Intelligent concrete defect detection system and method

Abstract

The application discloses a kind of concrete defect intelligent detection system and method.The system includes mutually coordinated mobile detection device and self-propelled self-positioning projection device.The mobile detection device includes first walking module, first positioning module, first communication module and detection module, and can realize the close-range intelligent detection of defect;The self-propelled self-positioning projection device includes second walking module, second positioning module, second communication module and identification module, and can realize the automatic identification and rapid positioning of defect;Above-mentioned two devices realize information interaction by communication module.The system and method avoid the problems such as operation difficulty in identification, marking and detection process in traditional concrete defect detection work by manual detection mode, and provide convenience for concrete defect detection.

Description

Technical Field

[0001] This invention belongs to the field of concrete defect detection technology, and more specifically, relates to an intelligent concrete defect detection system and method. Background Technology

[0002] Large concrete walls are mainly constructed using two formwork techniques: steel formwork and wooden formwork. Due to limitations in formwork construction techniques and vibration quality, a large number of defects exist after the concrete is poured. Secondary repairs of these defects are required according to the acceptance requirements for concrete strength, internal voids, and surface holes in the construction specifications. Typical defects in concrete walls mainly include: (1) Holes. Such as holes left in the wall for fixing the nuts of the steel formwork to the foundation, holes for fixing the tie rods in the wooden formwork, or holes formed by drilling cores in the concrete for testing purposes. (2) Surface air bubbles or honeycomb pitting. (3) Local voids in the structure caused by inadequate compaction during concrete pouring, resulting in some areas of concrete not being effectively filled. For the above defects, depending on the building grade, usage environment, and working conditions, if the size of the voids is large, they must be repaired; for voids with small planar dimensions and shallow depth, no mandatory repair is required; if the local concrete strength test results are low or voids are detected, they need to be chiseled open and grouted for repair.

[0003] Regarding the repair of concrete defects, the technical challenges currently faced by the industry are as follows: (1) Using manual marking to distinguish areas with different repair requirements. However, manual marking is difficult at high points on the wall, and marking with ordinary markers is easy to confuse and fade; if paint pens are used, the wall surface needs to be sanded and the paint pen marks need to be cleaned during the completion stage, which is time-consuming and laborious. (2) Using manual marking to screen and identify holes and honeycomb pits of different sizes and depths; usually, a scale line with critical values ​​is drawn on the wire, and the wire is inserted into the hole to compare the plane size, depth and other values. However, the manual measurement process is complicated and inefficient. (3) Using manual marking to record the location of holes to be repaired. The locations to be marked are usually numerous and scattered, which also presents problems such as difficult operation and easy fading of marks. (4) After marking on site, the location of holes to be repaired is manually recorded based on the name of the engineering structure and the mileage number. However, manual copying is labor-intensive and prone to errors. If the station number is destroyed, it is necessary to remeasure and lay out a new mileage station. (5) When carrying out repair work, the location of the hole to be repaired is re-found on site according to the recorded location. The manual search method may result in the hole not being found or being missed, which will affect the quality of the project. (6) When the local concrete repair is completed and a second test is carried out, the parameters are recorded manually again. The amount of information is large and the workload is large. (7) Marking the hole to be repaired, finding the hole to be repaired, repairing the defective hole and recording its information are all done intermittently. Due to the large amount of information and the discontinuity, the concrete repair work is very difficult.

[0004] Therefore, there is an urgent need for an intelligent concrete defect detection system and method to solve the problems caused by manual inspection, such as high operational difficulty, easy fading of markings, complex procedures, and inaccurate detection results. Summary of the Invention

[0005] To address the shortcomings or improvement needs of the existing technologies, this invention provides an intelligent concrete defect detection system and method. It achieves automatic marking and rapid location of defects through a self-propelled, self-positioning projection device, and automatically detects defects such as holes and cracks on the concrete surface through a mobile detection device. This solves the problems of difficult manual marking, complex defect detection procedures, and inaccurate detection results in traditional concrete defect identification, marking, and detection processes, providing convenience for concrete surface defect detection.

[0006] In a first aspect, embodiments of this application disclose an intelligent concrete defect detection system, comprising: a mobile detection device and a self-propelled self-positioning projection device that cooperate with each other; the mobile detection device comprises: a first walking module, a first positioning module, a first communication module and a detection module; the self-propelled self-positioning projection device comprises: a second walking module, a second positioning module, a second communication module and an identification module.

