching the seal tooling plug-in column on the robot body, the seal connecting plate is arranged at the upper end of the seal mounting plate, and a bent wing plate extends outward along the plate surface of the seal connecting plate for installing the seal ranging sensor, and the quick-change sub-disc on the rebound instrument measuring area seal tooling is arranged at the upper end of the seal connecting plate.

[0008] Preferably, the seal distance sensor is arranged perpendicular to the seal in the measuring area, the detection end of the seal distance sensor is located at one end close to the seal in the measuring area, and the seal distance sensor is connected to the control module of the manipulator; a seal buffer mechanism is arranged between the seal connecting plate and the seal mounting plate.

[0009] Preferably, the rebound tester tooling includes a fixed seat, a movable seat, a rebound tester, a shock-absorbing damping spring, a rebound tester ranging sensor and a monitoring camera; the movable seat is movably connected to the fixed seat through a shock-absorbing damping spring and a guide column, the rebound tester, the rebound tester ranging sensor and the monitoring camera are all arranged on the movable seat, the rebound tester ranging sensor is arranged parallel to the rebound tester and its detection end is located at its end close to the rebound tester detection head, the monitoring camera is connected to the movable seat through a camera bracket and is located above the button panel of the rebound tester, the rebound tester ranging sensor and the monitoring camera are both connected to the control module of the manipulator, the bottom end of the fixed seat is provided with a rebound tester quick-change mounting frame movably plugged into the robot body, and the rear end of the fixed seat is provided with a quick-change sub-disc matching the quick-change main disk on the robot body manipulator.

[0010] Preferably, the fixed seat includes a front guide sleeve mounting plate, a rear guide sleeve mounting plate and a quick-change sub-disc mounting plate which are arranged in sequence, the front guide sleeve mounting plate and the rear guide sleeve mounting plate are inlaid with guide sleeves, and the front guide sleeve mounting plate, the rear guide sleeve mounting plate and the quick-change sub-disc mounting plate are connected into a whole through a bottom plate; the movable seat includes a front guide column fixing plate, an intermediate guide column fixing plate and a rear guide column fixing plate which are arranged in sequence and two guide columns fixedly connected to the above three plates, a damping front sleeve and a damping rear sleeve are fixed to the front end and the middle of the guide column respectively, shock-absorbing damping springs are arranged between the damping front sleeve and the front guide sleeve mounting plate, and between the intermediate guide column fixing plate and the rear guide sleeve mounting plate, the intermediate guide column fixing plate and the damping rear sleeve are located between the front guide sleeve mounting plate and the rear guide sleeve mounting plate; the lower end of the rebound tester quick-change mounting frame extends to both sides to form a lower wing plate connected to the robot body, and a socket matching the rebound tester tooling plug-in column on the robot body is arranged on the lower wing plate.

[0011] Preferably, the radar tooling includes a detection radar, a radar shell, a radar moving wheel, a radar connecting plate, a radar tooling ranging sensor and a radar signal receiver; the detection radar is built into the inner space of the radar shell with a radar moving wheel at the bottom, the radar tooling ranging sensor is arranged on the corner wing plate extending outward from the radar shell, a radar signal receiver is arranged at the front end of the detection radar and a window is arranged at a corresponding position on the radar shell, the radar connecting plate is arranged at the upper end of the radar shell, the bottom of the radar shell has a lower wing plate extending to both sides and the lower wing plate has a socket matching the radar tooling plug-in column on the robot body; the quick-change sub-disc on the radar tooling is arranged at the upper end of the radar connecting plate, and the upper end of the robot body is provided with a radar display electrically connected to the radar signal receiver.

[0012] Preferably, the front end of the radar housing is connected to a ranging wheel for measuring the detected distance through a ranging bracket; a radar buffer mechanism is arranged between the radar connecting plate and the radar housing; and the detection end of the radar tooling ranging sensor is located at one end thereof close to the detection radar.

[0013] Preferably, it also includes a stylus tooling, including a pen holder mounting plate, a buffer pen holder fixing seat, a stylus, a stylus guide rod, a buffer pen holder slider, a stylus buffer spring and a pen holder positioning plate; the buffer pen holder fixing seat is arranged on one end surface of the pen holder mounting plate, the buffer pen holder fixing seat is provided with a guide groove and a slide groove, wherein the stylus guide rod is arranged in the guide groove, the buffer pen holder slider is slidably arranged in the slide groove and is slidably connected with the stylus guide rod, a stylus buffer spring is sleeved on the stylus guide rod between the end of the buffer pen holder slider and the buffer pen holder fixing seat, the stylus is fixed on the buffer pen holder slider and is arranged parallel to the stylus guide rod; the pen holder positioning plate is arranged on the other end surface of the pen holder mounting plate and has a side wing plate extending outwardly and the side wing plate has a socket matching the stylus tooling plug-in column on the robot body; the quick-change sub-disc on the stylus tooling is arranged on the end surface of the pen holder positioning plate away from the pen holder mounting plate; the manipulator is also used to control the stylus tooling to perform key operations on the rebound instrument in the rebound instrument tooling.

[0014] Preferably, the stylus pens and their guide and sliding structures on the buffer pen holder fixing seat are in two groups, the contact heads of the two groups of stylus pens are arranged in opposite directions, and the stylus pens are arranged parallel to the plate surface of the pen holder positioning plate.

[0015] Preferably, it also includes a beam end face size ranging tool, including a laser rangefinder and a matching camera for the rangefinder; the laser rangefinder is arranged at the front and rear ends of the robot body, a rangefinder camera bracket is arranged on the outside of the rangefinder camera, and the lower end of the rangefinder camera bracket has a socket matching the beam end face size ranging tool plug-in column on the robot body; the quick-change sub-disk of the beam end face size ranging tool is arranged at the upper end of the rangefinder camera bracket, and the manipulator is also used for the beam end face size ranging tool to measure the beam end face size.

[0016] Preferably, it also includes a crack detection camera, including a detection camera and a camera rod, the detection camera is arranged at one end of the camera rod, the detection camera is provided with a camera lens and auxiliary light sources on both sides, and the camera rod is mounted on a crack detection camera support on the robot body; the quick-change sub-disc on the crack detection camera is arranged on the end of the camera rod away from the detection camera, and the manipulator is also used for the crack detection camera to detect cracks in the beam structure.

[0017] Preferably, it also includes a steel bar protective layer detection tool, including a walking device, a steel bar scanner, a scanner mounting frame, a scanner connecting frame, and an ultrasonic sensor;

[0018] The walking device is arranged at the lower end of the scanner mounting frame, the steel bar scanner is installed on the scanner mounting frame and points to the lower end, the scanner connecting frame is arranged at the upper end of the scanner mounting frame, the upper end of the scanner connecting frame is bent and extended outward to form a bent wing plate, and an ultrasonic sensor is arranged at the lower end of the side wing plate, and the ultrasonic sensor points to the bottom plate side of the walking device, the quick-change sub-plate of the steel bar protective layer detection tooling is arranged at the upper end of the scanner connecting frame, the two sides of the walking device extend outward to form side wing plates, and the side wing plates have sockets matching the plug-in columns of the steel bar protective layer detection tooling on the robot body.

[0019] Preferably, a buffer device is arranged between the scanner mounting frame and the scanner connecting frame, and the buffer device includes a spring seat, an outer sleeve, and an inner sleeve fixed on the upper end of the scanner mounting frame, the outer sleeve is fixed on the spring seat and a spring connected to the spring seat is arranged inside the outer sleeve, and a sliding rod matching the sliding groove on the side wall of the outer sleeve is arranged inside and on the inner sleeve; the inner sleeve is connected.

[0020] Preferably, the quick-change main disk comprises a main connection disk and a solenoid valve, a cylinder is arranged inside the main connection disk, a locking head is arranged at the connection end of the main connection disk, a plurality of locking steel balls are arranged on the locking head, and a push rod of the cylinder can extend into the locking head and push out the locking steel balls in the locking head; a secondary disk in-place detection sensor, a main disk cylinder extension in-place detection sensor and a main disk cylinder retraction in-place sensor are arranged on the main connection disk;

[0021] The signal output ends of the sub-disk in-place detection sensor, the main-disk cylinder extended in-place detection sensor and the main-disk cylinder retracted in-place sensor are connected to the control module of the manipulator, the solenoid valve is located on the air path where the cylinder is located and is electrically connected to the sub-disk in-place detection sensor, the sub-disk in-place detection sensor is used to detect whether the quick-change sub-disk and the quick-change main disk are aligned, the main-disk cylinder extended in-place detection sensor and the main-disk cylinder retracted in-place sensor are used to detect whether the cylinder in the quick-change main disk is extended and retracted in place respectively; the quick-change sub-disk includes a sub-connecting disk, a first card slot for accommodating a locking head is provided at the center of the sub-connecting disk, and a second card slot for accommodating the locking steel ball is provided on the surface of the first card slot; the locking head can be clamped in the first card slot of the quick-change sub-disk, and the locking steel ball is used to be lifted up from the locking head under the push of the cylinder, and clamped in the second card slot of the quick-change sub-disk.

