An ancient building wall surface detection device

Abstract

The application discloses an ancient building wall detection device, belonging to the field of ancient building repair, comprising a main frame, a wall support assembly and a detection assembly. Through the collaborative design of the main frame, the wall support assembly and the detection assembly, a professional detection system with self-adaptive support and dynamic detection capability is constructed. In the main frame, the support rod is vertically erected on the support plane to form a basic support, and the bearing table is connected with the top end of the support rod through a rotating bearing, so that the detection angle can be flexibly adjusted to adapt to the complex orientation and irregular contour of the ancient building wall. At least two mechanical arms are connected with the bearing table to form a multi-point detection layout, thereby expanding the detection coverage. The detection assembly is one-to-one corresponding to the mechanical arm and is installed at the end of the mechanical arm, so that each mechanical arm can independently perform a detection task. Through the double support structure of the "mechanical arm-wall support assembly", the device is stably adsorbed on the wall, thereby effectively reducing the shaking and displacement in the detection process.

Description

Technical Field

[0001] This application relates to the field of ancient building restoration, and in particular to a device for detecting the wall surface of ancient buildings. Background Technology

[0002] During the maintenance and inspection of ancient buildings, it has been found that the walls of these buildings are mostly constructed with traditional materials such as blue bricks, adobe, and stone, which are prone to hollowing and blistering over time. Furthermore, in recent years, the use of grouting techniques in ancient building restoration projects has resulted in inadequate grouting, poor adhesion between the grout and the wall, and significant loss of grout material due to rainwater runoff, making the walls susceptible to hollowing and blistering even after repairs. Therefore, the detection of hollowing and blistering in the walls of ancient buildings is imperative.

[0003] Existing wall hollow detection devices have the following shortcomings: First, traditional tapping detection relies on low sound and a small range, resulting in low detection efficiency and easy omissions; Second, existing vibration detection devices mostly use tapping vibration, which is difficult to adapt to the detection needs of complex materials on ancient building walls; Third, the tapping vibration method makes the vibration force uncontrollable during the detection process, which may cause secondary damage to the fragile ancient building walls; Fourth, there is a lack of adaptive detection mechanisms for the irregular surfaces of ancient building walls, resulting in limited detection coverage. Utility Model Content

[0004] This application provides a device for detecting hollow surfaces in ancient buildings, which can solve the problems of low efficiency and difficulty in meeting the requirements for detecting hollow surfaces in ancient building walls in existing technologies. The technical solution is as follows:

[0005] 1. On the one hand, an ancient building wall detection device is provided, including: a main frame, a wall support component, and a detection component;

[0006] The main frame includes: a support rod, a support platform, and at least two robotic arms. When the ancient building wall detection device is in use, the support rod is located on the support plane, the support platform is connected to the support rod at the end of the support rod away from the support plane through a rotating bearing, and the robotic arms are connected to the support platform.

[0007] The detection component includes multiple vibration detection heads, the number of which is consistent with the number of the robotic arms and corresponds one-to-one. The vibration detection heads are located at the end of the robotic arm away from the support platform.

[0008] The number of wall support components is the same as the number of robotic arms and they correspond one-to-one. The wall support components are connected to the robotic arms, and the side of the wall support components facing away from the robotic arms abuts against the wall of the ancient building.

[0009] The supporting plane is the placement plane of the ancient building wall detection device when it is in use.

[0010] Optionally, the wall support assembly includes: a support plate, connecting casters, and connecting nuts that mate with the connecting casters;

[0011] The support plate has a connecting slot, and the connecting caster includes a screw structure and a swivel wheel. The screw structure passes through the connecting slot and engages with the connecting nut.

[0012] Optionally, the wall support assembly may further include a second support rod that abuts against the support plane, wherein one end of the second support rod facing away from the support plane is rotatably connected to the support plate.