[0007] Furthermore, the first walking module is a walking wheel, and a first frame is provided on the walking wheel; the first positioning module is a GPS positioning device; the first communication module is a 5G base station; the GPS positioning device, the 5G base station and the sliding arm are all provided on the first frame; the detection module is a detection probe, and the detection probe is provided at the end of the sliding arm, and the detection probe integrates a first high-definition camera, a non-destructive testing radar and a positioning tag.

[0008] Furthermore, the top frame of the vehicle frame is provided with a sliding groove, and the sliding arm can slide precisely along the sliding groove; the sliding arm is provided with a multi-stage telescopic arm; the axle of the traveling wheel is telescopic.

[0009] Furthermore, a jack is provided at the end of the sliding arm, and an auxiliary pulley and the detection probe are integrated on the jack.

[0010] Furthermore, the second walking module is a self-propelled wheel, and a second frame is provided on the self-propelled wheel; the second positioning module is a GPS locator; the second communication module is a 5G base station; the GPS locator, the 5G base station and the identification module are all located on the second frame; the identification module includes a second high-definition camera and a laser projector.

[0011] Furthermore, the vehicle frame is equipped with multi-stage lifting columns, and the second high-definition camera and the laser projector are located on the top of the lifting columns; the laser projector includes multiple laser emitters.

[0012] Furthermore, the intelligent concrete defect detection system also includes: a remote operator and a processor; the remote operator can remotely control the mobile detection device and the self-propelled self-positioning projection device; the processor is used for data storage and data processing.

[0013] Secondly, this application discloses an intelligent detection method for concrete defects, applied to the aforementioned intelligent detection system for concrete defects, comprising the following steps:

[0014] S1, the self-propelled and self-positioning projection device moves to a specific position and calculates the station coordinates ZB1 of the device;

[0015] S2, a high-definition camera on a self-propelled and self-positioning projection device, takes pictures of concrete walls and identifies defects.

[0016] S3, the self-propelled self-positioning projection device marks the area boundary according to the recognition result of step S2, and calculates the spatial coordinates ZB2 of the area boundary control point.

[0017] Furthermore, the intelligent identification method for concrete defects also includes the following steps:

[0018] S4, calculate the coordinates ZB3 of the detection probe on the mobile detection device; move the mobile detection device to the spatial coordinates ZB2 of the boundary control point of the area, and detect concrete defects in the area;

[0019] S5, a mobile inspection device for close-range defect identification;

[0020] S6. Based on the identification results of step S5, different job types are assigned to carry out repairs.

[0021] S7, Acceptance work.

[0022] Furthermore, the mobile detection device and the self-propelled self-positioning projection device achieve information exchange through a 5G base station.

[0023] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0024] 1. The intelligent concrete defect detection system and method of the present invention realizes automatic marking of defect location through a self-walking and self-positioning projection device. It can divide the concrete wall surface into regions according to the different defect types identified and automatically mark the region boundaries. This solves the problems of difficult manual line drawing and easy fading of marks in the prior art, and improves the convenience of concrete defect location marking.

[0025] 2. The intelligent concrete defect detection system and method of the present invention realizes automatic identification and calculation of defects such as holes and cracks on the concrete surface through a mobile detection device. The defect detection method is flexible and the detection results are accurate. It solves the problems of complex procedures and inaccurate detection results caused by manual defect detection in the prior art, and provides convenience for concrete surface defect detection.

[0026] 3. The intelligent concrete defect detection system of this invention can quickly locate the area to be repaired, rapidly acquire its coordinates during the identification stage, and quickly find its coordinates during the pre-repair projection marking stage and the post-repair acceptance stage. Through coordinate conversion, the self-propelled, self-positioning projection device can be positioned differently at each stage. Compared to the traditional method of manually finding a reference point, which requires standing at the same specific location each time to locate the area to be repaired, this method greatly simplifies the complexity of finding the repair area.

[0027] 4. The mobile detection device and the self-propelled self-positioning projection device of the intelligent concrete defect detection system of the present invention work together to share coordinate information and defect information, realize the automatic identification and classification repair of different defects, and the multi-dimensional data fusion of coordinate information and defect information. This solves the problems of unstable measurement data and complex detection procedures caused by manual copying and changes in reference objects, making the acquisition of parameters such as the location and size of concrete surface defects more intelligent and the detection process more convenient.