[0022] Preferably, a lifting platform for placing a manipulator is provided at the center of the upper end of the robot body, cameras in multiple directions are provided on the side walls of the lifting platform, and a supporting platform for placing the above-mentioned multiple tooling is provided around the outer periphery of the lifting platform; wherein the radar tooling, beam end face dimension ranging tooling, rebound test tooling and crack detection camera are respectively located at the four corners of the supporting platform and arranged in sequence, the stylus tooling is arranged between the radar tooling and the beam end face dimension ranging tooling, the radar display is arranged between the beam end face dimension ranging tooling and the rebound test tooling, and the rebound test tooling for measuring the area of ​​the rebound test tooling is arranged between the rebound test tooling and the crack detection camera; walking wheels are provided at the bottom of the robot body and lighting lamps are provided at the front and rear ends in the direction of travel.

[0023] The second aspect of the present invention provides a fully automatic intelligent inspection robot detection method for precast beams in a beam yard, including: a concrete rebound measurement method: based on the cooperation between a manipulator, a rebound instrument measurement area stamp tooling, a rebound instrument tooling and a stylus pen tooling, a concrete rebound test at the measurement area of ​​the beam structure is realized; a beam structure internal damage detection method: based on a detection radar and a radar tooling ranging sensor to detect and record the position, depth and shape of internal damage to the beam structure; a beam end face dimension ranging measurement method: based on a laser rangefinder and a rangefinder matching camera to perform end face dimension detection of the beam structure; a beam crack detection method: based on a crack detection camera to take a photo of the beam structure and a crack model to simultaneously identify whether there is a crack in the photo; a steel bar protective layer detection method: based on a steel bar scanner and an ultrasonic sensor of a steel bar protective layer detection tooling to realize the detection of the thickness of the steel bar protective layer.

[0024] Preferably, the steps of the concrete rebound measurement method are as follows:

[0025] S11: The manipulator moves to the placement position of the stamp tooling of the rebound tester testing area, and controls the quick-change main disk to connect with the quick-change sub-disk of the stamp tooling of the rebound tester testing area;

[0026] S12: The manipulator controls the rebound hammer test area stamp tooling to move to the concrete rebound measurement area, and stamps the test area pattern at the target position;

[0027] S13: After the stamping of the test area pattern is completed, the manipulator moves to the placement position of the stamp tooling of the rebound tester test area, and disconnects the connection between the quick-change main disk and the quick-change auxiliary disk to realize the return of the stamp tooling of the rebound tester test area;

[0028] S14: The manipulator moves to the placement position of the rebound test tooling and controls the quick-change main plate to connect the rebound test tooling;

[0029] S15: The manipulator controls the rebound test tooling to move to the concrete rebound measurement area covered with the measurement area pattern, and performs rebound measurement on the concrete in each grid of the above area in turn;

[0030] S16: After the rebound measurement of the above-mentioned area is completed, the manipulator moves to the placement position of the rebound test tooling to return the rebound test tooling; and then repeats steps S11-S16 to repeat the covering of the measurement area pattern and the rebound measurement.

[0031] Preferably, the beam structure internal damage detection method comprises the following steps:

[0032] S21: The manipulator replaces the tooling connected to the quick-change main plate with the radar tooling;

[0033] S22: the manipulator controls the detection radar to be parallel to the beam structure to be tested and to move along the beam structure to be tested for detection;

[0034] S23: When the robot body moves out of the area of ​​the beam structure to be measured, the internal damage measurement of the beam structure is completed.

[0035] Preferably, the beam end face dimension measurement method comprises the following steps:

[0036] S31: The tooling connected to the quick-change main plate at the manipulator is replaced with a beam end face dimension distance measuring tooling;

[0037] S32: The robot controls the camera supporting the rangefinder to photograph the end face of the beam, and calculates the pixel value from the upper edge to the lower edge in the height direction of the beam in the photo;

[0038] S33: The laser rangefinder measures the distance between the current position and the beam end surface;

[0039] S34: Calculate the height of the beam by combining the preset shooting distance and shooting target pixel relationship table with steps S32 and S33;

[0040] S35: After the manipulator moves to the left along the horizontal direction by a preset distance to photograph the end face of the beam, the manipulator returns to the origin, and then moves to the right along the horizontal direction by a preset distance to photograph the end face of the beam, and respectively calculates the pixel values ​​of the beam appearing in the width direction of the beam in the two photos;

[0041] S36: Based on step S35, the widths of the two beam sections photographed are calculated, and then the distances moved to the left and right by the manipulator are added to obtain the total width of the beam.

[0042] Preferably, the beam crack detection method comprises the following steps:

[0043] S41: The tooling connected to the quick-change main plate at the manipulator is replaced with a crack detection camera;

[0044] S42: The robot body moves along the edge of one end beam frame to the other end beam frame, and the manipulator controls the crack detection camera to take photos of the beam structure at the left, front and right positions of the robot body at each set distance;

[0045] S43: After the robot body moves to the other end of the beam frame, it returns and repeats the above shooting until the bottoms of all beams are photographed;

[0046] S44: Synchronously identify whether there are cracks in the photo through a pre-trained crack model.

[0047] Preferably, the steel bar protective layer detection method comprises the following steps:

[0048] S51: The tooling connected to the quick-change main plate at the manipulator is replaced with a steel bar protective layer detection tooling;

[0049] S52: The manipulator controls the steel bar protective layer detection tooling to be parallel to the beam structure to be tested and to move along the beam structure to be tested for detection;

[0050] S53: When the robot body moves out of the area of ​​the beam structure to be tested, the steel bar protective layer test of the beam structure is completed.

[0051] Preferably, before replacing the tooling connected to the quick-change main plate at the manipulator, the following steps are required:

[0052] S61: The sub-disk arrival detection sensor at the quick-change main disk detects whether there is a quick-change sub-disk that has been grabbed by the current robot;

[0053] S62: If there is a quick-change secondary tray that has been grabbed, the robot arm controls the tooling corresponding to the quick-change secondary tray to reset, and separates the quick-change secondary tray from the quick-change main tray;

[0054] S63: The robot controls the quick-change main plate to connect with the quick-change sub-plate of the tooling required for detection, that is, the tooling required for detection is replaced.

[0055] Preferably, in the steel bar protective layer detection method and the beam structure internal damage detection method, the detected distance to the beam structure is transmitted to the manipulator control module by ultrasonic sensors and radar tooling ranging sensors respectively, and the manipulator controls the steel bar protective layer detection tooling and the radar tooling to fit parallel to the detected beam structure.

[0056] Preferably, the connection method of the quick-change main disk and the quick-change auxiliary disk is as follows:

[0057] Determine whether the signal of the retracted position detection sensor is received. If received, control the manipulator to move to the installation position of the tooling for the next step of detection;

[0058] Determine whether the signal of the auxiliary disk in place detection sensor is received, and if received, control the cylinder on the quick-change main disk to extend, so that the locking steel ball moves to the second card slot of the quick-change auxiliary disk on the tooling;

[0059] It is determined whether a signal from the extended-in-place sensor is received. If received, it is determined that the connection between the quick-change main disk and the quick-change sub-disk is completed.

[0060] Preferably, the method for separating the quick-change main disk and the quick-change auxiliary disk is as follows:

[0061] Determine whether the tooling to be disconnected is aligned with the installation position, and if so, control the cylinder on the quick-change main plate to retract;

[0062] It is determined whether the signal of the retracted position detection sensor is received. If so, the robot arm is controlled to drive the quick-change main disk to reset and leave the quick-change sub-disk.

[0063] Preferably, the method further includes the following steps: the manipulator moves to the placement position of the touch pen tooling, and controls the quick-change main disk to connect to the quick-change sub-disk of the touch pen tooling to achieve the connection between the two;

[0064] The manipulator controls the stylus pen to move above the key panel of the rebound tester tooling or radar tooling, and based on the cooperation of the built-in moving path of the manipulator and the camera device, the rebound tester or detection radar is turned on and set;

[0065] The robot moves to the placement position of the touch pen tooling, and controls the quick-change main disk to disconnect the quick-change sub-disk to return the touch pen tooling to its original position.

[0066] Compared with the prior art, the present invention has the following beneficial effects:

[0067] The robot body of the present invention can integrate multiple inspection functions into one, meeting the needs of different parts of the beam yard and different inspection items; it is easy to operate, has high working efficiency, and can significantly shorten the inspection cycle.