[0013] Optionally, the top of the robotic arm is provided with a buffer component, the detection component is connected to the buffer component, the detection component also includes a positioning seat, the positioning seat is fixedly connected to the buffer component, one end of the vibration detection head is connected to the positioning seat, and the other end of the vibration detection head abuts against the wall of the ancient building.

[0014] Optionally, the number of vibration detection heads in the detection components corresponding to the at least two robotic arms is also at least two, and the vibration detection heads are respectively located on the at least two robotic arms, and the vibration frequencies of the vibration detection heads are different.

[0015] Optionally, the end of the robotic arm near the wall of the ancient building has a loudspeaker cover, which encloses the vibration detection head.

[0016] Optionally, the vibration detection head is wrapped with a shock-absorbing rubber layer on the outside.

[0017] Optionally, the support platform has a receiving cavity, and the ancient building wall detection device further includes: a data processing unit located in the receiving cavity, the data processing unit being electrically connected to the vibration detection head, and the data processing unit being used to collect and process the electrical signals transmitted by the vibration detection head.

[0018] Optionally, the robotic arm has a hollow structure in the middle.

[0019] The beneficial effects of the technical solutions provided in this application include at least the following:

[0020] In summary, this patent application provides a device for inspecting ancient building walls. Through the collaborative design of the main frame, wall support components, and inspection components, a professional inspection system with adaptive support and dynamic inspection capabilities is constructed. In the main frame, support rods stand vertically on the support plane to form a basic support. The support platform is connected to the top of the support rods via rotating bearings, allowing for free rotation at a certain angle. This enables flexible adjustment of the inspection angle to adapt to the complex orientation and irregular contours of ancient building walls. At least two robotic arms are connected to the support platform, forming a multi-point inspection layout. This expands the inspection coverage area and enhances the overall stability of the device during the inspection process through multi-arm collaborative support. Inspection components are installed one-to-one with the robotic arms at the ends of the robotic arms, ensuring that each robotic arm can independently perform inspection tasks. The robotic arms can drive the inspection components to perform linear or matrix scanning on the wall surface, achieving full coverage inspection of the wall. The wall support component is connected to the robotic arm, with its side facing away from the robotic arm directly abutting the wall. Through this dual support structure of "robotic arm-wall support component," the device is stably attached to the wall, effectively reducing shaking and displacement during the inspection process. This is particularly suitable for inspection scenarios involving high-altitude or uneven walls. Through the modular design and collaborative operation of its components, this device can adapt to the diversity and fragility of ancient building walls, and replace traditional manual operation with mechanized inspection, significantly improving inspection efficiency and accuracy. It provides a systematic technical solution for the identification, protection, and restoration of ancient building wall defects. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of an ancient building wall detection device provided in an embodiment of this application;

[0023] Figure 2 This is a structural schematic diagram of a wall support component provided in an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of a robotic arm and a detection component working together, provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of another ancient building wall detection device provided in an embodiment of this application;

[0026] Figure 5 This is a cross-sectional view of a robotic arm provided in an embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0028] Please refer to Figure 1 , Figure 1 This is a structural schematic diagram of an ancient building wall detection device 000 provided in an embodiment of this application. An ancient building wall detection device 000 may include: a main frame 100, a wall support component 200, and a detection component 300.

[0029] The main frame 100 of the ancient building wall inspection device 000 includes a support rod 101, a support platform 102, and at least two robotic arms 103. When the ancient building wall inspection device 000 is in use, the support rod 101 stands on the support plane P. In this way, the ancient building wall inspection device 000 can be fixedly positioned on the support plane P, thereby meeting the inspection needs of ancient building walls under various terrain conditions. Here, the support plane P is the placement plane of the ancient building wall inspection device 000 when it is in use.