[0028] 5. The intelligent concrete defect detection system of the present invention utilizes a remote operator to remotely control the mobile detection device and the self-propelled self-positioning projection device, making operation convenient and the process visualized; it uses a processor for data storage and calculation to achieve panoramic image stitching, laser projection point coordinate transformation, defect identification, etc.; compared with the manual calculation, copying and recording in the prior art, this system is more convenient to operate, the detection results are more accurate, the data processing speed is faster, and the detection efficiency and quality are improved. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the modules of the intelligent concrete defect detection system provided in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the mobile detection device provided in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of another operating condition of the mobile detection device provided in an embodiment of the present invention;

[0032] Figure 4 This is another schematic diagram of the mobile detection device provided in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the self-walking and self-positioning projection device provided in an embodiment of the present invention;

[0034] Figure 6 The flowchart illustrates the intelligent detection method for concrete defects provided in this embodiment of the invention.

[0035] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0036] 101-Walking wheel; 102-GPS positioning device; 103-5G base station; 104-Sliding arm; 105-First high-definition camera; 106-Non-destructive testing radar; 107-Positioning tag; 108-Slide groove; 109-Telescopic arm; 110-Jack; 111-Auxiliary pulley; 201-Self-propelled wheel; 202-GPS locator; 203-5G base station; 204-Second high-definition camera; 205-Laser projector; 206-Rising column. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0038] The technical solutions disclosed in the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0039] Reference Figures 1 to 5 This application provides an intelligent concrete defect detection system, including a mobile detection device and a self-propelled self-positioning projection device.

[0040] like Figure 1 As shown, the mobile detection device includes: a first walking module, a first positioning module, a first communication module, and a detection module; the self-walking and self-positioning projection device includes: a second walking module, a second positioning module, a second communication module, and an identification module.

[0041] Specifically, such as Figure 2As shown, the first walking module of the mobile detection device can be a walking wheel 101, which can automatically walk along the top of a concrete wall or a concrete slab. The walking wheel has a first frame, on which a GPS positioning device 102 is installed; a 5G base station 103 is installed on the top of the first frame.

[0042] The first positioning module is a GPS positioning device 102, and the first communication module is a 5G base station 103. Both the GPS positioning device 102 and the 5G base station 103 are mounted on the first vehicle frame.

[0043] The detection module can be a detection probe. The frame is also provided with a sliding arm 104. The detection probe is located at the end of the sliding arm 104. The detection probe integrates a first high-definition camera 105, a non-destructive testing radar 106, and a positioning tag 107.

[0044] Optionally, the axle of the traveling wheel 101 can extend or retract within a certain range to adapt to walls of different widths.

[0045] Optionally, the top frame of the first frame is provided with a slide groove 108, on which a slide arm 104 is mounted, and the slide arm 104 can slide precisely within a small range along the slide groove 108.

[0046] Optionally, the slide arm 104 is equipped with a multi-stage telescopic arm 109 to accommodate walls of different heights.

[0047] Optionally, the telescopic boom 109 is detachable.

[0048] Optionally, the telescopic arm 109 is provided with a jack 110 at its end, and the jack 110 integrates an auxiliary pulley 111, a first high-definition camera 105, a non-destructive testing radar 106 and a positioning tag 107.

[0049] Specifically, the auxiliary pulleys 111 on the jack 110 prevent the trolley from falling due to misalignment when traveling on the wall. Adjusting the stroke of the jacks 110 on both sides of the wall allows for sufficient clearance between the two auxiliary pulleys 111 and the wall surface. The jacks 110 are typically equipped with precise laser rangefinders, which monitor the distance between the two auxiliary pulleys 111 and the wall surface in real time, dynamically correcting and slightly adjusting the deviation to ensure the auxiliary pulleys 111 do not contact the wall. If the wall construction quality is poor, and there are significant variations in the flatness of the wall in some areas, the trolley may deviate to one side while traveling on the wall. The auxiliary pulley 111 on the other side will then contact the wall, acting as a stop to prevent the trolley from falling. In this case, the trolley wheels can be adjusted to continue traveling.

[0050] The non-destructive testing radar 106 can scan concrete walls or slabs to detect the filling condition and crack depth of the concrete. The first high-definition camera 105 can perform AI recognition of defects such as holes and cracks on the concrete surface, and obtain the planar dimensions and depth of the holes, cracks and other defects at the location through image recognition algorithms.