[0068] The setting of the lifting platform can expand the coverage of the manipulator; the placement platform is set around the lifting platform, which makes it easier for the manipulator to replace the connecting equipment; the quick-change mechanism facilitates the rapid assembly and disassembly of the manipulator and other tooling; the radar tooling distance sensor can effectively detect and record the position, depth and shape of the beam field target, the radar buffer mechanism can cope with the unevenness of the side, so that the device always fits the side when driving, and the distance measuring wheel is used to measure the moving distance; the rebound test area seal calculates the distance between the seal and the concrete detection surface through the seal distance sensor, which can easily find the target position on the concrete surface for stamping. During the stamping process, the seal buffer mechanism can play an effective buffering role, while making the seal of the measuring area Full contact with the concrete surface; the shock-absorbing damping spring on the rebound tester can reduce the impact of the rebound tester on the manipulator when it is working; the rebound tester distance sensor is used to control the distance between the rebound tester and the wall during testing; the stylus tooling effectively reduces the impact force generated by the stylus when clicking the screen or buttons, thereby protecting the screen and the pen tip from damage, while providing stable support for the stylus, making the stylus more stable when used and reducing errors; the crack detection camera can take close-up photos of the concrete surface, and derive the crack width through algorithm analysis, thereby realizing the crack width detection operation; the beam end face dimension distance measuring tooling can detect the dimensional data of the beam structure; the steel bar protective layer detection tooling can realize the detection of the thickness of the steel bar protective layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0070] Figure 1 It is a schematic diagram of the structure of the present invention;

[0071] Figure 2 It is a structural schematic diagram of another angle of the present invention;

[0072] Figure 3 A top view of the present invention;

[0073] Figure 4 It is a left side view of the present invention;

[0074] Figure 5 It is a right side view of the present invention;

[0075] Figure 6 It is a schematic diagram of the radar tooling structure of the present invention;

[0076] Figure 7 It is a schematic diagram of the structure of the stamp in the rebound test area of ​​the present invention;

[0077] Figure 8 It is a schematic diagram of the structure of the rebound test tooling of the present invention;

[0078] Fig. 9 This is a front view of the rebound test tooling structure of the present invention;

[0079] Fig.10 It is a side view of the rebound test tooling structure of the present invention;

[0080] Fig.11 It is a top view of the structure of the rebound hammer tooling of the present invention;

[0081] Fig.12 This is a schematic diagram of the structure of the stylus tooling of the present invention;

[0082] Fig.13 This is a schematic diagram of the structure of the detection camera of the present invention;

[0083] Fig.14 This is a schematic diagram of the steel bar protective layer detection tooling structure of the present invention;

[0084] Fig.15 This is a front view of the steel bar protective layer detection tooling structure of the present invention;

[0085] Fig.16 It is a side view of the steel bar protective layer detection tooling structure of the present invention;

[0086] Fig.17 A top view of the steel bar protective layer detection tooling structure of the present invention;

[0087] Fig.18 This is a structural diagram of the quick-change main disk of the present invention from a first viewing angle;

[0088] Fig.19 This is a second viewing angle of the structural schematic diagram of the quick-change main disk of the present invention;

[0089] Fig. 20 This is a schematic diagram of the inspection vehicle and the beam end angle of the present invention;

[0090] Fig.21 is the structural schematic diagram of the total width of the beam;

[0091] Fig. 22 Schematic diagram of the camera used to shoot the rangefinder.

[0092] In the figure: 1-robot body, 2-lifting platform, 3-carrying platform, 4-walking wheel, 5-manipulator, 61-camera, 62-lighting lamp, 7-radar tooling, 71-detection radar, 72-radar protection shell, 73-radar protection roller, 74-distance measuring wheel, 75-distance measuring bracket, 76-radar connecting plate, 77-radar buffer mechanism, 78-radar tooling distance measuring sensor, 79-radar signal receiver, 8-rebound instrument measuring area seal tooling, 81-measuring area seal, 82-seal mounting plate, 83-seal connecting plate, 84-seal buffer mechanism, 85-seal Seal distance sensor, 86-seal positioning plate, 9-rebound instrument tooling, 91-fixed seat, 911-guide sleeve front mounting plate, 912-guide sleeve rear mounting plate, 913-quick change sub-plate mounting plate, 914-bottom plate, 92-movable seat, 921-front guide column fixing plate, 922-middle guide column fixing plate, 923-rear guide column fixing plate, 924-damping front sleeve, 925-damping rear sleeve, 926-guide column, 93-rebound instrument, 94-shock absorption damping spring, 95-rebound instrument distance sensor, 96-monitoring camera, 97-camera bracket, 98-rebound Rebound instrument quick-change mounting frame, 99-rebound instrument clamping block, 10-laser distance measuring tool, 101-laser distance meter, 102-distance meter supporting camera, 11-radar display, 12-point stylus tool, 121-pen holder mounting plate, 122-buffer pen holder fixing seat, 123-point stylus, 124-point stylus guide rod, 125-buffer pen holder slider, 126-point stylus buffer spring, 127-pen holder positioning plate, 13-crack detection camera, 131-detection camera, 132-camera rod, 133-camera lens, 134-auxiliary light source, 14-quick change main disk, 141-main connecting plate, 142-cylinder, 143-locking head, 144-locking steel ball, 145-sub-plate in-place detection sensor, 146-main plate cylinder extended in-place detection sensor, 147-main plate cylinder retracted in-place sensor, 148-electric signal module, 15-quick-change sub-plate, 16-rebar protective layer detection tooling, 161-traveling device, 162-rebar scanner, 163-scanner mounting bracket, 164-scanner connecting bracket, 165-ultrasonic sensor, 166-spring seat, 167-outer sleeve, 168-inner sleeve, 169-spring. DETAILED DESCRIPTION

[0093] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0094] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0095] Embodiment 1:

[0096] like Figures 1 to 11 As shown, a fully automatic intelligent inspection robot for precast beams in a beam yard comprises a robot body 1 and a manipulator 5, a radar tool 7, a rebound hammer measuring area stamp tool 8 and a rebound hammer tool 9 arranged above the robot body 1; wherein the free end of the manipulator 5 can realize multi-directional and multi-angle movement relative to the robot body 1, and the free end of the manipulator 5 is provided with a quick-change main disk 14; the radar tool 7, the rebound hammer measuring area stamp tool 8 and the rebound hammer tool 9 are all movably connected to the robot body 1, and the above-mentioned tools are all provided with a quick-change sub-disk 15, which is used to cooperate with the quick-change main disk 14 to fix the corresponding tool to the free end of the manipulator 5; the manipulator 5 is used to control the radar tool 7 to detect and record the position, depth and shape of the internal damage of the beam structure, control the rebound hammer measuring area stamp tool 8 to stamp the measuring area pattern at the target position of the concrete surface of the beam structure, and control the rebound hammer tool 9 to perform concrete rebound test at each position of the stamped measuring area pattern.

[0097] Specifically, the rebound instrument measuring area seal tooling 8 includes a measuring area seal 81, a seal mounting plate 82, a seal connecting plate 83, a seal distance measuring sensor 85 and a seal positioning plate 86; the measuring area seal 81 is arranged at the bottom end of the seal mounting plate 82, and a horizontal wing plate extends outward along the plate surface of the seal mounting plate 82 as a seal positioning plate 86, and the end of the seal positioning plate 86 has a socket matching the seal tooling plug-in column on the robot body 1, the seal connecting plate 83 is arranged at the upper end of the seal mounting plate 82, and a bent wing plate extends outward along the plate surface of the seal connecting plate 83 for installing the seal distance measuring sensor 85, and the quick-change sub-disc 15 on the rebound instrument measuring area seal tooling 8 is arranged at the upper end of the seal connecting plate 83.

[0098] There are multiple seal distance sensors 85, which are symmetrically arranged on the outside of the measuring area seal 81, and are used to detect the distance between the measuring area seal 81 and the surface to be measured. The signal output end of the seal distance sensor 85 is connected to the control module of the manipulator 5. The control module is used to control the manipulator 5 to make the measuring area seal 81 parallel to the surface to be measured according to the output signals of each seal distance sensor 85. The control module is also used to control the stamping pressure applied by the manipulator to the measuring area seal 81 when stamping according to the output signals of each seal distance sensor 85; a seal buffer mechanism 84 is arranged between the seal connecting plate 83 and the seal mounting plate 82.

[0099] The rebound test tool 9 includes a fixed seat 91, a movable seat 92, a rebound tester 93, a shock absorbing damping spring 94, a rebound tester distance sensor 95 and a monitoring camera 96; the movable seat 92 is movably connected to the fixed seat 91 through the shock absorbing damping spring 94 and the guide column 926, the rebound tester 93, the rebound tester distance sensor 95 and the monitoring camera 96 ​​are all arranged on the movable seat 92, the rebound tester distance sensor 95 is arranged parallel to the rebound tester 93 and its detection end is located at one end thereof close to the detection head of the rebound tester 93, and the monitoring camera 96 ​​is connected to the movable seat 92 through the camera bracket 97 and is located at the Above the button panel, the signal output ends of the rebounder distance sensor 95 and the monitoring camera 96 ​​are connected to the control module of the manipulator 2. The rebounder distance sensor 95 is used to measure the distance between the rebounder 93 and the surface to be measured. The control module is used to control the pressure value applied by the manipulator to the rebounder 93 during the rebound detection according to the measurement value of the rebounder distance sensor 95; the bottom end of the fixed seat 91 is provided with a rebounder quick-change mounting frame 98 movably connected to the robot body, and the rear end of the fixed seat 91 is installed with a quick-change sub-disc 15 matching the quick-change main disk 14 on the robot body manipulator 2.