[0030] In the ancient building wall inspection device 000, the support platform 102 is connected to the support rod 101 at the end opposite to the support plane P via a rotating bearing. This ensures that the direction of the support rod 101 can be flexibly adjusted according to terrain needs, thereby improving the adaptability of the ancient building wall inspection device 000. The robotic arm 103 can be movably connected to the support platform 102. The number of inspection components 300 is consistent with the number of robotic arms 103 and corresponds one-to-one. The inspection components 300 are located at the end of the robotic arm 103 opposite to the support platform 102. In this way, the robotic arm 103 can flexibly drive the inspection components 300 to perform inspection activities on the wall. The robotic arm 103 can greatly increase the inspection range of the inspection components 300, thereby further improving the inspection effect of the inspection components 300.

[0031] For example, the detection component 300 in the ancient building wall detection device 000 may include multiple vibration detection heads 301. The number of vibration detection heads 301 may be consistent with the number of robotic arms 103 and correspond one-to-one. The detection component 300 is located at the end of the robotic arm 103 away from the support platform 102, so as to ensure that the detection coverage area of ​​the detection component 300 meets the detection requirements.

[0032] The number of wall support components 200 in the ancient building wall inspection device 000 is consistent with the number of robotic arms 103, and they correspond one-to-one. The wall support components 200 are connected to the robotic arms 103, with the side of the wall support component 200 facing away from the robotic arm 103 abutting against the ancient building wall. In this way, the wall support components 200 and the robotic arm 103 form a stable support structure, thereby avoiding misalignment of the inspection components 300 during the inspection process. For example, the wall support components 200 can be hinged to the middle of the robotic arm 103, with the support plate 201 abutting against the wall, forming a stable support structure of "robotic arm 103 - wall support component 200".

[0033] It should be noted that, since the support rod 101 and the support platform 102 are connected by bearings, the support platform 102 can flexibly adjust the detection angle to adapt to the complex orientation of the ancient building wall. At least two robotic arms 103 cooperate with the wall support assembly 200 to form multi-point support, improving the stability of the device during the detection process, avoiding shaking caused by single-point force, and the detection error can be controlled within ±0.5mm.

[0034] It should be further noted that the walls of ancient buildings differ from ordinary interior walls. To avoid damage to the walls during vibration testing, conventional vibratory hammers cannot be used. Therefore, this application utilizes the cooperation of a robotic arm 103 and a vibration detection head 301 to detect whether the wall exhibits minute vibrations exceeding the sensing threshold of the vibration detection head 301. By identifying the differences in resonance characteristics between vibration waves of different frequencies and the wall material, hollow areas are identified, thereby detecting whether the wall has hollow areas.

[0035] For example, to ensure better detection results, the number of vibration detection heads 301 in the detection components 300 corresponding to at least two robotic arms 103 in this application is also at least two. The vibration detection heads 301 are located on at least two robotic arms 103, and the vibration frequencies of the vibration detection heads 301 are different. For example, the robotic arms 103 are divided into left and right sides; the left side has a 20Hz low-frequency detection head, and the right side has a 50Hz mid-frequency detection head, which is activated sequentially according to a preset program during detection. Hollow areas are identified by the difference in resonance characteristics between vibration waves of different frequencies and the wall material. Multi-frequency detection covers the diverse materials of ancient building walls, improving the accuracy of hollow area identification compared to single-frequency detection and solving the problem that traditional single-frequency detection cannot adapt to different materials.

[0036] In summary, this patent application provides a device for inspecting the walls of ancient buildings. Through the coordinated design of the main frame, wall support components, and inspection components, a professional inspection system with adaptive support and dynamic inspection capabilities is constructed. In the main frame, support rods stand vertically on the support plane to form a basic support. The support platform is connected to the top of the support rods via rotating bearings, allowing for free rotation and flexible adjustment of the inspection angle to adapt to the complex orientation and irregular contours of the ancient building walls. At least two robotic arms are connected to the support platform, forming a multi-point inspection layout, which expands the inspection coverage and enhances the overall stability of the device during the inspection process through multi-arm coordinated support. Inspection components are installed one-to-one with the robotic arms at the ends of the robotic arms, ensuring that each robotic arm can independently perform inspection tasks. The robotic arms can drive the inspection components to perform linear or matrix scanning on the wall surface, achieving full coverage inspection of the wall. The wall support component is connected to the robotic arm, with its side facing away from the robotic arm directly abutting the wall. Through this dual support structure of "robotic arm-wall support component," the device is stably attached to the wall, effectively reducing shaking and displacement during the inspection process. This is particularly suitable for inspection scenarios involving high-altitude or uneven walls. Through the modular design and collaborative operation of its components, this device can adapt to the diversity and fragility of ancient building walls, and replace traditional manual operation with mechanized inspection, significantly improving inspection efficiency and accuracy. It provides a systematic technical solution for the identification, protection, and restoration of ancient building wall defects.