[0051] The positioning tag 107 communicates with the 5G base station 103 to obtain the coordinate information of the location it passes through. The processor can map and integrate the defect information and coordinate information obtained by the non-destructive testing radar 106 and the first high-definition camera 105 to form multi-dimensional information data.

[0052] The mobile testing device can adapt to three working conditions: such as Figure 2 The concrete wall top area inspection shown, such as Figure 3 The concrete wall base area inspection shown and as Figure 4 The concrete base slab shown is being inspected.

[0053] like Figure 5 As shown, the second walking module of the self-propelled self-positioning projection device can be a self-propelled wheel 201, with a second frame on the wheel. The second positioning module is a GPS locator 202, used to obtain the coordinates of the device's center point.

[0054] The second vehicle frame is equipped with a second communication module on its top. The second communication module is a 5G base station 203, which is wirelessly connected to the signal of the aforementioned mobile detection device.

[0055] The second frame is also equipped with an identification module, which includes a laser projector 205 and a second high-definition camera 204 located on top of the laser projector 205. The second high-definition camera 204 can be used to capture the image projected on the area; the laser projector 205 can be used to project and mark the location of defects on the concrete wall or concrete base plate.

[0056] Optionally, the second frame is equipped with multi-stage lifting columns 206 to accommodate laser projection at different heights. The top of the lifting columns 206 is a laser projector 203, which includes multiple laser emitters and can project and mark the locations of defects on concrete walls or concrete slabs.

[0057] The intelligent concrete defect detection system of this application embodiment also includes a remote operator. The mobile detection device and the self-propelled, self-positioning projection device share data and interact using a single remote operator. The remote operator can be used to send remote operation signals to both the mobile detection device and the self-propelled, self-positioning projection device.

[0058] Optionally, the remote operator includes a display screen and multiple wireless operating handles. The display screen can show images captured by a high-definition camera (as an engineering base map), basic data acquisition information (such as the travel of the telescopic arm, coordinate information obtained by the GPS locator, and the distance between the auxiliary pulley and the wall), and defect identification information (such as the planar dimensions and depth of holes or cracks, and the coordinates of projection points on the concrete surface). The wireless operating handles can send remote operation signals to the mobile detection device and the self-propelled self-positioning projection device via 5G signals, in conjunction with the display screen.

[0059] The intelligent concrete defect detection system of this application embodiment also includes a processor. The processor is used for data storage and data processing, and performs data transformation through intelligent algorithms.

[0060] In specific implementation, the functions that the processor can handle include:

[0061] Panoramic image stitching. This involves stitching together multiple images captured by a camera to obtain a panoramic image of the concrete surface. This panoramic image can then be used as a base map to mark various defects such as cracks, holes, and pitting.

[0062] Laser projection point coordinate transformation. The coordinates of the projection point can be calculated based on the known coordinates of the emission point, the emission angle, and the laser distance of the laser projection. The specific laser projection point coordinate transformation algorithm is existing technology and will not be elaborated here.

[0063] AI image recognition. A large amount of image information, including normal concrete surfaces, honeycomb-like concrete surfaces, concrete cracks, and concrete holes, is input into the processor for machine learning. When the camera captures an image, the processor identifies the content and determines if it falls into one of the aforementioned categories.

[0064] SLAM (Simultaneous Localization and Mapping) intelligent algorithm. The distance between the camera and the target object's projection point on the imaging surface is known. This distance can be obtained using laser ranging, from which the magnification factor k between the size on the imaging surface and the actual size of the object can be derived. Based on the planar or depth dimensions of holes or cracks in the captured image on the imaging surface (let's say x), multiplying this by the magnification factor k, the actual size y = kx can be quickly obtained.

[0065] The intelligent concrete defect detection system provided in this application embodiment achieves automatic identification and rapid positioning of defect locations through a self-propelled and self-positioning projection device; it achieves automatic identification and calculation of defects such as holes and cracks on the concrete surface through a mobile detection device; the mobile detection device and the self-propelled and self-positioning projection device share coordinate information and defect information, realizing multi-dimensional data fusion of coordinate information and defect information; a remote operator is used to send remote operation signals to the mobile detection device and the self-propelled and self-positioning projection device, realizing visualization of the operation process; a processor is used for data storage and calculation, realizing panoramic image stitching, laser projection point coordinate conversion, defect identification, etc. Using the above-mentioned intelligent concrete defect detection system, automatic identification, intelligent recognition, rapid positioning, automatic measurement, visual display, and multi-dimensional data fusion of concrete surface defects can be achieved, solving the problems of difficult manual marking, complex defect detection procedures, and inaccurate detection results in traditional concrete defect identification, marking, and detection processes, thus providing convenience for concrete surface defect detection work.