[0100] The fixed seat 91 includes a guide sleeve front mounting plate 911, a guide sleeve rear mounting plate 912 and a quick-change sub-disc mounting plate 913, which are arranged in sequence. The guide sleeve front mounting plate 911 and the guide sleeve rear mounting plate 912 are inlaid with guide sleeves. The guide sleeve front mounting plate 911, the guide sleeve rear mounting plate 912 and the quick-change sub-disc mounting plate 913 are connected to form a whole through a bottom plate 914; the movable seat 92 includes a front guide column fixing plate 921, an intermediate guide column fixing plate 922 and a rear guide column fixing plate 923, which are arranged in sequence, and two guide columns 926 fixedly connected to the above three plates. The guide columns 926 are A damping front sleeve 924 and a damping rear sleeve 925 are fixed to the front end and the middle respectively. Shock-absorbing damping springs 94 are arranged between the damping front sleeve 924 and the front mounting plate 911 of the guide sleeve and between the intermediate guide column fixing plate 922 and the rear mounting plate 912 of the guide sleeve. The intermediate guide column fixing plate 922 and the damping rear sleeve 925 are located between the front mounting plate 911 of the guide sleeve and the rear mounting plate 912 of the guide sleeve. The lower end of the rebound tester quick-change mounting frame 98 extends to both sides to form a lower wing plate connected to the robot body, and a socket matching the rebound tester tooling plug-in column on the robot body is arranged on the lower wing plate.

[0101] The radar tooling 7 includes a detection radar 71, a radar housing 72, a radar moving wheel 73, a radar connecting plate 76, a radar tooling ranging sensor 78 and a radar signal receiver 79; the detection radar 71 is built into the inner space of the radar housing 72 with a radar moving wheel 73 at the bottom, the radar tooling ranging sensor 78 is arranged on the corner wing plate extending outward from the radar housing 72, a radar signal receiver 79 is arranged at the front end of the detection radar 71 and a window is arranged at a corresponding position on the radar housing 72, the radar connecting plate 76 is arranged at the upper end of the radar housing 72, a radar buffer mechanism 77 is arranged between the radar connecting plate 76 and the radar housing 72, and the bottom of the radar housing 72 is arranged toward the The lower wing plates extend on both sides and have sockets that match the radar tooling plug-in columns on the robot body 1; the quick-change sub-disc 15 on the radar tooling 7 is set at the upper end of the radar connecting plate 76, and the upper end of the robot body 1 is provided with a radar display 11 electrically connected to the radar signal receiver 79; the detection end of the radar tooling distance sensor 78 is located at the end close to the detection radar 71, and the signal output end of the radar tooling distance sensor 78 is connected to the control module of the manipulator 5. The control module of the manipulator 5 is used to control the angle of the manipulator 5 according to the distance measurement value output by each radar tooling distance sensor 78, so that the radar tooling 7 walks parallel to the surface to be measured when working. The front end of the radar housing 72 is connected to a distance measuring wheel 74 for measuring the detected distance through a distance measuring bracket 75.

[0102] Embodiment 2:

[0103] like Fig.12As shown, the second embodiment of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to the first embodiment, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound test area stamp tooling 8 and a rebound test tooling 9 arranged thereon.

[0104] Different from the first embodiment, the inspection robot for beam yard rebound detection in the present embodiment further includes a stylus tooling 12, including a pen holder mounting plate 121, a buffer pen holder fixing seat 122, a stylus 123, a stylus guide rod 124, a buffer pen holder slider 125, a stylus buffer spring 126 and a pen holder positioning plate 127;

[0105] The buffer pen holder fixing seat 122 is arranged on one end surface of the pen holder mounting plate 121. The buffer pen holder fixing seat 122 is provided with a guide groove and a slide groove, wherein a stylus pen guide rod 124 is arranged in the guide groove, a buffer pen holder slider 125 is slidably arranged in the slide groove and is slidably connected with the stylus pen guide rod 124, a stylus pen buffer spring 126 is sleeved on the stylus pen guide rod 124 between the end of the buffer pen holder slider 125 and the buffer pen holder fixing seat 122, and the stylus pen 123 is fixed on the buffer pen holder slider The stylus 123 and the guide and sliding structures thereof are arranged on the block 125 and parallel to the stylus pen guide rod 124; the pen holder positioning plate 127 is arranged on the other end face of the pen holder mounting plate 121 and has a side wing plate extending outward and having a socket on the side wing plate that matches the stylus pen tooling plug-in column on the robot body 1; the quick-change sub-disk 15 on the stylus pen tooling 12 is arranged on the end face of the pen holder positioning plate 127 away from the pen holder mounting plate 121; the manipulator 5 is also used to control the stylus pen tooling 12 to perform key operations on the rebounder in the rebounder tooling 9. The stylus 123 on the buffer pen holder fixing seat 122 and its guide and sliding structures are divided into two groups, and the contact heads of the two groups of stylus 123 are arranged in opposite directions, and the stylus 123 is arranged parallel to the plate surface of the pen holder positioning plate 127.

[0106] Embodiment three:

[0107] like Fig.12 As shown, embodiment 3 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to embodiment 2, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound test area stamp tooling 8, a rebound test tooling 9 and a stylus tooling 12 arranged thereon.

[0108] Different from the second embodiment, the inspection robot used for beam yard rebound detection in this embodiment also includes a beam end face dimension ranging tool 10, including a laser rangefinder 101 and a rangefinder matching camera 102; the laser rangefinder 101 is arranged at the front and rear ends of the robot body 1, and a rangefinder camera bracket is arranged on the outer side of the rangefinder matching camera 102, and the lower end of the rangefinder camera bracket has a socket matching the beam end face dimension ranging tool plug-in column on the robot body 1; the quick-change sub-disk 15 of the beam end face dimension ranging tool 10 is arranged at the upper end of the rangefinder camera bracket, and the manipulator 2 is also used for the beam end face dimension ranging tool 10 to measure the beam end face dimension.

[0109] Embodiment 4:

[0110] like Fig.13 As shown, embodiment 4 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to embodiment 3, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound test area stamp tooling 8, a rebound test tooling 9, a stylus tooling 12 and a beam end face dimension measuring tooling 10 arranged thereon.

[0111] Different from the third embodiment, the inspection robot for beam yard rebound detection in this embodiment also includes a crack detection camera 13, including a detection camera 131 and a camera rod 132. The detection camera 131 is arranged at one end of the camera rod 132. The detection camera 131 is provided with a camera lens 133 and auxiliary light sources 134 on both sides. The camera rod 132 is mounted on the crack detection camera support on the robot body 1; the quick-change sub-disk 15 on the crack detection camera 13 is arranged on the end of the camera rod 132 away from the detection camera 131, and the manipulator 2 is also used for the crack detection camera 13 to detect cracks in the beam structure.

[0112] Embodiment five:

[0113] like Figures 14 to 17 As shown, embodiment 5 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to embodiment 4, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound test area stamp tooling 8, a rebound test tooling 9, a stylus tooling 12, a beam end face dimension measuring tooling 10 and a crack detection camera 13 arranged thereon.

[0114] Different from the fourth embodiment, the inspection robot for beam yard rebound detection in this embodiment further includes a steel bar protective layer detection tool 16, including a walking device 161, a steel bar scanner 162, a scanner mounting frame 163, a scanner connecting frame 164, and an ultrasonic sensor 165;

[0115] The walking device 161 is arranged at the lower end of the scanner mounting frame 163, the steel bar scanner 162 is installed on the scanner mounting frame 163 and points to the lower end, the scanner connecting frame 164 is arranged at the upper end of the scanner mounting frame 163, the upper end of the scanner connecting frame 164 is bent and extended outward to form a bent wing plate, and an ultrasonic sensor 165 is arranged at the lower end of the side wing plate, and the ultrasonic sensor 165 points to the bottom plate side of the walking device 161, and the quick-change sub-disk 15 of the steel bar protective layer detection tooling 16 is arranged at the upper end of the scanner connecting frame 164. Both sides of the walking device 161 extend outward to form side wing plates and the side wing plates have sockets that match the steel bar protective layer detection tooling plug-in columns on the robot body 1.

[0116] A buffer device is arranged between the scanner mounting frame 163 and the scanner connecting frame 164, and the buffer device includes a spring seat 166, an outer sleeve 167, and an inner sleeve 168), wherein the spring seat 166 is fixed to the upper end of the scanner mounting frame 163, the outer sleeve 167 is fixed on the spring seat 166 and a spring 169 connected to the spring seat 166 is arranged in the outer sleeve 167, the inner sleeve 168 is slidably sleeved in the outer sleeve 167 and a sliding rod matching the sliding groove of the side wall of the outer sleeve 167 is arranged on the inner sleeve 168; the upper end of the inner sleeve 168 is connected to the scanner connecting frame 164.

[0117] Embodiment six:

[0118] like Fig.18 , 19 As shown, embodiment 6 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to embodiment 5, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound test area stamp tooling 8, a rebound test tooling 9, a stylus tooling 12, a beam end face dimension measuring tooling 10, a crack detection camera 13 and a steel bar protective layer detection tooling 16 arranged thereon.