[0037] In the embodiments of this application, please refer to Figure 2 , Figure 2 This is a structural schematic diagram of a wall support assembly provided in an embodiment of this application. The wall support assembly 200 includes: a support plate 201, a connecting caster 202, and a connecting nut 203 that mates with the connecting caster 202. The support plate 201 of the wall support assembly 200 has an elongated connecting slot U. The connecting caster 202 includes a screw structure L1 and a swivel wheel L2. The screw of the connecting caster 202 passes through the slot and engages with the connecting nut 203. The swivel wheel L2 is installed at the lower end of the screw. During testing, the connecting nut 203 is rotated to adjust the extension length of the screw, allowing the swivel wheel L2 to adapt to the unevenness of the wall surface. After adjustment until the support plate 201 is flush with the wall surface, the nut is tightened to secure it. This structure achieves a support height adjustment of 0-30mm through the connection of the through groove U and the screw. The universal wheel L2 can rotate freely with the contour of the wall, which improves the fit between the support plate 201 and the wall and adapts to the tilt angle of the wall within ±15°, solving the problem that traditional fixed supports cannot adapt to the unevenness of the wall.

[0038] It should be noted that, in order to ensure the stability of the wall support assembly 200 during vibration detection, in one possible implementation, manual assistance is required to support the plate 201 to ensure its stability. In another possible implementation, the wall support assembly 200 may further include a second support rod 204 that abuts against the support plane P, with one end of the second support rod 204 facing away from the support plane P rotatably connected to the support plate 201. Thus, through the second support rod 204, the support plate 201 can more stably support the robotic arm 103, thereby ensuring the accuracy of the detection results.

[0039] In the embodiments of this application, please refer to Figure 3 , Figure 3 This is a schematic diagram of a robotic arm and a detection component working together, according to an embodiment of this application. A buffer component H is provided at the top of the robotic arm 103. The detection component 300 is connected to the buffer component H. The detection component 300 also includes a positioning seat 302, which is fixedly connected to the buffer component H. One end of the vibration detection head 301 is connected to the positioning seat 302, and the other end of the vibration detection head 301 abuts against the wall of the ancient building. In this way, as the robotic arm 103 moves the vibration detection head 301, the vibration detection head 301 will not experience undesirable disturbances due to changes in the position of the robotic arm 103, thereby reducing the difficulty of vibration data processing.

[0040] For example, a spring-damping composite buffer component H can be installed on the top of the robotic arm 103. The positioning seat of the detection component 300 is fixed to the lower end of the buffer component H by bolts. One end of the vibration detection head 301 is inserted into the guide hole in the positioning seat, and the other end abuts against the wall through an elastic rubber pad.

[0041] Please refer to the following in this application: Figure 4 , Figure 4 This is a schematic diagram of another ancient building wall detection device provided in this application embodiment. The robotic arm 103 has a loudspeaker C at one end near the ancient building wall, which encloses the vibration detection head 301. This further improves the data acquisition efficiency and accuracy of the vibration detection head 301, thereby improving the accuracy of the hollow detection results.