[0066] like Figure 6 As shown, another embodiment of this application provides a method for intelligent detection of concrete defects, including the following steps:

[0067] S1, the self-propelled self-positioning projection device moves to a specific position and calculates the station coordinates ZB1 of the device.

[0068] In specific implementation, the GPS locator 202 on the self-propelled self-positioning projection device collects its coordinate information ZB0. Based on the geometric relationship between the GPS positioning position and the laser projector's emission point position, the coordinate information ZB1 of the laser projector's emission point can be calculated. ZB1 is also the station position coordinate of the self-propelled self-positioning projection device.

[0069] S2, a high-definition camera on a self-propelled and self-positioning projection device, photographs and identifies defects on concrete walls.

[0070] Optionally, defects such as honeycomb surface, concrete cracks, and pre-embedded bolt holes can be identified using AI image recognition algorithms.

[0071] Alternatively, a human can make a judgment based on the image results, directly marking and classifying any obviously large defects that definitely require repair. This step can be considered a rough identification, which reduces the area that the mobile inspection device needs to scan, thus reducing the workload.

[0072] S3, the self-propelled self-positioning projection device marks the area boundary according to the recognition result of step S2, and calculates the spatial coordinates ZB2 of the area boundary control point.

[0073] In practice, the laser emitter of the laser projector 205 is used to mark the boundary of the area. Based on coordinates ZB1, the spatial coordinates ZB2 of the control point of the concrete wall boundary are calculated using parameters such as the laser emitter rotation angle, the optical path of the laser, and the elevation of the laser emitter.

[0074] The intelligent concrete defect detection method provided in this application can automatically identify concrete surface defects through steps S1 to S3. Utilizing a self-propelled, self-positioning projection device, the concrete wall surface can be divided into regions based on the identified different defect types, and the region boundaries can be automatically marked. This solves the problems of operational difficulties and easy fading of marks caused by the prior art's method of manually drawing lines to distinguish regions with different repair requirements.

[0075] Based on the above, in this embodiment, the intelligent concrete defect detection method further includes the following steps:

[0076] S4, calculate the coordinates ZB3 of the detection probe on the mobile detection device; move the mobile detection device to the spatial coordinates ZB2 of the boundary control point of the area to detect concrete defects in the area.

[0077] In specific implementation, the mobile detection device is equipped with a GPS positioning device 102 with coordinates ZB4. This positioning device can serve as a base station for the UWB positioning tag. The detection probe of the mobile detection device is equipped with a UWB positioning tag. Through UWB (Ultra Wide Band) positioning technology, the non-destructive testing radar position ZB3 is calculated from ZB4.

[0078] The mobile detection device and the self-propelled self-positioning projection device exchange information through the 5G base station on their respective devices.

[0079] S5, a mobile inspection device for close-range defect identification.

[0080] Optionally, intelligent algorithms can be used to accurately obtain data such as the planar dimensions and depth of holes or cracks on the concrete surface, and classify them according to acceptance standards. Simultaneously, the classification information is synchronized to a multi-dimensional information database.

[0081] S6. Based on the identification results of step S5, different job types are assigned to carry out repairs.

[0082] Specifically, for example, three types of concrete defects are detected: honeycomb surface defects, large cracks, and large-sized holes. According to technical requirements, honeycomb surface defects should be repaired by applying cement mortar, large cracks should be repaired by grouting, and large-sized holes should be repaired by applying epoxy resin. In this case, three different work teams can be assigned to carry out repair work for each type of defect.

[0083] Furthermore, the self-propelled, self-positioning projection device locates and positions itself at nearby coordinates based on the coordinates of the projection target. It then emits three different lasers, projecting them onto the concrete wall to mark the repair area and display relevant information. Workers of different trades can quickly locate the areas requiring repair.

[0084] Preferably, the laser can be turned on only before and after the repair, and turned off during the repair process, with the camera taking pictures and recording before and after the repair.

[0085] S7, Acceptance work.