[0119] Different from the fifth embodiment, in the present embodiment, a patrol robot for beam yard rebound detection is provided, the quick-change main disk 14 comprises a main connection disk 141 and a solenoid valve, a cylinder 142 is arranged in the main connection disk 141, a locking head 143 is arranged at the connection end of the main connection disk 141, a plurality of locking steel balls 144 are arranged on the locking head 143, and a push rod of the cylinder 142 can extend into the locking head 143 and push out the locking steel balls 144 in the locking head 143; the main connection disk 141 is provided with a secondary disk in-place detection sensor 145, a main disk cylinder extended in-place detection sensor 146 and a main disk cylinder retracted in-place sensor 147;

[0120] The signal output ends of the sub-disk in-position detection sensor 145, the main-disk cylinder extended in-position detection sensor 146 and the main-disk cylinder retracted in-position sensor 147 are connected to the control module of the manipulator 5, the solenoid valve is located on the air path where the cylinder is located and is electrically connected to the sub-disk in-position detection sensor 145, the sub-disk in-position detection sensor 145 is used to detect whether the quick-change sub-disk and the quick-change main disk are aligned, the main-disk cylinder extended in-position detection sensor 146 and the main-disk cylinder retracted in-position sensor 147 are used to detect whether the cylinder 142 in the quick-change main disk 14 is extended and retracted in position respectively; the quick-change sub-disk 15 includes a sub-connecting disk, the center of which is provided with a first card slot for accommodating a locking head 143, and the surface of the first card slot is provided with a second card slot for accommodating the locking steel ball 144; the locking head 143 can be clamped in the first card slot of the quick-change sub-disk 15, and the locking steel ball is used to be lifted up from the locking head 143 under the push of the cylinder 142, and clamped in the second card slot of the quick-change sub-disk 15.

[0121] Embodiment seven:

[0122] Embodiment 7 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to Embodiment 6, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound test area stamp tooling 8, a rebound test tooling 9, a stylus tooling 12, a beam end face dimension measuring tooling 10, a crack detection camera 13, a steel bar protective layer detection tooling 16 and a specific structure of a quick-change mechanism arranged thereon.

[0123] Different from the sixth embodiment, the present embodiment is a patrol robot for beam yard rebound detection, wherein a lifting platform 2 for placing a manipulator 5 is arranged at the center of the upper end of the robot body 1, and cameras 61 in multiple orientations are arranged on the side walls of the lifting platform 2, and a supporting platform 3 for placing the above-mentioned multiple tools is arranged around the outer periphery of the lifting platform 2; wherein the radar tool 7, the beam end face dimension measuring tool 10, the rebound tool 9 and the crack detection camera 13 are respectively located at the four corners of the supporting platform 3 and arranged in sequence, the stylus tool 12 is arranged between the radar tool 7 and the beam end face dimension measuring tool 10, the radar display 11 is arranged between the beam end face dimension measuring tool 10 and the rebound tool 9, and the rebound tool measurement area stamp tool 8 is arranged between the rebound tool 9 and the crack detection camera 13; walking wheels 4 are arranged at the bottom of the robot body 1, and lighting lamps 62 are arranged at the front and rear ends in the traveling direction.

[0124] Embodiment eight:

[0125] Embodiment 8 of the present invention provides a detection method of a prefabricated beam in a beam yard by a fully automatic intelligent inspection robot. The difference from Embodiment 7 is that this embodiment provides a detection method based on Embodiments 1 to 7.

[0126] It includes a concrete rebound measurement method: based on the cooperation between the manipulator 5, the rebound tester measuring area stamp tooling 8, the rebound tester tooling 9 and the stylus tooling 12, a concrete rebound test at the measuring area of ​​the beam structure is realized; a beam structure internal damage detection method: based on the detection radar 71 and the radar tooling ranging sensor 78, the position, depth and shape of the internal damage of the beam structure are detected and recorded; a beam end face dimension ranging measurement method: based on the laser rangefinder 101 and the rangefinder matching camera 102, the end face dimension of the beam structure is detected; a beam crack detection method: based on the crack detection camera 13, a photo of the beam structure and a crack model are taken to simultaneously identify whether there are cracks in the photo; a steel bar protective layer detection method: based on the steel bar scanner 162 and the ultrasonic sensor 165 of the steel bar protective layer detection tooling 16, the thickness of the steel bar protective layer is detected.

[0127] The connection method of the quick-change main disk 14 and the quick-change auxiliary disk 15 is as follows:

[0128] Determine whether the signal of the retracted-in-place detection sensor 147 is received. If so, control the manipulator 5 to move to the installation location of the tooling for the next step of detection; determine whether the signal of the sub-disc in-place detection sensor 145 is received. If so, control the cylinder 142 on the quick-change main disk 14 to extend, so that the locking steel ball 144 moves toward the second slot of the quick-change sub-disc 15 on the tooling; determine whether the signal of the extended-in-place sensor 146 is received. If so, determine that the connection between the quick-change main disk 14 and the quick-change sub-disc 15 is completed.

[0129] The specific steps are: the system sends out a command, and at the same time, the sub-disk in-position detection sensor on the quick-change main disk has no induction, indicating that there is no tooling in place on the manipulator, and then the manipulator moves to above the stylus tooling, the quick-change main disk solenoid valve operates, the quick-change main disk cylinder retracts, and the locking steel ball retracts, and the manipulator continues to run to above the touchpad tooling quick-change sub-disk, the manipulator slows down and approaches slowly until the sub-disk in-position sensor on the quick-change main disk operates, indicating that the quick-change main and sub-disks have been combined in place, and then the quick-change main disk solenoid valve is reset, the quick-change main disk cylinder rises forward, and the locking steel ball extends to lock the quick-change main and sub-disks firmly.

[0130] The method of separating the quick-change main disk 14 and the quick-change auxiliary disk 15 is as follows:

[0131] Determine whether the tooling to be disconnected is aligned with the installation position. If so, control the cylinder on the quick-change main disk to retract; determine whether the signal of the retraction detection sensor 147 is received. If so, control the manipulator to drive the quick-change main disk 14 to reset and leave the quick-change sub-disk 15.

[0132] Before concrete rebound measurement or internal damage detection of beam structure: the manipulator 5 moves to the placement position of the touch pen tooling 12, and controls the quick-change main disk 14 to connect the quick-change sub-disk 15 of the touch pen tooling 12 to achieve the connection between the two; the manipulator 5 controls the touch pen 123 to move to above the button panel of the rebound tester tooling 9 or the radar tooling 7, and based on the built-in moving path of the manipulator 5 and the cooperation of the camera device, the rebound tester 93 or the detection radar 71 is turned on and set; the manipulator 5 moves to the placement position of the touch pen tooling 12, and controls the quick-change main disk 14 to disconnect the quick-change sub-disk 15 to return the touch pen tooling 12 to its original position.

[0133] The steps of the concrete rebound measurement method are as follows:

[0134] S11: the manipulator 5 moves to the placement position of the stamp fixture 8 in the rebound test area, and controls the quick-change main plate 14 to connect with the quick-change auxiliary plate 15 of the stamp fixture 8 in the rebound test area; the manipulator 5 controls the stamp 81 in the test area to be dipped in oil in the ink box;

[0135] S12: The manipulator 5 controls the rebound tester measuring area stamp tooling 8 to move to the concrete rebound measurement area, and stamps the measuring area pattern at the target position; during the stamping process, the control module of the manipulator controls the stamping angle of the measuring area stamp through the distance measurement values ​​of each stamp distance measurement sensor, so that it is parallel to the surface to be measured. At the same time, the distance measurement value of the stamp distance measurement sensor can also control the pressure applied by the manipulator to the measuring area stamp. When the manipulator controls the measuring area stamp to approach the surface to be stamped, the distance measurement value gradually decreases. When the measuring area stamp moves to the surface to be stamped and contacts, the stamp buffer mechanism begins to be compressed, and the distance measurement value continues to be small. When the distance measurement value is less than the threshold value, it means that the measuring area stamp has been in tight contact with the surface to be stamped and has reached the required pressure value, then the manipulator stops moving forward and maintains for 1 to 2 seconds;

[0136] S13: After the stamping of the test area pattern is completed, the manipulator 5 moves to the placement position of the stamp tooling 8 of the rebound test area, and disconnects the connection between the quick-change main disk 14 and the quick-change auxiliary disk 15, so as to realize the return of the stamp tooling 8 of the rebound test area;

[0137] S14: the manipulator 5 moves to the placement position of the rebound test tool 9, and controls the quick-change main plate 14 to connect to the rebound test tool 9;

[0138] S15: the manipulator 5 controls the rebound test tool 9 to move to the concrete rebound measurement area covered with the measurement area pattern, and performs rebound measurement on the concrete in each grid of the above area in turn; the control module of the manipulator controls the pressure value applied by the rebound tester to the surface to be measured through the distance value of the rebound tester distance sensor, and specifically, when the distance value is less than the set threshold value, the manipulator stops moving forward;

[0139] S16: After the rebound measurement of the above-mentioned area is completed, the manipulator 5 moves to the placement position of the rebound tester tool 9 to return the rebound tester tool 9 to its original position; then repeat steps S11-S16 to repeat the stamping of the measurement area pattern and the rebound measurement. The measurement data of the rebound tester is saved in the rebound tester itself and can be viewed later. The monitoring screen of the rebound tester can also be viewed in real time in the background through the monitoring camera of the rebound tester.