[0042] For example, a conical loudspeaker C is installed at the end of the robotic arm 103. The vibration detection head 301 is encased in ABS engineering plastic. Sound-absorbing cotton is placed on the inner wall of the loudspeaker C, and sound-guiding holes are opened on the outer side. During detection, the sound waves to be collected are amplified by the loudspeaker C, the sound-absorbing cotton filters out noise, and the sound-guiding holes conduct the sound waves to the outside. This structure amplifies the impact sound waves, improves the signal-to-noise ratio of the sound wave signal, effectively filters noise in noisy environments, ensures the accuracy of hollow sound identification, and solves the problem of environmental noise interference in traditional detection methods.

[0043] It should be noted that there can be multiple detection components 300 on the robotic arm 103, and correspondingly multiple conical loudspeaker covers C. In this case, the number of buffer components H corresponds to the number of detection components 300. Multiple detection components 300 can be evenly distributed along the extension direction of the robotic arm 103, thereby further improving the coverage area of ​​void detection.

[0044] In this application, the vibration detection head 301 may be covered with a damping adhesive layer. During detection, the adhesive layer makes flexible contact with the wall surface, which not only protects the wall surface from hard impacts but also enhances the transmission efficiency of vibration energy.

[0045] For example, the vibration detection head 301 is wrapped with a silicone rubber damping layer on the outside, and the surface of the layer has a grid-like anti-slip texture. During detection, the layer makes flexible contact with the wall surface, and the grid texture enhances friction, ensuring effective transmission of vibration energy. The damping layer reduces the contact stress between the detection head and the wall surface, protecting the wall from hard impacts, while improving the efficiency of vibration energy transmission and avoiding energy loss. It is suitable for protective detection of fragile walls.

[0046] In this application, the support platform 102 has a receiving cavity, and the ancient building wall detection device 000 further includes a data processing unit located within the receiving cavity. The data processing unit is electrically connected to the vibration detection head 301 and is used to collect and process the electrical signals transmitted by the vibration detection head 301. Thus, through the data processing unit, the data transmitted by the vibration detection head 301 can be processed more efficiently, thereby improving the detection efficiency of ancient building walls. For example, the data processing unit can incorporate an FFT (Fast Fourier Transform) algorithm and a CNN (Convolutional Neural Network) model. The electrical signals collected by the vibration detection head 301 are amplified and filtered before being transmitted to the processing unit. The system automatically analyzes the frequency domain characteristics and compares them with a preset database of hollow areas in ancient building walls, generating a visual detection report containing the location, extent, and severity of the hollow areas.

[0047] In the embodiments of this application, please refer to Figure 5 , Figure 5 This is a cross-sectional view of a robotic arm provided in an embodiment of this application. The robotic arm 103 has a hollow structure O in the middle. The hollow structure O facilitates the wiring connection of various components in the ancient building wall detection device 000 and reduces the weight of the robotic arm 103, thereby improving the stability of the detection process.

[0048] For example, the robotic arm 103 has a circular hollow structure O in the middle, through which shielded cables are laid to connect the vibration detection head 301 and the data processing unit. The hollow structure is designed with reinforcing ribs. This reduces the weight of the robotic arm 103, facilitates cable management, and prevents cable tangling during the detection process. The reinforcing ribs ensure the structural strength of the robotic arm 103, achieving a balance between lightweight design and detection accuracy, and solving the problems of heavy weight and messy cables in traditional robotic arms 103.

[0049] It should be noted that the ancient building wall detection device 000 can also be equipped with an external sound-generating device. Through the sound stimulation of the sound-generating device, it can resonate with the hollow area, thereby improving the data acquisition efficiency of the vibration detection head 301.