[0086] Specifically, different methods can be used for acceptance based on the previously recorded defect locations and types. For areas with only appearance requirements, a mobile detection device is used for AI graphic recognition. If the recognition result is "normal smooth surface formation," the area is considered acceptable. The as-built documentation includes before-and-after images of the repair, as well as the type and size of the concrete defects before repair. For larger defects, and areas where the repaired concrete filling has strength requirements, a mobile detection device is used to conduct a rebound test. The concrete rebound hammer can be mounted on the probe, replacing traditional manual operation, and the collected strength test data can be synchronized in real time.

[0087] The intelligent concrete defect detection method provided in this application utilizes a mobile detection device to achieve automatic close-range identification of concrete surface defects, and a self-propelled self-positioning projection device to achieve automatic marking, projection, and rapid positioning of the repair area. It quickly obtains the defect location coordinates during the identification phase and rapidly locates the coordinates during the pre-repair projection marking phase and the post-repair acceptance phase. The mobile detection device and the self-propelled self-positioning projection device work together to achieve automatic identification and classified repair of different defects. This solves the problems of high operational difficulty, easy fading of markings, complex procedures for finding repair areas, and inaccurate detection results caused by manual inspection in the prior art, providing convenience for concrete surface defect detection.

[0088] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A concrete defect intelligent detection system, characterized in that, include: A mobile detection device and a self-propelled, self-positioning projection device that work together; The mobile detection device includes: a first walking module, a first positioning module, a first communication module, and a detection module; The self-propelled and self-positioning projection device includes: a second walking module, a second positioning module, a second communication module, and an identification module; The first walking module is a walking wheel (101), and a first frame is provided on the walking wheel (101); the first positioning module is a GPS positioning device (102); the first communication module is a 5G base station (103); the GPS positioning device (102), the 5G base station (103) and the sliding arm (104) are all provided on the first frame; the detection module is a detection probe, and the detection probe is provided at the end of the sliding arm (104), and the detection probe integrates a first high-definition camera (105), a non-destructive testing radar (106) and a positioning tag (107); a jack (110) is provided at the end of the sliding arm (104), and an auxiliary pulley (111) and the detection probe are integrated on the jack (110); The second walking module is a self-propelled wheel (201), and a second frame is provided on the self-propelled wheel (201); the second positioning module is a GPS locator (202); the second communication module is a 5G base station (203); the GPS locator (202), the 5G base station (203) and the identification module are all located on the second frame; the identification module includes a second high-definition camera (204) and a laser projector (205).

2. The intelligent concrete defect detection system as described in claim 1, characterized in that, The top frame of the first vehicle frame is provided with a slide groove (108), and the slide arm (104) can slide precisely along the slide groove (108); the slide arm (104) is provided with a multi-stage telescopic arm (109); the axle of the walking wheel (101) is telescopic.

3. The intelligent concrete defect detection system as described in claim 1, characterized in that, The second frame is equipped with a multi-stage lifting column (206), and the second high-definition camera (204) and the laser projector (205) are located on the top of the lifting column (206); the laser projector (205) includes multiple laser emitters.

4. The intelligent concrete defect detection system as described in any one of claims 1 to 3, characterized in that, Also includes: A remote operator and a processor; the remote operator can remotely control the mobile detection device and the self-propelled self-positioning projection device; The processor is used for data storage and data processing.

5. A method for intelligent detection of concrete defects, applied to the intelligent concrete defect detection system as described in any one of claims 1-4, characterized in that, Includes the following steps: S1, the self-propelled and self-positioning projection device moves to a specific position and calculates the station coordinates ZB1 of the device; S2, a high-definition camera on a self-propelled and self-positioning projection device, takes pictures of concrete walls and identifies defects. S3, the self-propelled self-positioning projection device marks the area boundary according to the recognition result of step S2, and calculates the spatial coordinates ZB2 of the area boundary control point; S4, calculate the coordinates ZB3 of the detection probe on the mobile detection device; the mobile detection device 1 moves to the spatial coordinates ZB2 of the boundary control point of the area and detects concrete defects in the area; S5, a mobile inspection device for close-range defect identification; S6. Based on the identification results of step S5, different job types are assigned to carry out repairs. S7, Acceptance work.

6. The intelligent detection method for concrete defects as described in claim 5, characterized in that, The mobile detection device and the self-propelled self-positioning projection device exchange information through the first communication module and the second communication module.

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