[0140] The internal damage detection method of the beam structure includes the following steps:

[0141] S21: The manipulator 5 replaces the tooling connected to the quick-change main plate 14 with the radar tooling 7;

[0142] S22: The manipulator 5 controls the detection radar 71 to be parallel to the beam structure to be tested and moves along the beam structure to be tested for detection; in the process of moving along the wall, the distance between the front and rear of the vehicle and the wall is obtained according to the laser rangefinders in front and behind the robot body, and the angle and distance between the robot body and the wall are calculated in real time by using the trigonometric function relationship in combination with the length of the vehicle body and the position of the vehicle body where the manipulator is located, and the radar tooling is adjusted in real time to ensure that the radar tooling is close to the wall, and this process is executed cyclically;

[0143] S23: When the robot body 1 moves out of the area of ​​the beam structure to be measured, the internal damage measurement of the beam structure is completed.

[0144] The beam end face dimension measurement method includes the following steps:

[0145] S31: the tooling connected to the quick-change main plate 14 at the manipulator 5 is replaced with a beam end face dimension distance measuring tooling;

[0146] S32: Fig. 20 As shown, the angle between the inspection robot and the beam end face is calculated in real time through the laser rangefinders in front and behind the inspection robot and the length of the inspection robot. α ;

[0147] α=arcsin[(AC-BD) / CD]

[0148] AC and BD are the real-time distances measured by the front and rear laser rangefinders respectively; CD is the length of the inspection robot;

[0149] like Fig. 22 As shown, the manipulator 5 adjusts the corresponding angle in real time to control the rangefinder supporting camera 102 to photograph the beam end face, and calculates the pixel value from the upper edge to the lower edge in the beam height direction in the photo; specifically, the beam end face model is pre-marked, and the beam end face in the photograph is identified by the beam end face model. The program extracts the upper edge ordinate and the lower edge ordinate in the beam height direction according to the identified beam end face, and the difference between the two ordinates is the pixel value of the beam height; the beam end face model is a prior art and will not be elaborated here.

[0150] S33: The laser rangefinder 101 measures the distance between the current position and the beam end surface;

[0151] S34: The preset shooting distance and shooting target pixel relationship table is as follows:

[0152] Shooting distance(mm) The pixel value corresponding to the actual size of the target (mm / px) 500 1 / 9.07

[0153] Combined with steps S32 and S33, the height of the beam is calculated; in the shooting distance and shooting target pixel relationship table, the calculation formula for the height of the beam is: H = P / 9.07, where P is the pixel value of the calculated height of the beam.

[0154] S35: After the manipulator moves horizontally to the left by a preset distance to photograph the beam end face, the manipulator returns to the origin, and then moves horizontally to the right by a preset distance to photograph the beam end face, and respectively calculates the pixel values ​​of the beam appearing in the beam width direction in the two photos; specifically, using the pre-annotated beam end face model, the left beam end face photo and the right beam end face photo are respectively identified, and the program extracts the left edge of the left beam end face according to the identified target, and the edge position in the image is corresponding to calculate the pixel size of the left beam end face. Similarly, the pixel size of the right beam end face can also be obtained, and the image pixel values ​​of the left and right ends of the beam are obtained by adding the two pixel sizes;

[0155] S36: After the pixel size of the left beam end face and the pixel size of the right beam end face are obtained based on step S35, the shooting distance and shooting target pixel relationship table in S3 is applied to obtain the actual size Z1 of the left beam end face and the actual size Z2 of the right beam end face, and then the distances X and Y of the manipulator moving to the left and right are added, and finally the total width of the beam is obtained = X+Y+Z1+Z2, as shown in FIG. Fig.21 shown.

[0156] The beam crack detection method comprises the following steps:

[0157] S41: the tooling connected to the quick-change main plate 14 at the manipulator 5 is replaced with a crack detection camera 13;

[0158] S42: The robot body 1 walks along the edge of one end beam frame to the other end beam frame, and the manipulator 5 controls the crack detection camera 13 to take photos of the beam structure at the left, front and right positions of the robot body 1 at each set distance;

[0159] S43: After the robot body 1 walks to the other end of the beam, it returns and repeats the above shooting until the bottoms of all beams are photographed;

[0160] S44: Synchronously identify whether there are cracks in the photo through a pre-trained crack model.

[0161] The steel bar cover detection method includes the following steps:

[0162] S51: the tooling connected to the quick-change main plate 14 at the manipulator 5 is replaced with a steel bar protection layer detection tooling; the steel bar protection layer measuring instrument is photographed and identified by a camera on the manipulator, and the steel bar protection layer measuring instrument is identified to be turned on;

[0163] S52: The manipulator 5 controls the steel bar protective layer detection tooling 16 to be parallel to the beam structure to be tested and to move along the beam structure to be tested for detection; the wall parallel calibration is performed according to the ultrasonic distance measuring sensor on the steel bar protective layer detection tooling, and then the steel bar protective layer detection tooling is pressed against the wall according to the measured distance;

[0164] S53: When the robot body 1 moves out of the area of ​​the beam structure to be tested, the steel bar protective layer test of the beam structure is completed.

[0165] Before replacing the tooling connected to the quick-change main plate at robot 5, the following steps are required:

[0166] S61: The auxiliary tray in place detection sensor 145 at the quick-change main tray detects whether there is a quick-change auxiliary tray 15 that has been grabbed by the current manipulator 5;

[0167] S62: If there is a quick-change auxiliary tray 15 that has been grabbed, the manipulator 5 controls the tooling corresponding to the quick-change auxiliary tray to reset, and separates the quick-change auxiliary tray 15 from the quick-change main tray 14;

[0168] S63: the manipulator 5 controls the quick-change main tray 14 to connect with the quick-change sub-tray 15 of the tooling required for detection, that is, to replace the tooling required for detection.

[0169] In the steel bar protective layer detection method and the beam structure internal damage detection method, the detected distance to the beam structure is transmitted to the manipulator 5 control module through the ultrasonic sensor 165 and the radar tooling ranging sensor 78 respectively, and the manipulator 5 controls the steel bar protective layer detection tooling and the radar tooling to be parallel to the detected beam structure.

[0170] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A fully automatic intelligent inspection robot for precast beams in a beam yard, characterized by: It comprises a robot body (1) and a manipulator (5) arranged on the robot body, a radar tool (7), a rebound test area stamp tool (8) and a rebound test tool (9); The free end of the manipulator (5) can move in multiple directions and angles relative to the robot body (1), and the free end of the manipulator (5) is provided with a quick-change main disk (14); the radar tooling (7), the rebound test area seal tooling (8) and the rebound test tooling (9) are all movably connected to the robot body (1), and the above-mentioned tooling is provided with a quick-change sub-disk (15), and the quick-change sub-disk (15) is used to cooperate with the quick-change main disk (14) to fix the corresponding tooling with the free end of the manipulator (5); The manipulator (5) is used to control the radar tooling (7) to detect and record the position, depth and shape of the internal damage of the beam structure, control the rebound hammer test area stamp tooling (8) to stamp the test area pattern at the target position of the concrete surface of the beam structure, and control the rebound hammer tooling (9) to perform concrete rebound test at each position where the test area pattern is stamped.

2. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 1 is characterized by: The rebound tester measuring area seal tooling (8) comprises a measuring area seal (81), a seal mounting plate (82), a seal connecting plate (83), a seal distance measuring sensor (85) and a seal positioning plate (86); The measuring area seal (81) is arranged at the bottom end of the seal mounting plate (82); a horizontal wing plate is extended outwardly along the plate surface of the seal mounting plate (82) as a seal positioning plate (86); the end of the seal positioning plate (86) has a socket matched with a seal tooling plug-in column on the robot body (1); a seal connecting plate (83) is arranged at the upper end of the seal mounting plate (82); a bent wing plate is extended outwardly along the plate surface of the seal connecting plate (83) for installing a seal distance measuring sensor (85); and a quick-change sub-disc (15) on the rebound tester measuring area seal tooling (8) is arranged at the upper end of the seal connecting plate (83).

3. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 1 is characterized in that: There are a plurality of seal distance measuring sensors (85) symmetrically arranged outside the measuring area seal (81) for detecting the distance between the measuring area seal (81) and the surface to be measured. The signal output end of the seal distance measuring sensor (85) is connected to a control module of the manipulator (5). The control module is used to control the manipulator to make the measuring area seal (81) parallel to the surface to be measured according to the output signals of each seal distance measuring sensor (85). The control module is also used to control the stamping pressure applied by the manipulator to the measuring area seal (81) when stamping according to the output signals of each seal distance measuring sensor (85). A seal buffer mechanism (84) is arranged between the seal connecting plate (83) and the seal mounting plate (82).

4. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 2 is characterized in that: The rebound hammer tooling (9) comprises a fixed seat (91), a movable seat (92), a rebound hammer (93), a shock absorbing and damping spring (94), a rebound hammer distance sensor (95) and a monitoring camera (96); the movable seat (92) is movably connected to the fixed seat (91) through the shock absorbing and damping spring (94) and a guide column (926); the rebound hammer (93), the rebound hammer distance sensor (95) and the monitoring camera (96) are all arranged on the movable seat (92); the rebound hammer distance sensor (95) is arranged parallel to the rebound hammer (93) and its detection end is located at one end thereof close to the detection head of the rebound hammer (93); the monitoring camera (96) is connected to the movable seat (92) through a camera bracket (97) and is located Above the key panel of the rebound tester (93), the signal output ends of the rebound tester distance sensor (95) and the monitoring camera (96) are connected to the control module of the manipulator (2); the rebound tester distance sensor (95) is used to measure the distance between the rebound tester (93) and the surface to be tested; the control module is used to control the pressure value applied by the manipulator to the rebound tester (93) during rebound detection according to the measurement value of the rebound tester distance sensor (95); the bottom end of the fixed seat (91) is provided with a rebound tester quick-change mounting frame (98) movably plugged with the robot body; the rear end of the fixed seat (91) is provided with a quick-change auxiliary disk (15) matching the quick-change main disk (14) on the robot body manipulator (2).

5. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 4 is characterized in that: The fixing seat (91) comprises a guide sleeve front mounting plate (911), a guide sleeve rear mounting plate (912) and a quick-change sub-disc mounting plate (913) which are arranged in sequence, the guide sleeve front mounting plate (911) and the guide sleeve rear mounting plate (912) are inlaid with guide sleeves, and the guide sleeve front mounting plate (911), the guide sleeve rear mounting plate (912) and the quick-change sub-disc mounting plate (913) are connected to form a whole through a bottom plate (914); The movable seat (92) comprises a front guide column fixing plate (921), an intermediate guide column fixing plate (922) and a rear guide column fixing plate (923) which are arranged in sequence and two guide columns (926) fixedly connected to the above three plates; a damping front sleeve (924) and a damping rear sleeve (925) are respectively fixed to the front end and the middle of the guide column (926); a shock-absorbing damping spring (94) is arranged between the damping front sleeve (924) and the guide sleeve front mounting plate (911) and between the intermediate guide column fixing plate (922) and the guide sleeve rear mounting plate (912); the intermediate guide column fixing plate (922) and the damping rear sleeve (925) are located between the guide sleeve front mounting plate (911) and the guide sleeve rear mounting plate (912); The lower end of the rebound tester quick-change mounting frame (98) extends to both sides to form a lower wing plate connected to the robot body, and the lower wing plate is provided with a socket matching the rebound tester tooling plug-in column on the robot body.

6. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 4, characterized in that: The radar tooling (7) comprises a detection radar (71), a radar housing (72), a radar moving wheel (73), a radar connecting plate (76), a radar tooling ranging sensor (78) and a radar signal receiver (79); The detection radar (71) is built into the inner space of a radar housing (72) with a radar moving wheel (73) at the bottom, the radar tooling ranging sensor (78) is arranged on a corner wing plate extending outward from the radar housing (72), a radar signal receiver (79) is arranged at the front end of the detection radar (71), and a window is arranged at a corresponding position on the radar housing (72), a radar connecting plate (76) is arranged at the upper end of the radar housing (72), and a lower wing plate extends to both sides of the bottom of the radar housing (72), and the lower wing plate has a radar tooling on the robot body (1) The quick-change sub-disc (15) on the radar tooling (7) is arranged at the upper end of the radar connecting plate (76), and the upper end of the robot body (1) is provided with a radar display (11) electrically connected to the radar signal receiver (79); the signal output end of the radar tooling distance sensor (78) is connected to the control module of the manipulator (5), and the control module of the manipulator (5) is used to control the angle of the manipulator (5) according to the distance value output by each radar tooling distance sensor (78), so that the radar tooling (7) moves parallel to the surface to be measured when working.

7. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 1 is characterized by: The front end of the radar housing (72) is connected to a distance measuring wheel (74) for measuring the detected distance via a distance measuring bracket (75); a radar buffer mechanism (77) is provided between the radar connecting plate (76) and the radar housing (72); and the detection end of the radar tooling distance measuring sensor (78) is located at one end thereof close to the detection radar (71).

8. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 6, characterized in that: Also included is a stylus tooling (12), comprising a pen holder mounting plate (121), a buffer pen holder fixing seat (122), a stylus (123), a stylus pen guide rod (124), a buffer pen holder slider (125), a stylus pen buffer spring (126) and a pen holder positioning plate (127); The buffer pen holder fixing seat (122) is arranged on one end surface of the pen holder mounting plate (121), and the buffer pen holder fixing seat (122) is provided with a guide groove and a slide groove, wherein a stylus pen guide rod (124) is arranged in the guide groove, a buffer pen holder slider (125) is slidably arranged in the slide groove and is slidably connected with the stylus pen guide rod (124), a stylus pen buffer spring (126) is sleeved on the stylus pen guide rod (124) between the end of the buffer pen holder slider (125) and the buffer pen holder fixing seat (122), and the stylus pen (123) is fixed on the buffer pen holder slider (125) and is arranged on the stylus pen guide rod (124); the pen holder positioning plate (127) is arranged on the other end surface of the pen holder mounting plate (121) and has a side wing plate extending outwardly and having a socket matching the stylus pen tooling plug-in column on the robot body (1); the quick-change sub-disk (15) on the stylus pen tooling (12) is arranged on the end surface of the pen holder positioning plate (127) away from the pen holder mounting plate (121); the manipulator (5) is also used to control the stylus pen tooling (12) to perform key operations on the rebound tester in the rebound tester tooling (9).

9. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: The touch pen (123) on the buffer pen holder fixing seat (122) and its guide and sliding structure are divided into two groups, the touch heads of the two groups of touch pens (123) are arranged in opposite directions, and the touch pens (123) are arranged parallel to the plate surface of the pen holder positioning plate (127).

10. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: The invention also comprises a beam end face dimension distance measuring tool (10), comprising a laser distance meter (101) and a camera (102) supporting the distance meter; the laser distance meter (101) is arranged at the front and rear ends of the robot body (1); a distance meter camera bracket is arranged outside the distance meter camera (102); and the lower end of the distance meter camera bracket has a socket matching the beam end face dimension distance measuring tool plug-in column on the robot body (1); a quick-change sub-disk (15) of the beam end face dimension distance measuring tool (10) is arranged at the upper end of the distance meter camera bracket; and the manipulator (2) is also used for the beam end face dimension distance measuring tool (10) to measure the beam end face dimension.

11. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: The invention also comprises a crack detection camera (13), comprising a detection camera (131) and a camera rod (132); the detection camera (131) is arranged at one end of the camera rod (132); the detection camera (131) is provided with a camera lens (133) and auxiliary light sources (134) on both sides; the camera rod (132) is mounted on a crack detection camera support on the robot body (1); a quick-change sub-disk (15) on the crack detection camera (13) is arranged on one end of the camera rod (132) away from the detection camera (131); and the manipulator (2) is also used for the crack detection camera (13) to detect cracks in the beam structure.

12. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: It also includes a steel bar protective layer detection tool (16), including a walking device (161), a steel bar scanner (162), a scanner mounting frame (163), a scanner connecting frame (164), and an ultrasonic sensor (165); The walking device (161) is arranged at the lower end of the scanner mounting frame (163), the steel bar scanner (162) is mounted on the scanner mounting frame (163) and points to the lower end, the scanner connecting frame (164) is arranged at the upper end of the scanner mounting frame (163), the upper end of the scanner connecting frame (164) is bent outwardly and extended to form a bent wing plate, and an ultrasonic sensor (165) is arranged at the lower end of the side wing plate, and the ultrasonic sensor (165) points to one side of the bottom plate of the walking device (161), the quick-change sub-plate (15) of the steel bar protective layer detection tooling (16) is arranged at the upper end of the scanner connecting frame (164), the two sides of the walking device (161) extend outwardly to form a side wing plate, and the side wing plate has a socket matching the steel bar protective layer detection tooling plug-in column on the robot body (1).

13. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 12, characterized in that: A buffer device is arranged between the scanner mounting frame (163) and the scanner connecting frame (164), and the buffer device comprises a spring seat (166), an outer sleeve (167), and an inner sleeve (168), wherein the spring seat (166) is fixed to the upper end of the scanner mounting frame (163), the outer sleeve (167) is fixed to the spring seat (166), and a spring (169) connected to the spring seat (166) is arranged in the outer sleeve (167), the inner sleeve (168) is slidably sleeved in the outer sleeve (167), and a sliding rod matching the sliding groove of the side wall of the outer sleeve (167) is arranged on the inner sleeve (168); the upper end of the inner sleeve (168) is connected to the scanner connecting frame (164).

14. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 12, characterized in that: The quick-change main disk (14) comprises a main connection disk (141) and a solenoid valve. A cylinder (142) is arranged inside the main connection disk (141). A locking head (143) is arranged at the connection end of the main connection disk (141). A plurality of locking steel balls (144) are arranged on the locking head (143). A push rod of the cylinder (142) can extend into the locking head (143) and push out the locking steel balls (144) in the locking head (143). The main connection disk (141) is provided with a secondary disk in-position detection sensor (145), a main disk cylinder extension in-position detection sensor (146) and a main disk cylinder retraction in-position sensor (147). The signal output ends of the auxiliary disk in-place detection sensor (145), the main disk cylinder extended in-place detection sensor (146) and the main disk cylinder retracted in-place sensor (147) are connected to the control module of the manipulator (5); the solenoid valve is located on the air path where the cylinder is located and is electrically connected to the auxiliary disk in-place detection sensor (145); the auxiliary disk in-place detection sensor (145) is used to detect whether the quick-change auxiliary disk and the quick-change main disk are aligned; the main disk cylinder extended in-place detection sensor (146) and the main disk cylinder retracted in-place sensor (147) are used to detect whether the cylinder (142) in the quick-change main disk (14) is extended and retracted respectively; The quick-change auxiliary disk (15) comprises an auxiliary connecting disk, a first slot for accommodating a locking head (143) is arranged at the center of the auxiliary connecting disk, and a second slot for accommodating the locking steel ball (144) is arranged on the surface of the first slot; The locking head (143) can be clamped in the first clamping groove of the quick-change sub-disk (15), and the locking steel ball is used to be pushed up from the locking head (143) by the cylinder (142) and clamped in the second clamping groove of the quick-change sub-disk (15).

15. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 12, characterized in that: A lifting platform (2) for placing a manipulator (5) is arranged at the center of the upper end of the robot body (1), and cameras (61) of multiple orientations are arranged at the side walls of the lifting platform (2). A receiving platform (3) for placing the above-mentioned multiple tools is arranged around the outer periphery of the lifting platform (2); wherein the radar tool (7), the beam end face dimension ranging tool (10), the rebounding tool (9) and the crack detection camera (13) are respectively located at the four corners of the receiving platform (3) and arranged in sequence, the stylus tool (12) is arranged between the radar tool (7) and the beam end face dimension ranging tool (10), the radar display (11) is arranged between the beam end face dimension ranging tool (10) and the rebounding tool (9), and the rebounding tool measuring area stamp tool (8) is arranged between the rebounding tool (9) and the crack detection camera (13); the bottom of the robot body (1) is provided with walking wheels (4), and lighting lamps (62) are arranged at the front and rear ends of the moving direction.

16. A method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot, based on the fully automatic intelligent inspection robot for precast beams in a beam yard as claimed in any one of claims 1 to 15, characterized in that: include: A concrete rebound measurement method: based on the cooperation between a manipulator (5), a rebound test area stamp tooling (8), a rebound test tooling (9) and a stylus tooling (12), a concrete rebound test at a beam structure measurement area position is realized; a beam structure internal damage detection method: based on a detection radar (71) and a radar tooling distance measurement sensor (78), the position, depth and shape of the internal damage of the beam structure are detected and recorded; a beam end face dimension distance measurement method: based on a laser distance meter (101) and a distance meter matching camera (102), the end face dimension of the beam structure is detected; a beam crack detection method: based on a crack detection camera (13), a beam structure photo and a crack model are taken to simultaneously identify whether there is a crack in the photo; a steel bar protection layer detection method: based on a steel bar scanner (162) and an ultrasonic sensor (165) of a steel bar protection layer detection tooling (16), the thickness of the steel bar protection layer is detected.

17. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The steps of the concrete rebound measurement method are as follows: S11: the manipulator (5) moves to the placement position of the stamp tooling (8) in the rebound test area, and controls the quick-change main disk (14) to connect with the quick-change auxiliary disk (15) of the stamp tooling (8) in the rebound test area; S12: the manipulator (5) controls the rebound tester measuring area stamp tooling (8) to move to the concrete rebound measuring area, and stamps the measuring area pattern at the target position; S13: After the stamping of the test area pattern is completed, the manipulator (5) moves to the placement position of the rebound hammer test area seal tooling (8), and disconnects the connection between the quick-change main disk (14) and the quick-change auxiliary disk (15), so as to realize the return of the rebound hammer test area seal tooling (8); S14: the manipulator (5) moves to the placement position of the rebound test tool (9), and controls the quick-change main plate (14) to connect to the rebound test tool (9); S15: the manipulator (5) controls the rebound test tool (9) to move to the concrete rebound measurement area covered with the measurement area pattern, and sequentially performs rebound measurement on the concrete in each grid of the above area; S16: After the rebound measurement of the above-mentioned area is completed, the manipulator (5) moves to the placement position of the rebound tester tool (9) to return the rebound tester tool (9); and then repeats steps S11-S16 to repeat the covering of the measurement area pattern and the rebound measurement.

18. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The internal damage detection method of the beam structure includes the following steps: S21: The manipulator (5) replaces the tooling connected to the quick-change main plate (14) with the radar tooling (7); S22: the manipulator (5) controls the detection radar (71) to be parallel to and close to the beam structure to be detected and to move along the beam structure to be detected; S23: When the robot body (1) moves out of the area of ​​the beam structure to be measured, the internal damage measurement of the beam structure is completed.

19. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The beam end face dimension measurement method includes the following steps: S31: the tooling connected to the quick-change main plate (14) at the manipulator (5) is replaced with a beam end face dimension distance measuring tooling; S32: the robot (5) controls the camera (102) supporting the rangefinder to photograph the end face of the beam, and calculates the pixel value from the upper edge to the lower edge in the height direction of the beam in the photograph; S33: The laser rangefinder (101) measures the distance between the current position and the beam end surface; S34: Calculate the height of the beam by combining the preset shooting distance and shooting target pixel relationship table with steps S32 and S33; S35: After the manipulator moves to the left along the horizontal direction by a preset distance to photograph the end face of the beam, the manipulator returns to the origin, and then moves to the right along the horizontal direction by a preset distance to photograph the end face of the beam, and respectively calculates the pixel values ​​of the beam appearing in the width direction of the beam in the two photos; S36: Based on step S35, the widths of the two beam sections photographed are calculated, and then the distances moved to the left and right by the manipulator are added to obtain the total width of the beam.

20. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 19, characterized in that: In the shooting distance and shooting target pixel relationship table, the calculation formula of the beam height is: H=P / 9.07, where P is the calculated pixel value of the beam height.

21. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The beam crack detection method comprises the following steps: S41: The tooling connected to the quick-change main plate (14) at the manipulator (5) is replaced with a crack detection camera (13); S42: The robot body (1) moves along the edge of one end beam frame toward the other end beam frame, and at every set interval, the manipulator (5) controls the crack detection camera (13) to take photos of the beam structure at the left, front, and right positions of the robot body (1); S43: After the robot body (1) moves to the other end of the beam frame, it returns and repeats the above shooting until the bottoms of all beams are photographed; S44: Synchronously identify whether there are cracks in the photo through a pre-trained crack model.

22. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The steel bar cover detection method includes the following steps: S51: the tooling connected to the quick-change main plate (14) at the manipulator (5) is replaced with a steel bar protective layer detection tooling; S52: the manipulator (5) controls the steel bar protective layer detection tooling (16) to be parallel to and closely attached to the beam structure to be detected and to move along the beam structure to be detected for detection; S53: When the robot body (1) moves out of the area of ​​the beam structure to be tested, the steel bar protective layer test of the beam structure is completed.

23. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: Before replacing the tooling connected to the quick-change main plate at the robot (5), the following steps are required: S61: The sub-disk arrival detection sensor (145) at the quick-change main disk detects whether there is a quick-change sub-disk (15) that has been grabbed by the current robot (5); S62: If there is a quick-change auxiliary tray (15) that has been grabbed, the manipulator (5) controls the tooling corresponding to the quick-change auxiliary tray to reset, and separates the quick-change auxiliary tray (15) from the quick-change main tray (14); S63: The manipulator (5) controls the quick-change main plate (14) to connect with the quick-change sub-plate (15) of the tooling required for detection, that is, to replace the tooling required for detection.

24. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: In the steel bar protective layer detection method and the beam structure internal damage detection method, the detected distance to the beam structure is transmitted to the manipulator (5) control module through the ultrasonic sensor (165) and the radar tooling distance sensor (78) respectively, and the manipulator (5) controls the steel bar protective layer detection tooling and the radar tooling to be parallel to the detected beam structure.

25. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The method of connecting the quick-change main disk (14) and the quick-change auxiliary disk (15) is as follows: Determine whether a signal from the retracted position detection sensor (147) is received, and if received, control the manipulator (5) to move to the installation position of the tooling for the next step of detection; Determine whether a signal from a secondary disk in-position detection sensor (145) is received, and if received, control the cylinder (142) on the quick-change main disk (14) to extend so that the locking steel ball (144) moves toward the second locking groove of the quick-change secondary disk (15) on the tooling; It is determined whether a signal from the extended-in-place sensor (146) is received. If received, it is determined that the connection between the quick-change main disk (14) and the quick-change auxiliary disk (15) is completed.

26. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The method for separating the quick-change main disk (14) and the quick-change auxiliary disk (15) is as follows: Determine whether the tooling to be disconnected is aligned with the installation position, and if so, control the cylinder on the quick-change main plate to retract; It is judged whether a signal from the retracted position detection sensor (147) is received. If so, the robot is controlled to drive the quick-change main disk (14) to reset and leave the quick-change auxiliary disk (15).

27. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 16, characterized in that: The following steps are also included: The manipulator (5) moves to the placement position of the touch pen tooling (12), and controls the quick-change main disk (14) to connect with the quick-change sub-disk (15) of the touch pen tooling (12), thereby realizing the connection between the two; The manipulator (5) controls the stylus (123) to move to the top of the key panel of the rebound tester tooling (9) or the radar tooling (7), and based on the cooperation of the built-in moving path of the manipulator (5) and the camera device, the rebound tester (93) or the detection radar (71) is turned on and set; The manipulator (5) moves to the placement position of the touch pen tooling (12), and controls the quick-change main disk (14) to disconnect the quick-change auxiliary disk (15), thereby returning the touch pen tooling (12) to its original position.

Images