[0050] In summary, this application provides a device for inspecting the walls of ancient buildings. Through multi-structure collaborative design, it achieves accurate inspection and protective operation of the walls of ancient buildings. The technical effects of each component are as follows: In the main frame, the support platform connected to the support rod and rotating bearing can flexibly rotate and adjust the inspection angle to adapt to the complex orientation of the ancient building wall. At least two robotic arms and the wall support assembly form multi-point support to ensure stability during the inspection process. The support plate of the wall support assembly, through an adjustable structure connecting casters and connecting nuts, can adapt to the tilt and unevenness of the wall. Combined with the triangular support structure formed by the second support rod, it improves the stability during high-altitude inspection and reduces the need for manual stabilization. In the inspection assembly, the buffer component at the top of the robotic arm can absorb the impact of vibration, and together with the shock-absorbing rubber layer on the outside, it avoids secondary damage to the wall. At least two vibration detection heads of different frequencies can cover various wall materials, improving the accuracy of hollow sound identification. The sound amplification cover can amplify the impact sound waves, effectively filter environmental noise, and accurately collect signals. The data processing unit inside the support platform cavity can analyze the inspection data in real time and generate a visualized inspection report, greatly improving analysis efficiency. The hollow structure in the middle of the robotic arm reduces the weight of the device, balancing lightweight design with detection accuracy. Through the coordinated operation of its various structures, the overall device can adapt to irregular wall surfaces, accurately detect hollow areas while avoiding secondary damage, and improve detection efficiency and data management capabilities, providing data support for the restoration of ancient buildings.

[0051] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0052] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A device for detecting the wall surface of ancient buildings, characterized in that, include: Main frame, wall support components, and detection components; The main frame includes: a support rod, a support platform, and at least two robotic arms. When the ancient building wall detection device is in use, the support rod is located on the support plane, the support platform is connected to the support rod at the end of the support rod away from the support plane through a rotating bearing, and the robotic arms are connected to the support platform. The detection component includes multiple vibration detection heads, the number of which is consistent with the number of the robotic arms and corresponds one-to-one. The vibration detection heads are located at the end of the robotic arm away from the support platform. The number of wall support components is the same as the number of robotic arms and they correspond one-to-one. The wall support components are connected to the robotic arms, and the side of the wall support components facing away from the robotic arms abuts against the wall of the ancient building. The supporting plane is the placement plane of the ancient building wall detection device when it is in use.

2. The ancient building wall detection device according to claim 1, characterized in that, The wall support assembly includes: a support plate, connecting casters, and connecting nuts that mate with the connecting casters; The support plate has a connecting slot, and the connecting caster includes a screw structure and a swivel wheel. The screw structure passes through the connecting slot and engages with the connecting nut.

3. The ancient building wall detection device according to claim 2, characterized in that, The wall support assembly may further include a second support rod that abuts against the support plane, wherein one end of the second support rod away from the support plane is rotatably connected to the support plate.

4. The ancient building wall detection device according to claim 3, characterized in that, The top of the robotic arm is equipped with a buffer component, the detection component is connected to the buffer component, the detection component also includes a positioning seat, the positioning seat is fixedly connected to the buffer component, one end of the vibration detection head is connected to the positioning seat, and the other end of the vibration detection head abuts against the wall of the ancient building.

5. The ancient building wall detection device according to claim 4, characterized in that, The number of vibration detection heads in the detection components corresponding to the at least two robotic arms is also at least two. The vibration detection heads are located on the at least two robotic arms respectively, and the vibration frequencies of the vibration detection heads are different.

6. The ancient building wall detection device according to claim 5, characterized in that, The robotic arm has a loudspeaker cover at one end near the wall of the ancient building, and the loudspeaker cover covers the vibration detection head.

7. The ancient building wall detection device according to claim 6, characterized in that, The vibration detection head is wrapped with a shock-absorbing rubber layer on the outside.

8. The ancient building wall detection device according to claim 7, characterized in that, The support platform has a receiving cavity, and the ancient building wall detection device further includes a data processing unit located in the receiving cavity. The data processing unit is electrically connected to the vibration detection head, and the data processing unit is used to collect and process the electrical signals transmitted by the vibration detection head.

9. A device for detecting the wall surface of ancient buildings according to claim 8, characterized in that, The robotic arm has a hollow structure in the middle.

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